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SPAN-SE User Manual - Borealis Precision

1. 199 1 247 3 d 94 SPAN SE User Manual Hev 7 SPAN SE Mounting Plate Dimensions io REF CHAMFER 2 50 X 45 Note All dimensions are in millimetres TYPICAL 113 40 2X 63 45 203 45 8X 04 40 8 32 8 32 61 9 82 H m H H 97 00 75 00 DE wl L 54 00 69 00 i 86 00 m i AX RT 50 2 IS 6 64 H 10 90 180 311 99 210 00 223 13 SPAN SE User Manual Rev 7 95 A 1 1 1 Power Adapter Cable NovAtel part number 010181355 The power adapter cable supplied with the SPAN SE see Figure 17 provides a means for supplying 9 to 28 V DC while operating in the field Input is provided through the bare wire power outlets The exposed wires red and orange for positive brown and black for negative can then be tied to a supply capable of at least 10 W for a single antenna or 12 W for dual antennas This cabl
2. 2 1 Ce HI E a oT Fo oOo Pe sn neue E e hn Ogee TN A 1 o o Figure 78 SPAN SE Interface Card Samtec STMM 115 02 G D 6 56 8 75 TE RE 173 99 mm SPAN SE User Manual Rev 7 Table 85 provides a description of the interface card headers and the remaining tables provide pinouts for headers that external users may need to access Table 85 SPAN SE Interface Card Header Description Header ID Function Connector Format J300 USB Host USB Type A jack J301 USB Device USB Type B jack J401 LED Control 2x6 pin header male 2mm pitch J500 Power Button Control 4 position 3mm pitch right angle female SW500 SD Logging Button Pushbutton J600 SD Card Slot SD memory card slot J601 Multi Communication Port A 2x15 pin header male 2mm pitch J605 Ethernet RJ45 jack J606 Multi Communication Port B 2x15 pin header male 2mm pitch J702 Input Power 4 position 3mm pitch vertical female
3. Field Field type Data Description Format Bytes Offset 1 header Log header H 0 2 Sol Status Solution status see Table 45 on page 239 Enum 4 H 3 Pos Type Position type see Table 44 on page 237 Enum 4 H 4 4 Lat Latitude Double 8 H 8 5 Lon Longitude Double 8 H 16 6 Het Height above mean sea level Double 8 H 24 7 Undulation Undulation Float 4 H 32 8 Datum ID Datum ID refer to the DATUM command in the Enum 4 H 36 OEMV Family Firmware Reference Manual 9 Lat 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 solnS Vs Number of satellite solutions used in solution Uchar 1 H 65 17 L1 Number of GPS and GLONASS LI ranges above the Uchar 1 H 66 RTK mask angle 18 L2 Number of GPS and GLONASS L2 ranges above the Uchar 1 H 67 RTK mask angle 19 Reserved Uchar 1 H 68 20 Uchar 1 H 69 21 Uchar 1 H 70 22 Uchar 1 H 71 23 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 72 24 CR LF Sentence terminator ASCII only 240 SPAN SE User Manual Rev 7 Recommended Input log bestgpsposa ontime 1 ASCII Example BESTGPSPOSA COM1 0 62 5 FINESTEERIN
4. 137 COM Serial Port Identiflers nece terere bee e tee ced 140 i re 140 Hand Shaking RE 140 Tx DTR and RTS Availability esses eene 142 SPAN SE COM Port Values tieni 143 gt cette tete bate 150 Serial Port Interface Modes sse ennt tenerent enne nens 154 ettet ose a ERR ERO ERREUR tee 169 DGPS My DG sa E tui meme 172 Dynamics Mode eee e eia eee ie ere te reae e rer caen 176 System Y pO S r nion Fee eei ee Eae esee eet staan ead baat 181 Full Mapping Definitions ssssssssssseseneeeeneenenee nennen nnne tnnt 188 lune cen 192 SETWHEELPARAMETERS nennen nennen nnne nnns 202 log Type TEHOgers teo eene ee 221 ASCII Message Header Structure 222 Binary Message Header 225 Detailed Serial Port Identifiers 227 Short ASCII Message Header 229 Short Binary Message Header Structure
5. er Binary Binary Field type Data Description Bytes Offset 1 LOGLIST Log header H 0 binary header 2 logs Number of messages to follow Long 4 H maximum 60 3 port Output port see Table 23 COM Serial Port Enum 4 H 4 Identifiers on page 140 4 message Message ID of log Ushort 2 H 8 5 message Bits 0 4 Reserved Char 1 H 10 type Bits 5 6 Format 00 Binary 01 ASCII 10 Abbreviated ASCII NMEA 11 Reserved Bit 7 Response Bit 0 Original Message 1 Response Message 6 reserved Char 1 11 7 trigger 0 ONNEW Enum 4 H 14 1 ONCHANGED 2 ONTIME 3 ONNEXT 4 ONCE 8 period Log period for ONTIME Double 8 H 18 9 offset Offset for period ONTIME trigger Double 8 H 26 10 hold 0 NOHOLD Enum 4 H 34 1 HOLD I Next log offset H 4 number of logs x 34 variable xxxx 32 bit CRC Hex 4 H 4 logs x 34 312 SPAN SE User Manual Rev 7 Field Field type Data Description Format 1 LOGLIST Log header ASCII header 2 port Number of messages to follow maximum 20 Long 3 port Output port see Table 23 COM Serial Port Identifiers on page Enum 140 4 message Message name of log with no suffix for abbreviated ascii an A Char suffix for ascii and a B suffix for binary 5 trigger ONNEW Enum ONCHANGED ONTIME ONNEXT ONCE 6 period Log period for ONTIME Double 7 offset Offset for period ONTIME trigger Double 8 hold NOHOLD Enum HOLD 9
6. Maun ina este 114 A2 5 IMUPGBT ih onte 124 Appendix B Commands 129 Bil Command Forrmals 2 ctt desse fe cune 129 B 2 Using a Command as 0 129 B 3 DOS Commands bte aar dete te denies 130 3 1 DIR Show Directory ahi t ree ed 131 B 3 2 CD Change Directory itte titt enn ER ici cue 131 B 3 3 FORMAT Format storage medium seen 131 B 3 4 MKDIR Make nemen 131 B 3 5 RMDIR Remove 131 B 3 6 PWD Present Working 132 valde 132 4 SPAN SE Command 133 B 4 1 ALIGNMENTMODE Set the alignment mode see 133 4 2 APPLICATION Start and remove applications 134 B 4 3 APPLYVEHICLEBODYROTATION Enable vehicle to body rotation 135 B 4 4 ASSIGNLBAND Set L band satellite communication parameters 136 B 4 5 COM Port configuration 139 4 6 COMCONTROL Control the RS232 hardware control lines 142 B 4 7 COMVOUT power to the ports on or 144 B 4
7. 359 82 SPAN SE Model emen enne nene 359 83 S e rien Sr 359 84 VERSION Log Field Formats 360 85 SPAN SE Interface Card Header 399 86 JAOTXLED Fleader 1er mereretur 399 87 J500 Power Button 400 88 J702 Input Power Header 5 niece erento reete De dede nes 400 89 J601 Multi Communication Header 401 90 J606 Multi Communication Header 402 91 SPAN MPPC Interface Card Header Description 407 92 J600 Multi Communication Header 407 93 J601 Multi Communication Header emen 409 94 SPAN MPPC Breakout Board J1 J23 Test 411 95 SPAN MPPC Breakout Board J24 Main Board 412 96 SPAN MPPC Breakout Board J25 USB Host 413 97 SPAN MPPC Breakout Board J26 Main Board 413 98 SPAN MPPC Breakout Board J27 USB Device 415 99 SPAN MPPC Breakout Board J28 Ethernet
8. 8 datum id Datum ID number see Chapter 2 Table 21 Reference Enum 4 H 36 Ellipsoid Constants on page 97 9 lat o Latitude standard deviation Float 4 H 40 10 lon o 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 in seconds Float 4 H 56 14 sol_age Solution age in seconds Float 4 H 60 15 SVs Number of satellite vehicles tracked Uchar 1 H 64 16 solnSVs Number of satellite vehicles used in solution Uchar 1 H 65 17 ggLl Number of GPS andGLONASS L1 used in RTK solution Uchar 1 66 18 ggL1L2 Number of GPS and GLONASS 11 and L2 used in RTK Uchar 1 H 67 solution 19 Reserved Uchar 1 H 68 20 ext sol stat Extended solution status see Table 47 Extended Solution Hex 1 H 69 Status on page 241 21 Reserved Hex 1 H 70 22 sig mask Signals used mask if 0 signals used in solution are Hex 1 H 71 unknown see Table 46 on page 241 23 XXXX 32 bit CRC ASCII and Binary only Hex 1 H 72 24 CR LF Sentence terminator ASCII only 1 When using a datum other than WGS84 the undulation value also includes the vertical shift due to differences between the datum in use and WGS84 242 SPAN SE User Manual Rev 7 D 3 3 BESTVEL Best Available Velocity Data and BESTGPSVEL Best Available GPS Velocity Data The BESTVEL log contains the best available velocity f
9. 282 D 3 27 INSATT INS Attitude enceinte erre tete tpe D 3 28 INSATTS Short INS Attitude 0 3 29 INSCOV INS Covariance 287 0 3 30 INSCOVS Short INS Covariance Log seem 289 0 3 31 INSPOS INS 290 0 3 32 INSPOSS Short INS 291 0 3 33 INSPOSSYNC Time Synchronized INS Position 292 0 3 34 INSPVA INS Position Velocity and 293 0 3 35 INSPVAS Short INS Position Velocity and 294 D 3 36 INSSPD INS Speed eiie tenete de ere te decide 295 0 3 37 INSSPDS Short INS 296 0 3 38 INSUPDATE INS 297 D 3 39 INSVEL INS VeloGCilty ioter noit toti tnt ER ie ded 299 0 3 40 INSVELS Short INS m 300 0 3 41 IPSTATUS Displays ethernet port settings 301 0 3 42 LBANDINFO L band Configuration Information 302 0 3 43 LBANDSTAT L band Status Information 304 D 3 44 LOGFILESTATUS Displays information about system logging 310 D 3 45 LOGLIST List of System 005 em
10. 63 3 5 SPAN Wheel Sensor Configuration 64 3 5 1 Wheel Sensor Updates Using the Event Input 65 3 5 2 Wheel Sensor Updates using the iIMU FSAS IMU 65 3 5 3 Wheel Sensor Updates using the WHEELVELOCITY Command 66 SPAN SE User Manual Rev 7 3 5 4 Logging Wheel Sensor Data from 5 66 3 6 Data Collection for Post 66 3 7 Status Iridicators a etas eI estu ce e e ta 68 3 7 4 SPAN SE Status LEDS etre t eee vel ee 68 3 7 2 SPAN MPPC Status 69 KEEPS 71 3 9 Logging Data to the SD 71 3 951 Insertthe S D Card uio UE eir rtm RA 71 3 92 Prepare the Card deer 72 3 9 3 Select Logs to Send to the SD 73 3 9 4 Start and Stop Logging eene emen nennen 73 3 9 5 Log a Pre Defined List of 73 3 9 6 Auto Logging on 74 3 9 7 Reading data from the card 5 nsi 74 3 10 Adding Timed Camera 75 3 10 1 Configuring the Hardware
11. 83 4 5 3 Unaided Alignment 2 petenti tee rettet ipea tcr e ERR aL IRR BR nec 84 4 6 SPAN ALIGN Attitude 84 5 API Functionality 85 5 1 OVerVIewW siet teer o de de te aee eee 85 5 2 Loading User amp nennen rennes 85 5 2 1 Verifying Loaded User 86 5 3 Starting Stopping and Removing a User Application 86 5 3 1 Starting a User eem nnn 86 5 3 2 Stopping a User 86 5 3 3 Removing a User 87 6 Variable Lever Arm 6 1 OVerview inge ere RIVE 6 2 Technical Description 6 3 2 2 2 Appendix A Technical Specifications 92 SPAN SE User Manual Hev 7 lt teste a 92 5 sends cance 92 A 2 Inertial Measurement Units 05 mene 101 A 2 1 Universal IMU Enclosure 1 riii nie Len ttp dte ER ede CRI He e RE ee 101 A 2 2 HG1700 IMU Single Connector Enclosure eee 108 A 2 3 LN 200 IMU Single Connector Enclosure s 111 A24 1 MU ESAS
12. 229 GPS MIME Status ertet ER ERR RR e RR E 229 Position or Velocity Type iei eter erede pee eade 237 am exte CREER LI e 239 Signal Used MasKk Oe eee daly 241 Extended Solution Status eese dade eise adea dee dde didnt 241 Port Protocol oet ei eo do Ie usto eee tiia SO Teo eee 248 GLONASS Ephemeris Flags 258 SPAN SE User Manual Rev 7 50 Bits 0 1 P1 Flag 258 51 NMEA Positioning System Mode 266 52 Position Precision of NMEA Logs seen 267 53 L v r Arm Type ee e te Pede E eene ev ee 284 54 Lever Arm SOURCE soptar tet nee tei rote tae ceo saat sll aa Tea EL epe peu cael 284 55 Heading Update Enums recidit tied dedere drerit denied ute 298 56 Wheel Status het Eo eL e ein On 298 57 L band Subscription TYPE i tne eo ente deant site kanns 302 58 L band Signal Tracking nennen 305 59 OmniSTAR VBS Status 306 60 OmniSTAR HP XP Additional Status 307 61 OmniSTAR HP XP Status
13. Data Bit s first to last Length bits Scale Factor Units Channel Tracking 0 31 32 see Table 66 Channel Tracking Status Status on page 325 Doppler Frequency 32 59 28 1 256 Hz Pseudorange PSR 60 95 36 1 128 m ADR 96 127 32 1 256 cycles StdDev PSR 128 131 4 see 2 m StdDev ADR 132 135 4 n 1 512 cycles PRN Slot 136 143 8 1 Lock Time 4 144 164 21 1 32 S C No 165 169 5 20 n dB Hz Reserved 170 191 22 SPAN SE User Manual Rev 7 327 1 ADR Accumulated Doppler Range is calculated as follows ADR ROLLS RANGECMP PSR WAVELENGTH RANGECMP ADR MAX VALUE Round to the closest integer IF ADR ROLLS lt 0 ADR ROLLS ADR ROLLS 0 5 ELSE ADR ROLLS ADR ROLLS 0 5 At this point integerise ADR ROLLS CORRECTED ADR RANGECMP ADR MAX VALUE ADR ROLLS where ADR has units of cycles WAVELENGTH 0 1902936727984 for GPS L1 Note GLONASS satellites emit L1 and L2 carrier waves at WAVELENGTH 0 2442102134246 for GPS L2 a satellite specific frequency refer to the GNSS Ref MAX VALUE 8388608 erence Book for more on GLONASS frequencies 2 Code StdDev PSR m 0 0 050 1 0 075 2 0 113 3 0 169 4 0 253 5 0 380 6 0 570 7 0 854 8 1 281 9 2 375 10 4 750 11 9 500 12 19 000 13 38 000 14 76 000 15 152 000 3 GPS 1 to 32 SBAS 120 to 138 and GLONASS 38 to 61 see Section 1 1 on page 32 4 The Lock Time field of the RANGECMP log is constrained to a maximum v
14. Fiel Fiel Data Description Form eld eld type ata Descriptio ormat Offset 1 COMCONFIG Log header 0 header 2 port Number of ports with information to follow Long H 3 port Serial port identifier see Table 23 on page 140 Enum H 4 4 baud Communication baud rate Ulong H 8 5 parity See Table 24 on page 140 Enum H 12 6 databits Number of data bits Ulong H 16 7 stopbits Number of stop bits Ulong H 20 8 handshake See Table 25 on page 140 Enum H 24 9 echo When echo is on the port is transmitting any input Enum H 28 characters as they are received 0 OFF 1 ON 10 breaks Breaks are turned on or off Enum H 32 0 OFF 1 ON 11 rx type The status of the receive interface mode see Table Enum H 36 29 Serial Port Interface Modes on page 154 12 tx type The status of the transmit interface mode see Enum H 40 Table 29 on page 154 13 response Responses are turned on or off Enum H 44 0 OFF 1 ON 14 next port offset H 4 port number x 44 15 XXXX 32 bit CRC ASCI and Binary only Hex 4 port x44 16 CR LF Sentence terminator ASCII only SPAN SE User Manual Rev 7 247 0 3 6 COMPROTOCOL Port Protocol This log reports what the current protocol settings are on each SPAN SE COM port The protocol can be set with the COMCONTROL command described on page 142 of this manual Message ID Log Type Recommended Input 1145 Polled log comprotocola once ASCII Example
15. Binary ASCII Description 0 SOL_COMPUTED Solution computed 1 INSUFFICIENT_OBS Insufficient observations 2 NO_CONVERGENCE No convergence 3 SINGULARITY Singularity at parameters matrix 4 COV_TRACE Covariance trace exceeds maximum trace gt 1000 m 5 TEST_DIST Test distance exceeded maximum of 3 rejections if distance gt 10 km 6 COLD_START Not yet converged from cold start 7 V_H_LIMIT Height or velocity limits exceeded in accordance with COCOM export licensing restrictions 8 VARIANCE Variance exceeds limits 9 RESIDUALS Residuals are too large 10 DELTA_POS Delta position is too large 11 NEGATIVE_VAR Negative variance 12 17 Reserved 18 PENDING When a FIX POSITION command is entered the receiver computes its own position and determines if the fixed position is valid 19 INVALID FIX The fixed position entered using the FIX POSITION command is not valid 1 PENDING implies there are not enough satellites being tracked to verify if the FIX POSITION entered into the receiver is valid The receiver needs to be tracking two or more GPS satellites to perform this check Under normal conditions you should only see PENDING for a few seconds on power up before the GPS receiver has locked onto its first few satellites If your antenna is obstructed or not plugged in and you have entered a FIX POSITION command then you may see PENDING indefinitely SPAN SE User Manual Rev 7 239 Binary Binary
16. Table 86 J401 LED Header Pin Description Signal Levels 02 04 p a oT 03 1 3v3 2 3v3 3 LED1a 3 3 V 4 LED1b 3 3 V 5 LED2a 3 3 V 6 LED2b 3 3 V 7 LED3a 3 3 V 8 LED3b 3 3 V 9 LED4a 3 3 V 10 LED4b 3 3 V 11 LED5a 3 3 V 12 LED5b 3 3 V a lines have 4700 series resistance and b lines have 3300 SPAN SE User Manual Rev 7 399 Table 87 J500 Power Button Header Pin Description Signal Levels CIRCUIT 4 o 9 CIRCUIT 1 CIRCUIT 2 1 LED Positive 5 0 V 1200 series resistor 2 LED Negative Return Power Switch Pull up to 5V 4 GND Table 88 J702 Input Power Header Pin Description Signal Levels LAST CIRCUIT 94 49 CIRCUIT 1 CIRCUIT 2 1 GND Voltage Range 9 to 28 VDC 3 GND gt Voltage Range T 49 to 428 VDC 400 SPAN SE User Manual Hev 7 Table 89 J601 Multi Communication Header A Pin Description Signal Levels n u H H H H 5 er ere eee T 5 1 1 CTS 2 GND 3 COMI Tx RS232 RS422 configurable 4 COMI Rx RS232 RS422 configurable 5 GND 6 COMI RTS RS232 RS422 configurable 7 IMU Rx 8 IMU CTS 9 IMU RTS 10 IMU Tx 11 Event Out 3 OV to 3 3 V 12 GND 13 Event Out 2 OV to 3 3 V 14 Event Out 1 OV to 3 3 V
17. 308 62 Clock Model Status 3 E 318 63 Tracking St te 3 dh see neite be ved ine ede pc d Pe eite en 324 64 Correlator ente e en ee dee Ete ie oe goce Pe Te Erg eu 324 65 Channel Tracking Examiple 5 4 trit ritiene nte saeua 324 66 Channel Tracking 325 67 Range Record Format RANGECMP 327 68 IIMU FSAS Status rerit eee deel veh ties 331 69 Litef LCI 1 IMU Sra US nennen trennen padne piae Atai nda te 332 70 Mode Indicatior oiii de enacts coe Heated ede 333 71 HG1700 and LN200 333 72 5 IH ede 336 73 Raw IMU Scale Factors cccccesecceeeeeeeeeeeceeeeceeaeceeeeceeaeeeeeeceesaeeeeeeeesaeeeeeseeeeeeeeeeeeaes 339 74 SPAN Receiver ErTOr ia cette Mal ied enna 343 75 SPAN Receiver tede erede dit 345 76 Auxiliary 1 Status 346 77 ecu aeaa 346 78 2 5 e me eR pea baie alleen 346 79 Status Word eae te ee walle eevee tele 349 80 Event Ty PO s case 349 81 OEMV SPAN SE Model
18. J 1 END VIEW 12 SIDE VIEW Figure 24 Universal IMU Enclosure Interface Cable Table 11 Universal IMU Enclosure Interface Cable Pinouts J2 REMOTE CONNECTION PINOUT FUNCTION CONNECTOR PIN COLOR 1 Vin PIN 1 P2 BLK 22 Vin PIN 22 GRN 2 Not used 3 Vin PIN 3 1 RED 21 Vin PIN 21 WHT 4 Not used 5 Not used 6 Not used 7 DAS 1 104 SPAN SE User Manual Rev 7 Table 11 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 J1 8 12 OEM_Rx Rx J1 2 13 Not used 14 DGND J1 5 15 DGND J1 5 16 Not used 17 Not used 18 Not used 19 Tx Tx J1 3 20 OEM RTS Tx J1 7 Shield P3 GRN a OEM stands for Original Equipment Manufacturer SPAN SE User Manual Rev 7 105 106 A 2 1 2 PERFORMANCE IMU HG1700 AG58 IMU Performance Gyro Input Range 1000 deg sec Angular Random Walk Accelerometer Range Accelerometer Linearity Accelerometer Scale Factor Accelerometer Bias Gyro Rate Bias 1 0 deg hr Gyro Rate Scale Factor 150 ppm Angular Random Walk 0 125 deg rt hr Accelerometer Range 509 Accelerometer Linearity 500 ppm Accelerometer
19. NI amp SPAN SE User Manual Rev 7 415 Description 8 COMI RXo 9 Not used Table 102 SPAN MPPC Breakout Board J31 Serial Port Connection Pin Description Event_out4o IMU RXo IMU TXo Not used GND Not used IMU TXo IMU RXo Not used CO NT NY 23 WN eR Table 103 SPAN MPPC Breakout Board J32 Serial Port Connection Pin Description Not used OEMV3 RXo OEMV3 TXo Not used GND Not used OEMV3 TXo OEMV3 RXo Not used O CO NT Tr BY WY NHN eR Table 104 SPAN MPPC Breakout Board J33 Serial Port Connection Pin Description 1 Not used 2 COMO RXo 3 COM2 TXo 4 Not used 416 SPAN SE User Manual Rev 7 Description 5 GND 6 Not used 7 2 TXo 8 RXo 9 Not used Table 105 SPAN MPPC Breakout Board J34 Serial Port Connection Pin Description Not used COM3 RXo COM3 TXo Not used GND Not used COM3 TXo CONG RXo Not used Oo CLAN NY BR 55 WB eR Table 106 SPAN MPPC Breakout Board J35 Serial Port Connection Pin Description Not used COMA RXo COMA TXo Not used GND Not used COMA TXo COMA RXo Not used oO CO NT NY BY WwW SPAN SE User Manual Rev 7
20. 102 SPAN SE User Manual Rev 7 Enclosure leon IMU Type LITEF 7 LGI 4 HG T HG1700 Q LN200 4 A ag Pas x 55 ar A ux 9m wq 5 o 33 Wh 8 og e 3 LN X 2 3 Se ajja ES ej jae I 7 LEFT FRONT 16 309 3 00 ak o0 0 0 118 25 09 0 988 Notes 1 Dimensions are shown in mm and in square brackets in inches Figure 22 IMU Center of Navigation A 2 1 1 Universal IMU Enclosure Interface Cable NovAtel s part number for the Universal IMU Enclosure interface cable is 01018299 see Figure 23 This cable provides power to the IMU from an external power source and enables input and output between the receiver and the IMU SPAN SE User Manual Rev 7 103 Figure 23 Universal IMU Enclosure Interface Cable 3 100 10 2 ry P2 BLK L IE I M JH P1 RED 150330 4x 1250 30 CKT1 DB9 FEMALE CKT6 cKTS J Gk
21. 54 NovAtel s SPAN SE S receiver is configured at the factory for single antenna operation and features one GNSS OEMV 3 receiver inside while the SPAN SE D is manufactured with dual GNSS receivers and can be configured for single or dual antenna operation There are no hardware or software upgrade paths available from the SE S to the SE D so NovAtel recommends the dual antenna SPAN SE D if you are unsure if your application required a single or dual antenna SPAN currently supports specific Honeywell iMAR Litton KVH and Litef 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 92 for details Table 1 Supported IMU Types Model Name Max Output Compatible IMUs Rate IMU H62 100 Hz HG1700 AG62 UIMU H62 IMU H58 100 Hz HG1700 AG58 UIMU H58 IMU LN200 200 Hz LN 200 UIMU LN200 200 and 400 Hz models IMU SE FSAS EI 200 Hz iIMU FSAS UIMU LCI 200 Hz LITEF LCI 1 IMU CPT 100 Hz IMU CPT 100 Hz HG1900 CA29 100 Hz HG1930 AA99 No IMU Each SPAN SE has the following extra features e Rugged shock water and dust resistant enclosure e A removable SD Card slot for on board data collection Each SPAN MPPC has the following extra features e Small volume for size restricted applications See Appendix J SPAN MPPC Interface Card starting on page 403 for specificatio
22. Changes or modifications to this equipment not expressly approved by NovAtel Inc could result in violation of Part 15 of FCC rules and void the user s authority to operate this equipment CE NOTICE The enclosures carry the CE mark Hereby NovAtel Inc declares that this SPAN SE and SPAN SE D are in compliance with the essential requirements and other relevant provisions of Directive 1999 5 EC WEEE NOTICE If you purchased your SPAN SE or SPAN SE D 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 SPAN SE User Manual Rev 7 Notices 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 Xf RoHS NOTICE SPAN SE and SPAN SE Dual are compliant with the European Union EU Restriction of Hazardous Substances RoHS Directive 2002 95 EC Lightning Protection Notice What is the hazard A lightning strike into the ground causes an increase in the e
23. mix Cancel 79 Chapter 3 3SPAN SE Operation 80 lt The last octet of the IP address can be any number from 1 to 255 inclusive except for 10 which is the last value in the SPAN SE default IP address In the above example we have used 9 for the last octet SPAN SE User Manual Rev 7 Chapter 4 Dual Antenna Functionality 4 1 4 2 81 This chapter describes the SPAN SE dual antenna functionality with references to the user commands and logs that have been added for this feature In this chapter SPAN SE D refers to SPAN SE with dual antenna functionality lt Not all SPAN SE enclosures have the hardware necessary to perform dual antenna operations The dual antenna functionality requires both extra HW and SW from the base model SPAN SE Overview NovAtel ALIGN heading technology generates distance and bearing information between a master and one or more rover receivers This feature is ideal for customers who want relative directional heading separation heading between two objects or heading information with moving base and pointing applications Heading applications can be applied over various markets including machine control unmanned vehicles marine and agricultural markets SPAN SE D and SPAN MPPC D provide the hardware necessary to run an ALIGN baseline inside one enclosure However SPAN MPPC D must be paired with the OEMV3 receiver and an OEMV based remote to run ALIGN Two antennas can be c
24. 1 _4_ Local Area Connection Properties General Advanced Connect using Intel R 82566DC 2 Gigabit Network Configure This connection uses the following items E Client for Microsoft Networks 2 I File and Printer Sharing for Microsoft Networks Internet Protocol TCP IP une Description Transmission Control Protocol Intemet Protocol The default wide area network protocol that provides communication across diverse interconnected networks Show icon in notification area when connected Notify me when this connection has limited or no connectivity SPAN SE User Manual Rev 7 2x Internet Protocol TCP IP Properties P General You can get IP settings assigned automatically if your network supports this capability Otherwise you need to ask your network administrator for the appropriate IP settings Obtain an IP address automatically Use the following IP address IP address 192 168 0 9 Subnet mask 255 255 255 0 Default gateway 192 168 0 1 C Obtain DNS server address automatically r Use the following DNS server addresses Preferred DNS server Altemate DNS server Advanced Connect computer s Ethernet port to the SPAN SE Ethernet port using an Ethernet cross over cable Set the static IP address on the computer to the following settings in the Local Area Connection Properties dialog box
25. 197 B 4 43 SETMARK1OFFSET SETMARK2OFFSET SETMARK3OFFSET SETMARKAOFFSET Set Mark 4 198 B 4 44 SETUPSENSOR Add a new camera 199 4 45 SETWHEELPARAMETERS Set wheel parameters 201 4 46 SOFTLOADFILE Loads a file to the 203 4 47 SOFTPOWER Power down the 204 4 48 SPANAUTH Add an authorization code for a new model 205 4 49 SPANMODEL Switch to a previously authorized model 207 B 4 50 TAGNEXTMARK Add a new camera 208 B 4 51 TIMEDEVENTPULSE Add a new camera 209 4 52 UNLOG Remove a log from logging 210 B 4 53 UNLOGALL Remove all logs from logging control 212 B 4 54 VEHICLEBODYROTATION Vehicle to SPAN frame rotation 213 B 4 55 WHEELVELOCITY Wheel velocity for INS augmentation 215 Appendix C Command Prompt Interface 217 C DOS iini rp n n d ec e en gs 218 C 2 WIndOWS HP RR EN in 219 Appendix D Data Logs 220 Dat Log Types
26. 2 134 9 ALIGNMENT HOLES FOR 0 125 DOWEL PINS _ 6 104 _ 155 1 Figure 37 IMU CPT Front and Bottom View SPAN SE User Manual Rev 7 A 2 5 1 IMU CPT Cable The NovAtel part number for the IMU CPT cable is IMU CPT Cable Assembly 60723114 IMU CET POWER DATA 2197 321062XX REV D Figure 38 IMU CPT Development Terminated Cable lt The IMU CPT cable has a green ground line terminated in ring lug as shown in Figure 38 that is grounded to the IMU CPT connector body and enclosure Table 20 IMU CPT Connector Pin Out Descriptions Pin No Function COM ee MOLEX Comments 1 Power Return BLK 2 9 16 VDC Power Input WHT 3 20 Reserved 21 IMU RS422 TX 2 22 IMU RS422 TX 8 23 24 Reserved 25 IMU RS422 Signal Ground 5 26 34 Reserved 35 TOV Output 36 Reserved 37 Chassis GND WHT Chassis GND GRN Ring lug a This pin connects to EVENT IN 4 of the yellow SPAN SE cable Refer to Table 9 on page 100 for pin out information 126 SPAN SE User Manual Rev 7 A 2 5 2 IMU CPT Sensor Specs PERFORMANCE FIBER OPTIC GYROS Bias Offset 20 hr Turn On To Turn On Bias Repeatability Compensated hr In Run Bias Variation At Constant Temperature Ihr 10 Scale Factor Error Total 1500 ppm 1c
27. 415 100 SPAN MPPC Breakout Board J29 Power 415 101 SPAN MPPC Breakout Board J30 Serial Port 415 12 SPAN SE User Manual Hev 7 102 SPAN MPPC Breakout Board J31 Serial Port 416 103 SPAN MPPC Breakout Board J32 Serial Port 416 104 SPAN MPPC Breakout Board J33 Serial Port 416 105 SPAN MPPC Breakout Board J34 Serial Port 417 106 SPAN MPPC Breakout Board J35 Serial Port 417 107 SPAN MPPC IMU Connecctions ccccccccccececeeaeeesseseecececeeceeceaaeesseeeseeeeeeeseauenaneaseess 418 SPAN SE User Manual Rev 7 13 Software License 14 BY INSTALLING COPYING OR OTHERWISE USING THE SOFTWARE PRODUCT YOU AGREE TO BE BOUND BY THE TERMS OF THIS AGREEMENT IF YOU DO NOT AGREE WITH THESE TERMS OF USE DO NOT INSTALL COPY OR USE THIS ELECTRONIC PRODUCT SOFTWARE FIRMWARE SCRIPT FILES OR OTHER ELECTRONIC PRODUCT WHETHER EMBEDDED IN THE HARDWARE ON A CD OR AVAILABLE ON THE COMPANY website hereinafter referred to as Software 1 License NovAtel Inc NovAtel grants you a non exclusive non transferable license no
28. 417 J 4 SPAN MPPC to IMU Connection 418 This section outlines the connections that are required between the SPAN MPPC and either an IMU Interface Cable a Deutsch connector on an LN200 or HG1700 enclosure or a NovAtel Power Communication Board used with an LN200 or HG1700 IMU lt Pin 36 on the J600 connector is one of many available ground pins See Table 92 J600 Multi Communication Header A on page 407 if an alternate ground connection is required Table 107 SPAN MPPC IMU Connections SPAN MPPC Multi IMU DB 9 Power Communication Interface 8 Pos Molex Communication Header A Cable Board P100 Header J601 Pin 9 14 4 J600 Pin 36 2 10 J600 Pin 37 8 7 J600 Pin 38 2 2 1600 Pin 39 7 1 J600 Pin 40 3 6 225 J600 Multi Communication Header on the SPAN MPPC Interface card See Figure 79 SPAN MPPC Interface Card on page 404 b Female DB 9 connector on the interface cable that runs from the receiver to the LN200 or HG1700 IMU enclosure P100 header on the Power Communication Board if there is no IMU Interface Cable or IMU enclosure Only needed for use with iIMU OFSAS Only needed for use with iIMU CPT e SPAN SE User Manual Rev 7 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 o
29. B 4 45 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 SE filter an indication of the expected accuracy of the wheel data Usage of the SETWHEELPARAMETERS command depends on which method is used to communicate to the wheel sensor see section 3 3 8 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 If this command is not entered the default wheel circumference of 1 96 meters is used In addition this command supplies the resolution of the wheel sensor which allows the filter to weight the wheel sensor data appropriately as in SETWHEELPARAMETERS 1000 2 03 0 002 2 If you have an external wheel sensor that will be connected to an EVENT line on the SPAN SE then the SETWHEELPARAMETERS command must be sent in order to select which MARK to use The wheel parameters must also be specified here as the default values will not be used The two optional parameters in the command are specifically for this mode of operation For example if you had wheel sensor attached to the first EVENT IN MARK1 with a tick provided with positive polarity the command would look like SETWHEELPARAMETERS MARK1 POSITIVE 1000 2
30. ZEROTOTWO 1 Receiver interprets Type 0 messages as Type 2 messages IGNOREZERO 2 Receiver ignores the usual interpretation of Type 0 messages as do not use and continues Enum H 12 182 SPAN SE User Manual Rev 7 B 4 34 SETAUTOLOGGING Start SD Card Logging at Boot Up This command is used to enable and disable SD card auto logging at boot up If you have already used the SAVECONFIG command for some logs on the FILE port that you wish to start logging automatically this command enables the SD card and opens a file for writing immediately after the card is mounted and ready for use even before the rest of the system is ready For example enter LOG FILE RANGEA ONTIME 1 followed by SAVECONFIG If you also enter SETAUTOLOGGING ON a file is created and RANGEA logs are recorded automatically after each system boot up or restart If the logs are requested but SETAUTOLOGGING is OFF nothing is written to the card Similarly if SETAUTOLOGGING is ON but no logs to the FILE port have been requested no data is written to the card but a blank file is created The user can still type LOGFILE CLOSE at any time to stop logging to the file whether it was opened for writing manually using LOGFILE OPEN or automatically using SETAUTOLOGGING ON Since data is being recorded immediately at boot up some early output will have invalid GPS TIME and other potential error or warning bits for example indicating inv
31. c DIRENT log lets you view the contents of the current directory which now contains a TESTI directory COM1 LOG DIRENT OK COMI DIRENT COM1 0 99 0 FINESTEERING 1523 153428 656 00000000 0000 159 lt 5 0 0 20090316 183648 DIR command can also be used at the command prompt to return a Disk Operating System DOS directory structure response d To change the directory enter the CD command CD SD TEST1 Change current working directory to new 1 SPAN SE User Manual Rev 7 3SPAN SE Operation Chapter 3 To view the current working directory enter the PWD command COM1 PwD SD TEST1 COM1 f To remove a directory use the RMDIR command CD N Change back to the root directory RMDIR SD TEST1 Remove the TESTI directory 3 9 3 Select Logs to Send to the SD Card Use the LOG command see page 163 and its FILE designator to specify which logs to send to the SD Card For example a standard logging configuration for GPS INS only post processing applications would be FILE RANGECMPB ONTIME 1 FILE RAWEPHEMB ONNEW FILE RAWIMUSB ONNEW FILE IMUTOANTOFFSETSB ONNEW 3 9 4 Start and Stop Logging To start or stop logging either use the button next to the SD Card access door or use the LOGFILE command see page 166 Once a list of logs has been specified for logging press the Log but
32. 194 SPAN SE User Manual Rev 7 B 4 41 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 60 s nominally 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 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 164 for a description of the axes mappin
33. 2 AppSlot Application slot Can be Enum 4 H USERAPPI USERAPP2 or USERAPP3 3 Function Application function Can be Enum 4 4 START REMOVE AUTOSTART ON or AUTOSTART OFF XXXX 32 bit CRC Hex 4 H 16 5 CRLF Sentence terminator ASCII only Abbreviated ASCII Example APPLICATION USERAPP1 START 134 SPAN SE User Manual Hev 7 B 4 3 APPLYVEHICLEBODYROTATION Enable vehicle to body rotation Use this command to apply the vehicle to body rotation to the output attitude which was entered with the VEHICLEBODYROTATION command see page 213 This rotates the SPAN computation 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 Field Description binary 2 switch Disable 0 Enable disable vehicle body Enum 4 H Enable 1 rotation using values entered in the vehiclebodyrotation command default disable Abbreviated ASCII Example APPLY VEHICLEBODYROTATION ENABLE SPAN SE User Manual Rev 7 135 B 44 ASSIGNLBAND Set L band satellite communication parameters You must use t
34. 4 obs x 44 variable xxxx 32 bit CRC ASCII and Binary only Hex 4 H 4 obs x 44 variable CR LF Sentence terminator ASCII only 1 Satellite PRNs may have two lines of observations one for the L1 frequency and the other for L2 326 SPAN SE User Manual Rev 7 0 3 53 RANGECMP Compressed Version of the RANGE Log Message ID 140 Log Type Synch Recommended Input log rangecmpa ontime 10 Example SRANGECMPA COM1 0 63 5 FINESTEERING 1429 226780 000 00000000 9691 2748 26 049c10081857f2df1f 4a130ba2888eb9600603a709030000 0b9c3001225bf58f334a130bb1e2bed473062fa609020000 449 1008340400 0 9 109 7535 2015 71 6030000 459c300145030010a6a9a10959c2 09120151 7166030000 b9d301113c8ffefc284000c6ea051dbf3089da1a0010000 49d1018c6b7 67 a228820af2e5e39830180ae1a8030000 0942301165 4 8 228820 500 089 31185 0 8020000 49d1018be18f41f2aacad0ala934efc40074ecf88030000 b9d301182b9f69f38acad0a3e3ac28841079fcb88020000 1817alf95f16d7af0a69fbelfa401d3f4d064030000 b9d30112909fb2f20d7af0a9f24a687521ddece64020000 49e1118af4e0470f 6684309a0a631cd642c 55821320000 b9eb110a55903502 6e4309ee28d1ad032c7cb7e1320000 49 1118 878 54 4 2 098 35558 532 4 1765220000 b9ebll0abcff71f5ed2aa09cb6ad0f903209d16c5220000 0eeead18 DANN ADR n Q Table 67 Range Record Format RANGECMP only
35. COMPROTOCOLA COM1 0 95 0 FINESTEERING 1521 319232 645 00000000 0000 149 5 COM1 RS232 COM2 RS232 COM3 RS232 COMA RS232 IMU RS232 de92c2fb Field Field Type Description Format Buc redd 1 Log Header Log Header H 0 2 recs Number of records to follow Ulong 4 H 3 port COM port see Table 23 COM Serial Enum 4 H 4 Port Identifiers on page 140 4 protocol Port protocol see Table 48 below Enum 4 H 8 5 next record offset H 4 record number x 8 6 XXXX 32 bit CRC Hex 4 H 4 recs x 8 7 CR LF Sentence Terminator ASCII only Table 48 Port Protocol ASCII Binary Description RS232 0 RS 232 mode RS422 1 RS 422 mode 248 SPAN SE User Manual Rev 7 0 3 7 CORRIMUDATA and CORRIMUDATAS Corrected IMU measurements 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 54 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 S values are
36. 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 or the INS will reset and require alignment again Abbreviated ASCII Syntax SETIMUTOANTOFFSET x y z a b c Message ID 383 Field ASCII i Binary Binary Binary Type Value Description Format Offset 1 header This field contains the 0 command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary 2 x x 100 x offset m Double H 3 y 100 y offset m Double H 8 4 7 100 z offset m Double H 16 5 a 0 to 10 Uncertainty in x m Default is Double H 24 10 of the x offset to a minimum of 0 01 m 6 b 0 to 10 Uncertainty in y m Default is Double H 32 10 of the y offset to a minimum of 0 01 m 7 0 to 10 Uncertainty z m Default is Double H 40 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 SPAN SE User Manual Rev 7 189 4 38 SETIMUTOANTOFFSET2 Set IMU to GPS2 antenna offset Set the lever arm for the GPS2 antenna Preferably the GPS1 antenna will be set up behind the IMU forward axis and the GPS2 antenna will be set up ahead of the IMU forward axis Entering both lever arms will automatically compute the angular offset between the ALI
37. 02 02 1337 00 4aa6 90 0720 d50 al0c5a 4dc146 d89bab 0790b6 fe4 000 70 SGPALM 28 24 26 1337 00 878c 90 1d32 fd5c al0c90 ldb6b6 2eb7 5 ce95c8 00d 000 23 SGPALM 28 25 27 1337 00 9cde 90 07 2 d54 al0da5 adc097 562da3 6488dd 00e 000 2F SGPALM 28 26 28 1337 00 5509 90 Ob7c d59 al0cc4 14262 83e2c0 3003bd 02d 000 78 SGPALM 28 27 29 1337 00 47 7 90 1020 d58 al0ce0 d40a0b 2d570e 221641 122 006 7D SGPALM 28 28 30 1337 00 4490 90 0112 fd4a al0ccl 33d10a 81dfc5 3bdb0f 178 004 28 SPAN SE User Manual Rev 7 Field Structure Field Description Symbol Example 1 GPALM Log header GPALM 2 msg Total number of messages logged Set to zero until 17 almanac data is available 3 msg Current message number X X 17 4 PRN Satellite PRN number Xx 28 GPS 1 32 5 GPS wk GPS reference week number 653 6 SV hlth SV health bits 17 24 of each almanac page b hh 00 7 ecc e eccentricity d hhhh 3EAF 8 alm ref time toa almanac reference time hh 87 9 incl angle sigma inclination angle hhhh OD68 10 omegadot OMEGADOT rate of right ascension hhhh FD30 11 rt axis A 2 root of semi major axis hhhhhh AIOCAB 12 omega omega argument of perigee hhhhhh 6EE732 13 long asc node OMEGA o longitude of ascension node hhhhhh 525880 14 Mo Mo mean anomaly hhhhhh 6DC5A8 15 af0 clock parameter
38. 1 See also the MARKxPVA and MARKxTIME logs starting on page 316 2 See Appendix A in the OEMV Family Installation and Operation User Manual for the maximum raw measurement rate to calculate the minimum period If the value entered is lower than the minimum measurement period the value is ignored and the minimum period is used 166 SPAN SE User Manual Rev 7 Description 1 LOG This field contains the command name or the message ASCII header depending on whether the command is abbreviated header ASCII or ASCII respectively 2 port See Table 23 COM Output port Enum Serial Port Identifiers on page 140 3 message Any valid message Message name of log to output Char name with an optional A or B suffix 4 trigger ONNEW Output when message is updated not necessarily changed Enum see Footnote 1 on page 166 ONCHANGED Output when the message is changed ONTIME Output on a time interval ONNEXT Output only the next message ONCE Output only the current message default 5 period Any positive double Log period for ONTIME trigger in seconds Double value larger than the default is 0 receiver s minimum raw see Footnote 2 on page 166 measurement period 6 offset Any positive double Offset for period ONTIME trigger in seconds To log data Double value smaller than the at 1 second after every minute set the period to 60 and the period offset to 1 default is 0 7
39. 180 Uncertainty of X rotation in Double 8 H 24 degrees degrees Default is 0 6 YUncert 0 180 Uncertainty of Y rotation in Double 8 H 32 degrees degrees Default is 0 7 ZUncert 0 180 Uncertainty of Z rotation in Double 8 H 40 degrees degrees Default is 0 Abbreviated ASCII Examples GIMBALSPANROTATION 0 0 90 GIMBALSPANROTATION 0 0 90 0 1 0 1 1 0 SPAN SE User Manual Rev 7 151 B 4 15 GNSSCARDCONFIG GNSS port configuration 152 Use this command to configure both the interface mode and COM port mode on an internal GNSS card from a SPAN SE receiver port The GNSSCARDCONFIG command is especially useful for configuring because the OEMV 3 COMI port is used for correction input data You cannot use this command with the OEMV 2 and OEMV 3 connectors on the I O 1 Green cable as they provide direct access to the OEMV 2 and OEMV 3 GNSS cards respectively within the receiver Instead use the standard OEMV family INTERFACEMODE and COM commands The GNSSCARDCONFIG command can also be used to request that the OEMV 3 output a GPGGA log at the specified rate This is required for use with some Virtual Reference Station VRS networks Note that the logging rate is restricted to the usual OEMV 3 logging rates and the Transmit Interface Mode must be NOVATEL Abbreviated ASCII Syntax Message ID 1092 GNSSCARDCONFIG card port inter tx inter response bps parity data bits stop bits handshaking echo brea
40. 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 responsible for any failure to perform due to unforeseen circumstances or causes beyond its ability to reasonably control Risk of loss damage or destruction shall pass to Purchaser upon delivery to carrier Goods are provided solely for incorporation into the Purchaser s end product and shall not be onward delivered except as incorporated the Purchaser
41. Figure 58 Correct Flat Flex Cable Installation F4 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 53 on page 374 Apply threadlock to threads Finger tighten all bolts and torque them in a cross pattern to 12 in Ibs The fully assembled IMU enclosure is shown in Figure 59 Figure 59 HG1700 SPAN IMU 378 SPAN SE User Manual Rev 7 DL Yes 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 for the cable harness connectors 2 Torque values for all fasteners including those for the cable harness screws are as follows Size 6 32 0 79 0 90 N m 7 0 8 0 Ib in Size M4 1 36 1 58 N m 12 0 14 0 Ib in SPAN SE Use
42. GPS only SGPGRS 142406 00 1 1 1 0 1 1 7 1 2 2 0 0 5 1 2 1 2 0 1 67 268 SPAN SE User Manual Rev 7 Field Structure Field Description Symbol Example 1 GPGRS Log header GPGRS 2 utc UTC time of position hours minutes hhmmss ss 192911 0 seconds decimal seconds 3 mode Mode 0 Residuals were used to x 1 calculate the position given in the matching GGA line a priori not used by OEMV family receiver Mode 1 Residuals were recomputed after the GGA position was computed preferred mode 4 15 res Range residuals for satellites used in the KEK KEK eek 13 8 1 9 11 4 33 6 0 9 navigation solution Order matches order of 6 9 12 6 0 3 0 6 22 3 PRN numbers in GPGSA 16 XX Checksum hh 65 17 CR LF Sentence terminator CR LF SPAN SE User Manual Rev 7 269 D 3 18 GPGSA GPS DOP and Active Satellites This NMEA log provides GPS receiver operating mode satellites used for navigation and DOP values See also Section D 2 NMEA Standard Logs on page 233 The GPGSA log outputs these messages with contents without waiting for a valid almanac Instead it uses a UTC time calculated with default parameters In this case the UTC time status is set to WARNING since it may not be 100 accurate When a valid almanac is available the receiver uses the real parameters Then the UTC time is set to VALID The DOPs provide a simple characterization of the user satellite geometry DOP is relat
43. INSPVA INSATT and so on is with respect to that computation frame Refer to the SETIMUORIENTATION command description to see what mapping definition applies depending on which IMU axis most closely aligns to gravity Essentially this means that if you do not mount the IMU with the z axis approximately up as marked on the enclosure you have a new IMU frame that defines what mapping applies This new IMU frame will not match what is marked on the IMU SPAN SE User Manual Hev 7 3SPAN SE Operation Chapter 3 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 new IMU frame aligned with the vehicle frame and record your vehicle to body rotations with respect to the frame SPAN will be using as the computation 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 X east Y north and Z up define the local level frame 3 4 7 2 X Relating the Vehicle Frame to the Body Frame Form the rotation matrix from the vehicle frame to the body frame using the vehicle to body frame angles measured according to the procedure de
44. Jo Ba n E zm n ox ms 7X 36 Vo 0 1 nen 0 00 1 5 1168 T 4 60 j 14 3 5 e a ud 0 14 o5 ag oF o8 8 Se 55 28 55 38 28 og gt lt x x lt x x amp amp amp 8 A NOTES 1 DIMENSIONS ARE IN MM IN MASS 3 1600 1601 MICRO HEADER 2x20 1 27 0 05 PITCH SAM TEC FTSH 120 01 DV K 1602 SOCKET STRIP 2x20 2 54 0 10 PITCH SAMTEC SSM 220 DV Figure 79 SPAN MPPC Interface Card 404 SPAN SE User Manual Hev 7 8X SCREW 4 40 X 6 35 0 25 SPAN MPPC BOARD 602 CAREFULLY ALIGN CONNECTORS OEMV3 BOARD P1601 8X HEX STANDOFF F F 4 40 X 11 68 0 46 8X SCREW 4 40 X 6 35 0 25 Figure 80 SPAN MPPC Board Stack perspective view SPAN SE User Manual Rev 7 405 0 00 O 3 4X 3 6 4 014 00000000 oF md e qt a X b Whine o 9 os or S x 815 321 85 0 3 35 28 2g 2g eg SE 08 8x 25 9 gt lt
45. Learning B 4 4 4 Beam Frequencies You can switch to Omnistar VBS by using the following commands Use OmniStar VBS assignlband omnistar freq 1200 psrdiffsource omnistar The OmniStar beam frequency chart for freq can be found at http www omnistar com chart html For example Eastern US Coverage is Northern Canada to southern Mexico 1557845 or 1557845000 SPAN SE User Manual Rev 7 137 ASCII Binary Binary Binary Binary Value Value Description Format Bytes Offset 1 ASSIGNLBAND This field contains the command H 0 header name or the message header depending on whether the command is abbreviated ASCII ASCII or binary 2 mode See Table 22 Set the mode and enter specific Enum 4 H frequency and baud rate values 3 freq 1525000 to L bandservice beam frequency of Ulong 4 H 4 1560000 satellite Hz or kHz See also or Beam Frequencies on page 137 1525000000 to default 1536782 if the mode is 1560000000 OMNISTAR 4 baud 300 600 1200 Data rate for communication with Ulong 4 H 8 2400 or 4800 L band satellite default 1200 138 SPAN SE User Manual Rev 7 B 4 5 COM Port configuration control This command permits you to configure the SPAN SE receiver s asynchronous serial port communications drivers The current COM port configuration can be reset to its default state at any time by sending it two hardware break signals of 250 milliseconds each spa
46. 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 55 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 1 Axis of the SPAN computation frame If the APPLYVEHICLEBODYROTATION command has been invoked it will be the axis of the vehicle frame See Section 3 1 Definition of Reference Frames within SPAN on page 45 for frame definitions Recommended Input log insattsa ontime 1 ASCII Example INSATTSA 1541 487975 000 1541 487975 000549050 2 755452422 4 127365126 323 289778434 INS SOLUTION GOOD ba08754f SPAN SE User Manual Hev 7 0 3 29 INSCOV INS Covariance Matrices The position and velocity matrices in this log each contain 9 covariance values with respect to the local level frame The attitude angles are given in the SPAN Computation Frame See below for the format of the variance output variance about variance about X rotation EE Y rotat
47. 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 constant and that the distance and relative direction between them is fixed The IMU should be mounted in such a way that the positive Z axis marked on the enclosure points up and the Y axis points forward through the front of the vehicle in the direction of track The IMU can be mounted in other orientations see Section 34 Full Mapping Definitions on page 188 but this can make interpreting the raw IMU and attitude output more difficult Also it is important to measure the distance from the IMU center of navigation to the antenna phase center the Antenna Lever Arm on the first usage on the axis defined on the IMU enclosure See Section 3 4 6 Lever Arm Calibration Routine starting on page 59 See also Appendix A Technical Specifications starting on page 92 which gives dimensional drawings of the IMU enclosures 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 GNSS 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 especially in RTK mode 2 offset from the IMU center o
48. RS422 2 RxD RS232 Continued on the following page SPAN SE User Manual Rev 7 409 410 Description 2 RX RS422 Signal Levels A COM2 CTS RS232 25 2 TX RS422 COM2 TxD RS232 26 2 TX RS422 COM2 RTS RS232 27 Ground 28 Ground 29 RX RS422 COM3 RxD RS232 30 COM3 RX RS422 CONG CTS RS232 3 COM3 TX RS422 COM3 TxD RS232 32 COM3 TX RS422 COM3 RTS RS232 33 COMA RX RS422 COMA RxD RS232 34 COMA RX RS422 COMA CTS RS232 35 COMA TX RS422 COMA TxD RS232 36 COMA TX RS422 COMA RTS RS232 37 Ground 38 Ground 39 ARINC 4 40 ARINC SPAN SE User Manual Hev 7 J 3 SPAN MPPC Breakout Board The SPAN MPPC Breakout Board NovAtel part number 01018504 connected to the MPPC stack is shown in Figure 82 Figure 82 SPAN MPPC Breakout Board The physical location of the connectors on the Breakout Board is shown in Figure 83 11188 J23 Figure 83 SPAN MPPC Breakout Board Connectors The SPAN MPPC Breakout Board provides access to SPAN MPPC signals as outlined in the following tables Table 94 SPAN MPPC Breakout Board J1 J23 Test Points Pin Description Pin Description Color Vin J13 Vin Red J2 Vin J14 Vin Red J3 GND J15 GND Black J4 GND J16 GND Black 15 Event outlo J17 Even
49. SPAN SE User Manual Rev 7 E Q N 2 1 g eme i Q E 1 N E L 1 1 50 9 i fod uogaesirejur je jeuloJe e oor Figure 31 ilMU FSAS Center of Navigation 116 SPAN SE User Manual Hev 7 A 2 4 1 iIMU FSAS Interface Cable The Universal IMU Interface Cable shown in Figure 32 is provided with new iIMU FSAS IMUs The NovAtel part number is 01018299 see Table 11 Universal IMU Enclosure Interface Cable Pinouts on page 104 for pinout descriptions This cable has an optional odometer connector NovAtel part number 01018388 See also Section A 2 4 2 iIMU FSAS Odometer Cabling on page 120 if applicable The iIMU interface cable supplied provides power to the IMU from an external power source and enables input and output between the receiver and IMU Figure 33 on page 118 shows the iIMU interface cable connections when used with a SPAN SE receiver lt To connect the SPAN SE with a legacy iIMU FSAS interface cable NovAtel part number 01018221 a FSAS SPAN SE Y Adapter cable is needed Please see Table 17 on page 120 for cable pin out information Figure 32 Universal IMU Interface Cable SPAN SE User Manual Rev 7 117 Reference 1 2 3 4 118 Figure 33 ilMU Interface Cable Connections with a SPAN SE Description SPAN
50. as shown in Figure 64 Use thread locking fluid on each screw Washers not shown Figure 64 Install LN 200 IMU to Base SPAN SE User Manual Rev 7 383 2 Using a long 3 mm hex bit install the IMU bracket SDLC to the base as shown in Figure 65 Use thread locking fluid on each M4 screw CN Figure 65 Install Bracket to Base 384 SPAN SE User Manual Hev 7 3 Connect the cable harness to the board assembly and IMU routing it as shown in Figure 66 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 66 Making Connections SPAN SE User Manual Rev 7 385 4 While carefully holding the body over the bracket connect the internal cable harness to the board assembly as shown in Figure 67 SS SS gt gt 2 lt gt 2 Figure 67 Connect Internal Cable Harness 386 SPAN SE User Manual Rev 7 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
51. gt lt gt lt X N N N N oT 58 o g Figure 81 SPAN MPPC Board Stack dimensions 406 SPAN SE User Manual Rev 7 J 2 SPAN MPPC Connector Pin Outs Table 91 provides a description of the SPAN MPPC interface card headers Table 91 SPAN MPPC Interface Card Header Description Header ID Function Connector Format J600 Multi Communication Port A 2x20 pin header male 2mm pitch J601 Multi Communication Port B 2x20 pin header male 2mm pitch Table 92 J600 Multi Communication Header A Pin Description Signal Levels Pin 2 1 i Pin 40 1 Vin 9 to 30V DC 2 Ground 3 Vin 9 to 30V DC 4 Ground 5 Vin 9 to 30V DC 6 Ground 7 Vin 9 to 30 DC 8 Ground 9 Vin 9 to 30V DC 10 Ground 11 Vin 9 to 30V DC 12 Ground 13 Ground 14 Ground 15 USB Host 16 USB Host 17 USB Host VBUS 18 Ground 19 USB Device 20 USB Device 21 USB Device VBUS Continued on the following page SPAN SE User Manual Rev 7 407 408 Pin Description Signal Levels 22 Ground 23 Ethernet TX 24 Ethernet TX 25 Ground 26 Ground 27 Ethernet RX 28 Ethernet RX 29 Ground 30 Ground 31 COMI RX RS422 COMI CTS RS232 32 COMI RX RS422 COMI RxD RS232 Serial port is software configurable for COMI TX 8
52. into the markpva to associate with a particular event Abbreviated ASCII Syntax Message ID 1257 TAGNEXTMARK Mark TagNum ASCII Binary Binary Binary Field Type Format Offset Description 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 2 Mark Mark1 1 The input event mark Enum 4 H Mark2 Mark3 Mark4 gt 3 TagNum The ID tag that you Ulong 4 H 4 want to associate with the next input event on the selected mark 4 XXXX 32 bit CRC Hex 4 H 8 5 CR LF Sentence Terminator 5 2 2 ASCII only Abbreviated ASCII Example TAGNEXTMARK MARK1 1000 TAGNEXTMARK MARK2 3465 208 SPAN SE User Manual Rev 7 4 51 TIMEDEVENTPULSE anew camera event Use this command to add a new camera event to the system TIMEDEVENTPULSE will send a pulse on the sensor MARK output at the selected GPS time and set the next trigger on the sensor MARK input to be tagged with an event ID Abbreviated ASCII Syntax Message ID 1337 TIMEDEVENTPULSE Sensors GPSWeek GPSSeconds EventID Binary Binary Format Bytes Offset Field Type y 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 2 SensorID ALL 1 The sensor s af
53. log 278 offset 319 position 265 273 status 354 copyright 2 correction RTCA 154 RTK 359 corrimudata log 249 424 CPU 163 cyclic redundancy check CRC 224 226 D D model 81 359 data collection 58 66 71 datum 240 best position 242 DC antenna 92 default factory 174 DGPS command 273 differential 237 240 correction station 177 correction station 171 differential correction age 242 dilution of precision DOP 265 NMEA 270 DIR command 131 DIRENT log 251 distance exceeded 239 Doppler 326 accumulated 323 328 instantaneous 326 range record 327 DOS commands 130 driving 64 dual antenna functionality 81 installation 81 overview 81 DUALANTENNAPORTCONFIG com mand 145 dynamic 176 Dynamic Host Configuration Protocol DHCP 78 E east 209 echo 141 elevation satellite visibility 274 e mail 22 enclosure 34 enclosure frame 46 ephemeris GLONASS 257 raw data 329 SPAN SE User Manual Hev 7 time status 230 error flag 342 multipath 323 parity 322 text description 349 tracking 323 ethernet 78 79 157 event 76 146 147 message 349 text description 349 type 349 EVENTINCONTROL command 146 EVENTOUTCONTROL command 147 expiry date 352 EXTHDGOFFSET command 148 EXTHDGOFFSET log 253 F factory default modify 180 reset 174 setting 139 fast alignment 63 features 33 filter RTK 175 fine time 230 firmware updates 23 33 fix data 264 position 266 save setting 180 solution 175 fla
54. 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 SE User Manual Rev 7 Terms and Conditions writing to any third party or use it other than for the operation and maintenance of any Equipment provided 5 GENERAL PROVISIONS All Purchase Orders are subject to approval and acceptance by NovAtel Any Purchase Order or other form from the Purchaser which purports to expand alter or amend these terms and conditions is expressly rejected and is and shall not become a part of any agreement between NovAtel and the Purchaser This agreement shall be interpreted under the laws of the Province of Alberta 6 LIMITED WARRANTY AND LIABILITY Warranty Period Products 1 year Accessories 90 days in each case from the date of invoice NovAtel warrants that during the Warranty Period that a the Product will be free from defects in material and workmanship and conform to NovAtel specifications b the software will be free from erro
55. seen enne eene 75 3 10 2 Configuring the Software 76 3 10 93 Using Timed Event Pulses 5 1 deterret e oodd 76 3 11 Synchronizing External 42222220 0 000 0100 76 3 11 1 Configuring a Synchronous Output 76 3 11 2 Configuring an Input 77 3 12 SPAN SE Ethernet Connection 78 3 12 1 Configuring for TCP or UDP Operation ss 78 3 12 2 Configuring the Ethernet Connection 78 3 12 3 Configuring Log Requests Destined for the Ethernet 79 3 12 4 Connecting to the Ethernet 2 emen 79 4 Dual Antenna Functionality 81 DEKO INMLIU nt anshdedeas cong 81 NACE 81 4 3 Configuring ALIGN with 82 4 4 Configuring ALIGN with SPAN MPPC D sssssssseseeeeenneeen 82 4 5 Configuring SPAN with ALIGN on SE D and MPPC D 82 4 5 1 Alignment a Moving Vessel Aided Transfer Alignment Default 83 4 5 2 Alignment on a Stationary Vehicle Aided Static Alignment
56. the other fields 3 OMNISTARAUTO When you select OMNISTARAUTO the receiver automatically selects the best OmniSTAR beam to track based on the receiver s position This requires the receiver to have a downloaded satellite list from an OmniSTAR satellite Therefore a manual assignment is necessary the first time an OmniSTAR satellite is assigned on a new receiver After collection the satellite list is stored in NVM for subsequent auto assignments Lists are considered valid for 6 months and are constantly updated while an OmniSTAR signal is tracking If the receiver has a valid satellite list it is reported in a status bit in the LBANDSTAT log see page 304 4 OMNISTARNARROW When you select OMNISTARNARROW enter a dedicated frequency and baud rate For re acquisitions of the L band signal the receiver uses a 1500 Hz search window and the stored TCXO offset information To remove the TCXO offset information from NVM use the FRESET LBAND_TCXO_OFFSET command A standard FRESET command does not do this see page 150 2 1 The receiver will always track an available local beam over a global beam The receiver constantly monitors the satellite list to ensure it is tracking the best one and automatically switches beams if it is not tracking the best one 2 Refer also to application note APN 043 L band Tracking and Data Output without GPS available on our website at www novatel com through Support Knowledge and
57. to open a new file and start logging The SD LED starts blinking green if the card is empty orange if the card has 10 of free space remaining when the file is opened The list of pre defined logs include the following RAWIMUSB ONNEW BESTGPSPOSB ONTIME 1 HEADINGB ONNEW e IMUTOANTOFFSETSB ONNEW RANGECMPB ONTIME 1 RAWEPHEMB ONNEW GLOEPHEMERISB ONNEW e Press the SD Logging button to stop logging or use the LOGFILE CLOSE command see page 168 to close the file Note that this is not an UNLOGALL command and if you open a file again the profile will continue to log Also you must set the SETIMUTYPE command see page 191 before the receiver logs RAWIMUSB data 3 9 6 Auto Logging on Start Up After configuring log output using the LOG commands configure the receiver to log the log profile on start up every time by issuing these two commands SETAUTOLOGGING ON SAVECONFIG 54 Log requests using the ONCE trigger are not saveconfigable Every time the receiver powers up the SD Card logging configuration you specified starts See also the SAVECONFIG command on page 180 and the SETAUTOLOGGING command on page 183 3 9 7 Reading data from the card You can read data from the SD Card in multiple ways after you stop logging 1 Remove the card from the receiver and read the data using a PC SD Card reader 2 Usethe File Transfer Protocol FTP functionality built into the SPAN SE The FTP functionality is availa
58. 000 40000020 0000 143 ICOM1 NOVATEL NOVATEL 421e3cb1 e457f77e oU DI D cx 1 The embedded CRCs are flipped to make the embedded messages recognizable to the receiver For example if the embedded message is 91189507 10010001111110001001101100000111 11100000110110010001111110001001 0491189 its CRC is really e0d91f89 340 SPAN SE User Manual Rev 7 WARNING RXCONFIGA CO UNKNOWN 0 0 0 RXCONFIGA CO UNKNOWN 0 0 0 de7a1f83 b83 RXCONFIGA CO 0 0 000 4000 4ae673c3 292 RXCONFIGA CO 0 0 000 4000 111160de b9c RXCONFIGA CO 0 0 000 4000 55434e6b d01 RXCONFIGA CO 0 0 000 4000 ed7ff685 bd4 RXCONFIGA SETIMUTYPEA 58dfc9b8 80e RXCONFIGA CO 1 7 96 5 UNKNOWN 0 0 000 40000020 0000 7 16 96 5 0 OWN 0 0 000 40000020 0000 1 00 40000020 0000 143 CORRECTIO 15d9 1 5 96 5 UNKNOW 0020 0000 143 CO b473e 0 0 000 40000020 0000 1 RXSTATUSEVENTA 1 4 96 5 U OWN 0 0 000 40000020 0000 1 0020 0000 143 2 RXSTATUSEVENTA O 857a8 1 3 96 5 UNKNOWN 0 0 000 40000020 0000 7 0020 0000 143 CO RXSTATUSEVENTA O c75af 1 2 96 5 UNKNOWN 0 0 000 40000020 0000 7 0020 0000 143 COM4 19430 1 1 96 5 FI 7837 1 0 96 5 00 40000020 0000 1
59. 0x0040 Bit timing lock 0 Not Locked 1 Locked 7 0x0080 Phase locked 0 Not Locked 1 Locked 8 0x0100 DC offset unlocked 0 Good 1 Warning N2 9 0x0200 AGC unlocked 0 Good 1 Warning 10 0x0400 11 0x0800 Reserved 12 0x1000 N3 13 0x2000 14 0x4000 15 0x8000 Error 0 Good 1 Error SPAN SE User Manual Rev 7 305 306 Table 59 OmniSTAR VBS Status Word Nibble Description 0 0x0001 Subscription Expired I False True NO 1 0x0002 Out of Region 1 False True 2 0x0004 Wet Error False True 3 0x0008 Link Error False True 4 0x0010 No Remote Sites False True NI 5 0x0020 No Almanac False True 6 0x0040 No Position False True 7 0 0080 No Time False True 8 0x0100 Reserved N2 9 0x0200 10 0x0400 11 0x0800 12 0x1000 N3 13 0x2000 14 0x4000 15 0x8000 Updating Data False True 1 Contact OmniSTAR for subscription support All other status values are updated by collecting OmniSTAR data for 20 35 minutes SPAN SE User Manual Rev 7 Table 60 OmniSTAR HP XP Additional Status Word Nibble Bit Description Bit 0 Bit 1 0 0x0001 Solution not fully converged False True NO 1 0x0002 OmniStar satellite list available False True 2 0x0004 Reserved 3 0x0008 4 0x0010 HP not authorized Authorized Unauthorized Nl 5 0x0020 XP not authorized Authorized Unauthorized 6 0x0040 Reserve
60. 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 fast or aided alignment set up a wheel sensor if applicable select the type of IMU and configure the receiver port connected to the IMU to accept IMU data CONFIG 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 INS SPAN wizard 54 SPAN SE User Manual Rev 7 3SPAN SE Operation 3 4 Real Time Operation SPAN operates through the OEMV command and log interface Commands and logs specifically Chapter 3 related to SPAN operation are documented in Appendices B and D of this manual respectively Real time operation notes Inertial data does not start until FINESTEERING status is reached and therefore the SPAN system does not function unless a GNSS antenna is connected with a clear view of the sky e The Inertial solution is computed separately from the GNSS solution The GNSS solution is available from the SPAN system through the GNSS specific logs even without SPAN running The integrated INS GNSS solution is available through special INS logs documented in Appendix D of this manual e The INS GNSS solution is available at the maximum rate of output of the IMU 100 or 200 Hz Because o
61. 1 RTCA RTCA ID A four character string containing only alpha a z or numeric characters 0 9 or ANY 2 CMR 3 CMR ID 0 CMR ID 31 or ANY Cannot be used in PSRDIFFSOURCE command 3 OMNISTAR 13 In the PSRDIFFSOURCE command OMNISTAR enables OmniSTAR VBS and disables other DGPS types OmniSTAR VBS produces RTCM type corrections In the RTKSOURCE command OMNISTAR enables OmniSTAR HP XP if allowed and disables other RTK types OmniSTAR HP XP has its own filter which computes corrections in RTK float mode or within about 10 cm accuracy 5 SBAS 13 In the PSRDIFFSOURCE command when enabled SBAS such as WAAS EGNOS and MSAS forces the use of SBAS as the pseudorange differential source SBAS is able to simultaneously track two SBAS satellites and incorporate the SBAS corrections into the position to generate differential quality position solutions An SBAS capable receiver permits anyone within the area of coverage to take advantage of its benefits Do not set SBAS in the RTKSOURCE command as it can not provide carrier phase positioning and disallows all other sources of RTK information 6 RTK2 In the PSRDIFFSOURCE command RTK enables using RTK correction types for PSRDIFF positioning When using multiple correction types such as RTCM RTCA RTCMV3 or CMR the positioning filter selects the first received message 10 AUTO 12 In the PSRDIFFSOURCE command AUTO means the first received RTCM or RTCA message has pre
62. 15 GND 16 Event Out 4 OV to 3 3 V 17 GND 18 19 0 20 Spare GPIO 2 21 Spare GPIO 3 22 Spare GPIO 1 23 Event In 3 0 3 to 3 75 V 24 GND 25 Event In 2 0 3 to 3 75 V 26 Event In 1 0 3 to 3 75 V 27 GND 28 Event In 4 0 3 to 3 75 V 29 2 RTS 30 COM Tx SPAN SE User Manual Rev 7 401 Table 90 J606 Multi Communication Header B Pin Description ET 30 1 2 Rx 2 COM2 CTS 3 COM3 CTS 4 GND 5 COM3 Tx 6 COM3 Rx 7 GND 8 COM3 RTS 9 COM3 Rx 10 CTS 11 COM4 RTS 12 COM4 Tx 13 CANIH 14 GND 15 CAN2L 16 CANIL 17 GND 18 2 19 GND 20 21 OEMV2 RTS 22 OEMV 2 Tx 23 OEMV2 CTS 24 OEMV2 Rx 25 OEMV 2 Tx 26 GND 27 OEMV3 Rx 28 OEMV3 RTS 29 GND 30 OEMV3 CTS 402 SPAN SE User Manual Hev 7 SPAN MPPC Interface Card This appendix provides technical specifications mechanical dimensioned drawings connector pin outs and cable information for the SPAN MPPC Interface card NovAtel part number 01018318 Figure 79 shows the SPAN MPPC interface card Figure 80 and Figure 81 show the SPAN MPPC board stack NovAtel part number 01018411 which includes a SPAN MPPC interface card and an OEMV receiver For further information on the OEMV receivers refer to NovAtel technical publication OM 20000093 OEMV Family Installation and O
63. 3 15 3 28 e2d5ef15 GLOEPHEMERISA COM1 1 49 0 SATTIME 1364 413624 000 00000000 65064 2310 45 13 0 0 1364 413114000 10786 0 0 0 87 0 1 1672664062500000e 07 2 2678505371093750e 07 4 8702343750000000e 05 1 1733341217041016e 02 1 3844585418701172 02 3 5714883804321289 03 2 79396772384643555 06 2 79396772384643555 06 0 00000000000000000 4 53162938356399536 05 5 587935448e 09 2 36468622460961342e 11 78810 0 0 0 8 c15abfeb SGLOEPHEMERISA COM1 0 49 0 SATTIME 1364 413624 000 00000000 66064 2310 59 17 0 0 1364 413114000 10786 0 0 0 87 0 2 3824853515625000e 05 1 6590188964843750 07 1 9363733398437500 07 1 3517074584960938 03 2 2859592437744141 03 1 9414072036743164 03 1 86264514923095703 06 3 72529029846191406 06 1 86264514923095703 06 7 92574137449264526 05 4 656612873 09 2 72848410531878471 12 78810 0 0 0 12 47675 SPAN SE User Manual Rev 7 257 Table 49 GLONASS Ephemeris Flags Coding No Nbbk Nmber See Tabl below Table 50 0 for 1 fre 00000008 Table 50 Bits 0 1 Flag Range Values State Description 00 0 minutes 01 30 minutes 10 45 minutes 11 60 minutes 258 SPAN SE User Manual Rev 7 inti Binary Binary Field Field type Data Description Format Bytes Offset 1 GLO Log header H 0 EPHEMERIS header 2 sloto Slot information offset PR
64. 3SPAN SE Operation 45 3 1 Definition of Reference Frames within 45 3 1 1 Local Level Frame ENU sss eene entere rennen rnnt 45 3 1 2 8PAN Computation Frames sime 1 1 ees E tees ee 45 3 1 3 EncloSure Eram x ueteris 46 3 14 Vehicle Erame isse Da hake alte 46 3 2 Communicating with the SPAN 47 3 24 INS Window in CDU oit t eo m HUM Gee ete 50 3 3 Software Configuration det ce Ded 51 3 3 1 GNSS Config ratlon tnnt desee d dete ei de dign 51 3 3 2 SPAN IMU ieii eene nennen nnn 52 3 4 Real Time 55 3 4 1 Configuration for 56 3 4 2 INS Configuration Command Summary sse 56 3 4 3 System Start Up and Alignment 56 3 4 4 Navigation 58 3 4 5 Data Collectiori EU AO E iE 58 3 4 6 Lever Arm Calibration Routine 10 0000 enne 59 3 4 7 Vehicle to Body Rotations nennen nennen enn 60 3 4 8 Vehicle to SPAN Frame Angular Offsets Calibration Routine
65. 5 3 2 Stopping a User Application When a user application is opened it continues to execute until the SPAN receiver is powered down The SPAN SE is a specialized system and does not allow for de allocation of resources like a typical desktop computer 86 SPAN SE User Manual Hev 7 API Functionality Chapter 5 5 3 3 Removing a User Application To delete a user application use APPLICATION lt userapp gt REMOVE command For example APPLICATION USERAPP2 REMOVE Alternatively you can use the application loading procedure on page 85 to overwrite a user application in a slot with a newer user application SPAN SE User Manual Rev 7 87 Chapter 5 88 API Functionality SPAN SE User Manual Rev 7 6 1 6 2 89 Variable Lever Arm Overview The variable lever arm concept arose to support applications in which the IMU is no longer rigidly fixed to the vehicle but rather on a gimballed mount This creates an issue where the input lever arm offsets to the GNSS antenna are no longer correct because the IMU can rotate on its mount while the antenna remains fixed The use of the variable lever arm functionality requires that the device to which the IMU is attached be able to send its gimbal rotation angles back to SPAN These angles are used to re calculate the lever arm at the rate that they are received SPAN will also be able to output a gimballed solution at the rate the gimbal angles are received Technical Description T
66. 7 N Nautical speed indicator N Knots N N 8 speed Km Speed kilometers hour X X 0 781608 9 K Speed indicator K km hr K K 10 mode ind Positioning system mode indicator a A 11 XX Checksum hh 12 CR LF Sentence terminator CR LF Refer also to Table 51 NMEA Positioning System Mode Indicator on page 266 SPAN SE User Manual Rev 7 277 D 3 23 GPZDA UTC Time and Date This NMEA log outputs messages with contents without waiting for a valid almanac Instead it uses a UTC time calculated with default parameters In this case the UTC time status is set to WARNING since it may not be 10046 accurate When a valid almanac is available the receiver uses the real parameters Then the UTC time is set to VALID See also Section D 2 NMEA Standard Logs on page 233 Message ID 227 Log Type Synch Recommended Input log gpzda ontime 1 Example SGPZDA 143042 00 25 08 2005 6E Field Structure Field Description Symbol Example 1 GPZDA Log header GPZDA 2 utc UTC time hhmmss ss 220238 00 3 day Day 01 31 XX 15 4 month Month 01 12 XX 07 5 year Year XXXX 1992 6 null Local zone description not available XX empty when no data is present 7 null Local zone minutes description not available l empty when no data is present 8 XX Checksum hh 6F 9 CR LF Sentence terminator CR LF 1 Local time zones are not supported by OEMV
67. 9 CR LF Sentence terminator ASCII only 1 Oindicates that UTC time is unknown because there is no almanac available in order to acquire the UTC offset SPAN SE User Manual Rev 7 319 D 3 50 PASHR NMEA Inertial Attitude Data 320 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 website The PASHR log contains only INS derived attitude information and is only filled when an inertial solution is available Structure Message ID 1177 Log TypeSynch Field Structure Field Description Symbol Example 1 PASHR Log Header PASHR 2 Time UTC Time hhmmss ss 195124 00 3 Heading Heading value in decimal degrees HHH HH 305 30 4 True Heading T displayed if heading is relative to true T T north 5 Roll Roll in decimal degrees The signis RRR RR 0 05 always displayed 6 Pitch Pitch in decimal degrees The signis PPP PP 0 13 always displayed 7 Reserved gt gt pos 8 Roll Accuracy Roll standard deviation in decimal IL IIT 0 180 degrees 9 Pitch Accuracy Pitch standard deviation in decimal 0 185 degrees 10 Heading Accuracy
68. 925386228 97 9 8047 3 4 70 5 10 486 794 7 8 0550 18 2 2 80061 2 267 4 09 1450344 3537 28 6 0 7 22 279 SPAN SE User Manual Rev 7 223 0 1 2 Abbreviated ASCII 224 This message format is designed to make the entering and viewing of commands and logs by the user as simple as possible The data is represented as simple ASCII characters separated by spaces or commas and arranged in an easy to understand fashion There is also no 32 bit CRC for error detection because it is meant for viewing by the user Example Command log coml loglist Resultant Log COM1 LOGLIST COM1 0 99 0 FINESTEERING 1635 487565 230 00000000 0000 406 lt 5 lt 1 RXSTATUSEVENTA ONNEW 0 000000 0 000000 HOLD lt COM2 RXSTATUSEVENTA ONNEW 0 000000 0 000000 HOLD lt COM3 RXSTATUSEVENTA ONNEW 0 000000 0 000000 HOLD lt COM4 RXSTATUSEVENTA ONNEW 0 000000 0 000000 HOLD lt COM1 LOGLIST ONCE 0 000000 0 000000 NOHOLD As you can see the array of five logs are offset from the left hand side and start with lt SPAN SE User Manual Rev 7 D 1 3 Binary Binary messages are meant strictly as a machine readable format They are also ideal for applications where the amount of data being transmitted is fairly high Because of the inherent compactness of binary the messages are much smaller This allows a larger amount of data to be transmitted and received by the receiver s communication ports The
69. Asked Question appendix question 7 on page 421 SPAN SE User Manual Rev 7 55 Chapter 3 3SPAN SE Operation 3 4 1 Configuration for Alignment WARNING If logging to a PC ensure the Control Panel s Power Settings on your PC are not set to go into Hibernate or Standby modes Data will be lost if one of these modes A occurs during a logging session lt All alignment and calibration activities should be conducted under open sky conditions for maximum system performance 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 GNSS velocity vector and injecting it into the SPAN filter as the initial system attitude See also Section 3 4 3 on page 56 for more details on coarse and fast alignments 3 4 2 This section gives a brief recap of the commands necessary to get the SPAN system running 1 2 INS Configuration Command Summary Issue the SETIMUTYPE command to specify the type of IMU being used see the SETIMU TYPE command on page 191 setimutype imu_1n200 Issue the SETIMUTOANTOFFSET command to enter the distance from the IMU to the GNSS antenna see page 189 setimutoantoffset 0 1 0 1 0 1 0 01 0 01 0 01 3 4 3 System Start Up and Alignment Techniques 56 The system requires an initial attitude estimate to start the na
70. COM1 7 22 EVENT OUT 4 IMU 1 25 RXD_IMU IMU 2 12 TXD_IMU IMU 3 26 GND IMU 5 24 RTS_IMU IMU 7 13 CTS_IMU IMU 8 a Refer to connectors P1 P2 P7 and P10 and to the bare wires in Detail A and Detail B in Figure 19 on page 99 SPAN SE User Manual Rev 7 A 2 Inertial Measurement Units IMUs A 2 1 Universal IMU Enclosure The Universal IMU Enclosure is available with the LCI 1 HG1700 and LN200 IMU s Table 10 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 25 ES 180 00 og 4X R79 J 7 087 i _ S 1981 BOTTOM gt 4X 96 0 AD 0 260 m 95 0 6 6 0 02 TENDS MARKERS 1 v Sx SS ie EO OI m 33 o Figure 20 Universal IMU Enclosure Top Bottom Dimensions SPAN SE User Manual Rev 7 101 4 3 js EE 1 L LEFT FRONT B 55 Figure 21 Universal IMU Enclosure Side Dimensions
71. Dimensions 000 0 40 00 0 115 ilMU FSAS Center of Navigation 2 116 Universal IMU Interface Cable sse eene nnne 117 Interface Cable Connections with a SPAN SE 118 hn na ees 121 iMAR iMWS 121 IMU CPT Side and Perspective View 124 IMU CPT Top Front and Bottom View 7 125 IMU CPT Development Terminated Cable 2 126 IMU Center of Navigation example 2 022 111 0 00000000 1 000 ene 185 Base e 363 Disconnect Wiring Harness from Enclosure Body 364 Remove IMU Mounting Plate and 365 Remove IMU Mounting Screws sss enne ennt nnne nnne 366 Connect IMU to IMU Mounting Plate 366 Installing IMU to Mounting Plate sssssssseseseeeeenm enne 367 Assemble Into Enclosure Body 368 Fasten Internal Cable Harness sss enne enne 369 SPAN SE User Manual Rev 7 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 10 la iclEezinre
72. Double 8 H 40 8 iMapping See Table 34 Full Mapping Integer 4 H 48 Definitions on page 188 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 SE User Manual Rev 7 245 0 3 5 COMCONFIG Current COM Port Configuration This log outputs the current COM port configuration for each port on your receiver Message ID 317 Log Type Polled Recommended Input log comconfiga once ASCII examples COMCONFIGA COM1 0 98 5 FINESTEERING 1635 320272 363 00000000 0000 407 10 COM 1 9600 N 8 1 N OFF ON NOVATEL NOVATEL ON COM2 9600 N 8 1 N OFF ON NOVATEL NOV ATEL ON COM3 9600 N 8 1 N OFF ON NOVATEL NOVATEL 9600 N 8 1 N OFF ON NOVATEL NOVATEL ON IMU 9600 N 8 1 N OFF OFF IMU IMU OFF USB1 12000000 N 0 0 N OFF OFF NOVATEL NOVATEL ON ICOM1 10000000 N 0 0 N OFF OFF NOVATEL NOVATEL ON 1COM2 10000000 N 0 0 N OFF OFF NOVATEL NOVATEL ON ICOM3 10000000 0 0 N OFF OFF NOVATEL NOVATEL ON ICOM4 10000000 0 0 N OFF OFF NOVATEL NOVATEL ON a8e 10684 246 SPAN SE User Manual Hev 7 Binary
73. Enclosure Base to 388 Final Assembly rire reso etx codons NUT UR Qe AT 389 Required Parts re RR RENE D EHE ER ERR 390 Bolts and dines 391 Lift Tube Body edere petet 392 SPAN IMU Re Assembly 393 Attach Wiring Harness 2 20 eiie cede dec e de touc ds 394 Attach Samtec Connector pipe ee dept eis 395 LN 200 SPAN IMU tiie aie ier ie ee deed ee i 396 SPAN SE Interface Card see 398 SPAN MPPC Interface Card teet dod erede di teen ind ce 404 SPAN MPPC Board Stack perspective view 405 SPAN MPPC Board Stack 406 SPAN MPPC Breakout Board 2 411 SPAN MPPC Breakout Board Connectors 411 SPAN SE User Manual Hev 7 Tables a Supported IMU Typ6s onere eren rn Episode 34 Receiver Enclosure Back Panel 39 IMU Power Su pply rri ges soegeciceeedeecctce
74. Failed 1 20 0x00100000 Reserved N5 21 0x00200000 Gyro initiated BIT Passed 0 Failed 1 22 0x00400000 Gyro self test Passed 0 Failed 1 23 0x00800000 Gyro time out Passed 0 Failed 1 24 0x01000000 Analog to Digital AD Passed 0 Failed 1 N6 25 0x02000000 Test mode Passed 0 Failed 1 26 0x04000000 Software Passed 0 Failed 1 27 0x08000000 RAM ROM Passed 0 Failed 1 28 0x10000000 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 SPAN SE User Manual Rev 7 331 Table 69 Litef LCI 1 IMU Status Nibble 2 Bit Description Range Value 0 0x00000001 IBIT Error Flag Normal 0 IBIT Error 1 1 0x00000002 CBIT Error Flag Normal 0 CBIT Error 1 2 0x00000004 Calibration Status Flag IMU Uncalibrated 0 IMU Calibrated 1 3 0x00000008 Not used 4 0x00000010 Mode Read Flag Mode in Trans 0 Mode Refer to Table 70 on i 5 0x00000020 IMU Mode Indication 1 Not Set 0 Set 1 page 333 6 0x00000040 IMU Mode Indication 2 Not Set 0 Set 1 7 0x00000080 IMU Mode Indication 3 Not Set 0 Set 1 8 0x00000100 Master NoGo Normal 0 NoGo 1 xD 9 0x00000200 IMU NoGo Normal 0 NoGo 1 10 0x00000400 B 290 Z NoGo Normal 0 NoGo 1 11 0x00000800 B 290 Y NoGo Normal 0 NoGo 1 12 0x00001000 B 290 X NoGo Normal 0 NoGo 1 i 13 0x0000
75. 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 2 mark MARKI 0 Choose which Event Out Enum 4 H MARK2 1 mark to use MARK3 2 3 switch DISABLE 0 Disables Event output Enum 4 H 4 ENABLE 1 4 polarity NEGATIVE 0 Negative polarity default Enum 4 H 8 POSITIVE 1 Positive polarity 5 active default 500 000 000 Active period of the Event Out Ulong 4 H 12 period minimum 25 signal in nanoseconds maximum 999 999 975 6 not default 500 000 000 Not active period of the Event Ulong 4 H 16 active minimum 25 Out signal in nanoseconds period maximum 999 999 975 Abbreviated ASCII Example EVENTOUTCONTROL MARK3 ENABLE SPAN SE User Manual Rev 7 147 4 11 EXTHDGOFFSET Set the Angular Offset The EXTHDGOFFSET command can be used to specify the angular offset from the dual antenna baseline to the SPAN computation frame It is highly recommended that these offsets be entered by entering a lever arm to both antennas as the measurement errors will be lower see Section 4 5 Configuring SPAN with ALIGN on SE D and MPPC D Models on page 82 However this command can be used to enter the offsets directly if necessary 54 EXTHDGOFFSET is also available as a log when both lever arms are entered Refer to Section D 3 9 EXTHDGOFFSET Log the Angular Offset on page 253 Abbreviated ASCII Syntax
76. 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 INS ALIGNMENT COMPLETE The example s 600 s duration is from when calibration begins and not from when you issue the command Abbreviated ASCII Example 2 LEVERARMCALIBRATE 600 0 05 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 SE User Manual Hev 7 B 4 23 LOG Request logs from the receiver Many different types of data can be logged using several different methods of triggering the log events The ONTIME trigger option requires the addition of the period parameter See Section D 1 Log Types starting on page 220 for further information and a complete list of data log structures The LOG command tables in this section show the binary format followed by the ASCII command format The optional parameter hold prevents a log from being removed when the UNLOGALL command with its defaults is issued To remove a log which was invoked using the hold parameter re
77. Heading standard deviation in decimal hh hhh 4 986 degrees 11 GPS Update 0 No position 1 1 Quality Flag 1 All non RTK fixed integer positions 2 RTK fixed integer position 12 Checksum Checksum XX 2B 13 CR LF Sentence terminator CR LF Recommended Input log pashr ontime 1 Example SPASHR 0 68 empty PASHR 195124 00 305 30 T 40 05 0 13 0 180 0 185 4 986 1 2B SPAN SE User Manual Hev 7 D 3 51 PORTSTATS Port Statistic This log conveys various status parameters of the receiver s communication ports The receiver maintains a running count of a variety of status indicators of the data link This log outputs a report of those indicators Message ID 72 Log Type Polled Recommended Input log portstatsa once ASCII Example Replace ASCII example with the following PORTSTATSA USB1 0 98 0 FINESTEERING 1635 321000 351 00000001 0000 394 10 COM 1 0 132 0 0 21 0 0 0 0 COM2 0 132 0 0 7 0 0 0 0 COM3 0 132 0 0 8 0 0 0 0 COM4 0 132 0 0 7 0 0 0 0 IMU 0 0 0 0 0 0 0 0 0 USB1 208 5513 208 0 152 0 0 0 0 IC 0M1 0 0 0 0 0 0 0 0 0 ICOM2 0 0 0 0 0 0 0 0 0 ICOM3 0 0 0 0 0 0 0 0 0 ICOM4 0 0 0 0 0 0 0 0 0 9518 6 SPAN SE User Manual Rev 7 321 Binary Fiel Fiel Data Description eld eld type ata Descriptio Offset 1 PORTSTATS Log header 0 header 2 port Number of ports with information to follow Long H 3 port Serial port identi
78. I SPAN supporting IMUs with data rates lt 100 Hz J SPAN supporting IMUs with data rates gt 100 Hz 5 A single GNSS card system where only the 3 is included Table 83 Component Types Binary ASCII Description 0 UNKNOWN Unknown Component 1 GPSCARD OEMV Family Component 7 IMUCARD IMU Card 8192 SPANCARD SPAN SE Card 8193 SPANFPGA SPAN SE Field Programmable Gate Array FPGA SPAN SE User Manual Rev 7 359 Table 84 VERSION Log Field Formats Field Type Field Format ASCIl Description hw version P RS CCC P hardware platform for example OEMV R hardware revision for example 3 00 S processor revision for example A 1 CCC COM port configuration for example 22 sw version PPPVVRRrrXCxxxx PPP product designation for example SCD boot version VV version number RR major revision number rr minor revision number X Special S Beta B Internal Development D A C control either N none or M military xxxx four digit number indicating the build release comp date YYYY MM DD YYYY year MM month DD day 1 31 comp time HH MM SS HH hour MM minutes SS seconds 1 This field may be empty if the revision is not stamped onto the processor 2 One character for each of the COM ports 1 2 and Characters are 2 for RS 232 4 for RS 422 T for LV TTL and X for user selectable valid for COM1 of the OEMV 2 only Therefore the example is for a receiver th
79. IMU Single Connector Enclosure Table 14 LN 200 IMU Specifications PHYSICAL IMU Enclosure Size 135 mm x 153 mm 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 1 i I i _ 8 1 4 PLCS VIVI I 76 8 CENTER o Enclosure Center 824 134 6 NAVIGATION Navigation Center C SCALE 0 800 707 Navigation Center R92 9 76 3 Enclosure Center Figure 27 LN 200 IMU Enclosure Top Bottom Dimensions and Centre of Navigation SPAN SE User Manual Rev 7 111 152 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 28 LN 200 Enclosure Side Dimensions SPAN SE User Manual Rev 7 112 A 2 3 1 LN 200 IMU Interface Cable The IMU interface cable provides power to the IMU from an external power source and enables input and output between the receiver and IMU It is the same as the cable supplied with the Universal Enclosure
80. It is synchronized 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 synchronized 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 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 INSPOSSYNCA COMI 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 9fcd cel 292 SPAN SE User Manual Rev 7 0 3 34 INSPVA INS Position Velocity and Attitude This log allows INS position velocity and attitude to be collected in one log instead of using three separate logs The attitude is of the SPAN computation frame by default See the INSATT log on page 285 for an explanation of how the SPAN frame may differ from the IMU enclosure frame The attitude can be output in the vehicle frame as well See the APPLY VEHICLEBODY ROTATION command on
81. LEVER_ARM_FROM_COMMAND LEVER_ARM_SECONDARY 0 325000000 1 155000000 1 287000000 0 032500000 0 115500000 0 128700000 LEVER_ARM_FROM_COMMAND 8f 0f 90b5 SPAN SE User Manual Rev 7 1 iar Binary Binary Field Field Type Description Format Bytes Binary Offset 1 Header Log Header H 0 2 IMU Orientation See Table 34 Full Mapping ULong 4 H Definitions on page 188 3 Number of Number of stored lever arms ULong 4 H 4 Entries 4 Lever Arm Type of lever arm See Table 53 Enum 4 H 8 Lever Arm Type on page 284 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 54 Lever Arm Source on page 284 for the different values 12 Next component offset H 8 comp 56 variable XXXX 32 bit CRC ASCII and Binary Hex 4 H 8 only comp 56 variable CR LF Sentence terminator ASCII only SPAN SE User Manual Rev 7 283 284 Table 53 Lever Arm Type Value m binary Lever Arm Source ASCII Description 0 LEVER_ARM_INVALID An invalid lever arm 1 LEVER_ARM_PRIMARY Primary lever arm e
82. M metres M M 14 age Age of Differential GPS data in seconds 2 empty when no differential data is present 15 stn ID Differential base station ID 0000 XXXX empty when no 1023 differential data is present 16 XX Checksum hh 48 17 CR LF Sentence terminator CR LF 1 An indicator of 9 has been temporarily set for WAAS NMEA standard for WAAS not decided yet This indicator can be customized using the GGAQUALITY command 2 The maximum age reported here is limited to 99 seconds SPAN SE User Manual Rev 7 265 D 3 16 GPGLL Geographic Position 266 This NMEA log provides altitude and longitude of the present vessel position time of position fix and status See also Section D 2 NMEA Standard Logs on page 233 GPGLL like BESTPOS contains the best available position from either GNSS only or GNSS INS Table 52 on page 267 compares the position precision of selected NMEA logs The GPGLL log outputs these messages with contents without waiting for a valid almanac Instead it uses a UTC time calculated with default parameters In this case the UTC time status is set to WARNING since it may not be 100 accurate When a valid almanac is available the receiver uses the real parameters Then the UTC time is set to VALID lt If the NMEATALKER command see page 169 is set to AUTO the talker the first 2 characters after the sign in the log header is set to GP GPS satellites only or
83. Other log types asynchronous and polled are triggered by an external event and the time in the header may not be synchronized to the current GPS time Logs that contain satellite broadcast data for example ALMANAC GPSEPHEM have the transmit time of their last subframe in the header In the header of differential time matched logs for example MATCHEDPOS is the time of the matched reference and local observation that they are based on Logs triggered by a mark event for example MARKIPVA MARKITIME have the estimated GPS time of the mark event in their header In the header of polled logs for example LOGLIST PORTSTATS VERSION is the approximate GPS time when their data was generated However when asynchronous logs are triggered ONTIME the time stamp will represent the time the log was generated not the time of validity given in the data SPAN SE User Manual Rev 7 231 D 1 7 Log Type Examples For polled logs the receiver only supports an offset that is e smaller than the logging period e an integer The following are valid examples for a polled log LOG COMCONFIG ONTIME 2 1 LOG PORTSTATS ONTIME 4 2 LOG VERSION ONCE For polled logs the following examples are invalid LOG COMCONFIG ONTIME 1 2 offset is larger than the logging period LOG COMCONFIG ONTIME 4 1 5 offset is not an integer For synchronous and asynchronous logs the receiver supports any offset that is e smaller than the logging period e a multiple of
84. 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 GNSS receiver and no maintenance is required When the status code indicates that a unit is faulty replace with another unit and return the faulty unit to NovAtel Inc Before shipping any material to NovAtel or Dealer please obtain a Return Material Authorization RMA number from the point of purchase Once you have obtained an RMA number you will be advised of proper shipping procedures to return any defective product When returning any product to NovAtel please return
85. RXSTATUS log with a simple error RXSTATUSA COM1 0 98 5 FINESTEERING 1521 319258 697 40000020 0000 143 00000000 4 40000020 00000000 00000000 00000000 00000000 00000000 00000000 000 00000 00000020 00000000 00000000 00000000 00000000 00000000 00000000 00000000 cf7aa03a The status bit 00000020 indicates antenna open An RXSTATUS log with a component hardware error RXSTATUSA COM1 0 99 5 FINESTEERING 1521 319470 627 40000021 0000 143 80000000 4 40000021 00000000 00000000 00000000 00000000 00000000 00000000 000 00000 00000020 00000000 00000000 00000000 00000000 00000000 00000000 00000000 dd24b521 The error bit 80000000 indicates a component hardware error This means the OEMV 3 is not communicating This is a non recoverable error for SPAN SE It indicates that the OEMV 3 has experienced a USB overrun or that the OEMV 3 is no longer powered Since SPAN SE controls the power to its internal OEMV 3 it is unlikely the OEMV 3 has lost power It is more likely that the user has overloaded the OEMV 3 USB with excessive log requests In this case the RXSTATUSEVENT log would show RXSTATUSEVENTA COM1 0 0 0 FINESTEERING 1521 319470 627 404c0028 0000 143 ERROR 31 SET Component Hardware Failure 79a2006b Table 74 SPAN Receiver Error Nibble Bit Mask Description NO 0 0x00000001 SDRAM status OK Error 1 0x00000002 Firmware status OK Error 2 0x00000004 ROM
86. SE the LEDs flash the binary number of the receiver error Red is 1 and green is 0 If you have an invalid auth code the LEDs will be green green red green red which is 5 in binary indicating bit 5 of the receiver error word is set The 5 bit binary error code corresponds to the 32 possible errors defined in Appendix D 3 58 RXSTATUS Receiver Status starting on page 342 E Figure 11 SPAN SE LED Indicators Table 7 Positioning Mode LEDs Green amp Green Orange Orange Red Flashing SD Card SD Card Card in Flashing Card in butlow Card busy either Card in but has card file open on space with formatting or 196 space 1096 space mounting remaining and remaining logging stops Flashing same automatically as above but a Flashing SD file is open card error thatcan occur at any time regardless of remaining space GPS 1 Primary No Solution complete Insufficient N A Receiver status OEMV 3 GNSS Data andfine steering Observations error bits Flashing coarse 0 SDRAM steering 1 Firmware 2 ROM 7 Supply Voltage GPS2 Secondary No same as Primary GNSS above OEMV 2 GNSS Data INS INS GNSS INS SOLUTION Aligning INS INACTIVE only GOOD status Flashing A status Flashing INS_SOLUTION st t INS_ALIGNMENT _NOT_GOOD Status _COMPLETE status status 68 SPAN SE User Manual Rev 7 3SPAN SE Operation Chapter 3 IMU Green amp
87. SE receiver iIMU FSAS IMU I O 2 yellow cable s 30 pin connector to I O 2 port on the SPAN SE iIMU interface cable s DB 9 IMU connector to I O 2 yellow cable s DB 9 IMU connector iIMU interface cable s DB 9 ODO connector to optional wheel sensor cable iIMU interface cable s ve and ve connectors to user supplied power source interface cable s MIL 22 pin connector to the iIMU FSAS IMU SPAN SE User Manual Rev 7 Table 16 IMU Interface Cable Pin Out MIL C Female Male Male 38999 III Function DB9to DB9to Comments Connector Pin tolO 1 PGND Color black Power ground Label PGND 2 ODO AN 7 Odometer input A opto coupler 2 to 6 V 3 VIN Color red 10 to 34 VDC Label 10 34 VDC 4 ODO A 6 Odometer input A opto coupler 2 to 6 V 5 6 Reserved 7 DAS 1 and6 Shielded data acquisition signal LVTTL to VARF Reserved DAS _ 9 Shielded ground reference for GND data acquisition amp 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 Digital ground 15 DGND Digital ground 16 ODO_B 3 Odometer input B opto coupler 2 to 6 V 17 ODO_BN 1 Odometer input B opto coupler 2 to 6 V 18 Reserved 19 DI 3 Twisted pair serial data in RS 422 20 DIN 7 Twisted pair serial data in RS 422 2
88. SPAN SE User Manual Hev 7 SPAN SE Installation Chapter 2 Figure 3 SPAN SE Set Up Rover s 5 Cable shown is for the Universal Enclosure and ilMU FSAS To Power Supply Power for IMU only Reference Description 1 SPAN SE receiver with an on board SD Card for data storage 2 User supplied NovAtel GNSS antenna 3 Connect an LN 200 HG 1700 ilMU FSAS Litef LCl or IMU CPT not shown in figure with an IMU interface cable to the connector labelled IMU on the SPAN SE 2 yellow cable For the other connections that only apply to the iIMU FSAS see Section A 2 4 1 iIMU FSAS Interface Cable starting on page 117 For the IMU CPT connections see Section A 2 5 1 IMU CPT Cable starting on page 126 4 User supplied power supply SPAN SE rover 1 9 to 28 V DC ProPak V3 base 6 9 to 18 V DC Separate supply for IMU 3 see Table 3 on page 42 5 User supplied radio device to the connector labelled OEMV3 on the SPAN SE green cable User supplied base station ProPak V3 receiver User supplied PC laptop for setting up and monitoring to COM1 of the ProPak V3 or in the case of the SPAN SE to one of the four available COM ports the USB device port or the Ethernet port 8 SPAN SE I O 1 green cable see Section A 1 1 2 1 Green Cable NovAtel part number 01018134 on page 97 9 SPAN SE I O 2 yellow cable see Section A 1 1 3 2 Yellow Cable NovA
89. SPAN SE User Manual Rev 7 293 0 3 35 INSPVAS Short INS Position Velocity and Attitude This is a short header version of the INSPVA log on page 293 Structure Message ID 508 Log Type Synch Binary Binary Field Field Type Description Format Bytes Offset 1 Log Header Log header H 0 2 Week GPS Week Ulong 4 H 3 Seconds Seconds from week start Double 8 H 4 4 Latitude Latitude WGS84 Double 8 H 12 5 Longitude Longitude WGS84 Double 8 H 20 6 Height Ellipsoidal height WGS84 Double 8 H 28 7 North Velocity Velocity in a northerly direction a Double 8 H 36 negative value implies a southerly direction 8 East Velocity Velocity in an easterly direction a Double 8 H 44 negative value implies a westerly direction 9 Up Velocity Velocity in an up direction 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 55 Enum 4 84 14 XXXX 32 bit CRC Hex 4 H 88 15 CRIILF Sentence Terminator ASCII only Recommended Input log inspvasa ontime 1 ASCII Example INSPVASA 1264 144059 000 1264 144059 002135700 51 116680071 114 037929194 515 286704183 211 896368884 84 915188605 8 488207941 0 759
90. Scale Factor 300 ppm Accelerometer Bias 1 0 mg HG1700 AG62 Gyro Input Range 1000 deg sec Gyro Rate Bias 5 0 deg hr Gyro Rate Scale Factor 150 ppm Angular Random Walk 0 5 deg rt hr Accelerometer Range 509 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 Angular Random Walk 0 07 deg rt hr Accelerometer Range 40g Accelerometer Linearity Accelerometer Scale Factor 300 ppm Accelerometer Bias 0 3 mg LCI 1 Gyro Input Range 800 deg sec Gyro Rate Bias 1 0 deg hr Gyro Rate Scale Factor 500 ppm 0 15 deg rt hr 40g 1000 ppm 1 0 mg SPAN SE User Manual Hev 7 Table 12 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 LCI 1 16 W typical IMU Input Voltage 12 to 28 V DC all IMU s System Power Consumption 14 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 LCI 1 Operating 40 C to 60 C Storage 40 C to 71 C Humidity Operates at 95 RH non condensing all IMU s SPAN SE
91. Scale Factor Linearity 1000 ppm 10 Temperature Dependent SF Variation 500 ppm 1c Angular Random Walk 0 0667 hlhr 1o Max Input 375 sec PERFORMANCE ACCELEROMETERS SPAN SE User Manual Rev 7 Bias Offset 50 mg Turn On To Turn On Bias Repeatability 0 75 mg In Run Bias Variation At Constant Temperature 0 25 10 Temperature Dependent Bias Variation 0 5 mg C 10 Scale Factor Error Total 4000 ppm 1c Temperature Dependent SF Variation 1000 ppm 10 Accel Noise 55 ug Hz 1c Bandwidth 50 Hz Max Input 10 g 127 A 2 5 3 IMU CPT Electrical and Environmental CONNECTORS Power and I O MIL DTL 38999 Series 3 RF Antenna Connector TNC Female ELECTRICAL Input Power 9 18 VDC Power consumption 15 W Max Start Up Time Valid Data 5 secs Temperature operational ENVIRONMENTAL 40 C to 65 C Temperature non operational 50 C to 80 C Vibration operational 6 g rms 20 Hz 2 KHz Vibration non operational 8 g rms 20 Hz 2 KHz Shock operational 7g 6 10 msec 1 2 sine Shock non operational 60 g 6 10 msec 1 2 sine Altitude 1000 to 50 000 ft Humidity 95 at 35 C 48 hrs MTBF 2 10 500 hours 128 SPAN SE User Manual Hev 7 PN e 8 7 Commands This appendix describes in detail the commands needed to configure the receiver and request the data you need For information
92. This is done by setting clearing the appropriate bits in the event set clear masks The set mask tells the receiver to generate an event message when the bit becomes set Likewise the clear mask causes messages to be generated when a bit is cleared If you wish to disable all these messages without changing the bits simply UNLOG the RXSTATUSEVENT logs on the appropriate ports See also the UNLOG command on page 210 D4 1 Field 4 the receiver status word as represented in Table 75 is also in Field 8 of the header See the ASCII Example below and Table 75 on page 345 for clarification 2 Many OEMV status bits have been redefined to match SPAN receiver hardware Some bits such as model temperature position solution are mapped directly from the OEMV 3 When logging RXSTATUS the SPAN SE receiver data is displayed first error bits then status bits then the OEMV 3 status bits then the 2 status bits In the event of a SPAN SE receiver error the LEDs flash the binary number of the receiver error Red is 1 and green is 0 If you have an invalid auth code the LEDs will be green green red green red which is 5 in binary and that means bit 5 of the receiver error word is set 3 Refer also to the chapter on Built In Status Tests in the OEMV Family Installation and Operation User Manual Message ID 93 Log Type Asynch Recommended Input log rxstatusa onchanged 342 SPAN SE User Manual Hev 7 ASCII Examples An
93. Type Asynch 3 m Binary Field Field Type Data Description 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 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 HG1700 and the LN 200 IMUs see Table 71 Also refer to the Interface Control Documentation as provided by Honeywell and Northrop Grumman respectively For the raw IMU status of the iIMU FSAS see Table 68 For the raw IMU status of the Litef LCI refer to Table 69 5 Z Accel Output Change in velocity count along Z axis Long 4 H 16 6 Y Accel Output Change in velocity count along Z axis Long 4 H 20 7 X Accel Output Change in velocity count along Z axis Long 4 24 8 Z Gyro Output Change in angle count around Z axis 3 right handed Long 4 28 9 Y Gyro Output Change in angle count around Y axis 2 3 right Long 4 32 handed 10 X Gyro Output Change in angle count around X axis E right handed Long 4 H 36 11 XXXX 32 bit CRC ASCII Binary and Short Binary only Hex 4 H 40 12 CR LF Sentence terminator ASCII only 1 The change in velocity acceleration scale factor for each IMU type can be found in 330 Table 73 on page 339 Multiply
94. Variable xxxx 32 bit 4 Lol Variable CRLF Sentence terminator ASCII only _ offset H component number x 76 Recommended Input log applicationstatusa once ASCII Example APPLICATIONSTATUSA COM1 0 98 0 UNKNOWN 0 0 000 00000000 0000 407 4 14 TRUE 0 0000000 00000000 SPAN API 14 May 3 2011 15 09 46 11 FALSE 00000000 00000000 UserApp1 1 000 2011 05 15 00 56 0 FALSE 00000000 00000000 11 FALSE 00000000 000000 00 UserApp3 1 000 2011 Mar 28 13 10 27 39144 87 SPAN SE User Manual Rev 7 0 3 2 BESTPOS Best Position and BESTGPSPOS Best GPS Position The BESTPOS log contains the best available position from either GNSS only or GNSS INS BESTGPSPOS contains the best available GNSS position without INS Both logs have an identical format 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
95. 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 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 OR VI SERVICE OR
96. a eee as eie eed a oett dio x tod diee fed 220 DELTASI same E e iege ee feodo ete Ee o Ee e e roin re aget 222 0 1 2 Abbreviated 5 2 20 1 01 enne neret nnne nnne nnne nnne ns 224 0 1 3 225 0 1 4 ASCII and Binary Logs with Short Headers 229 D 1 5 GPS Time Status oerte ier edid viene ge cet T E 229 0 1 6 Message Time 231 D 1 7 Log Type Examples 4 ite cert hes edere we dene 232 D 2 NMEA StandardLogs si lo ceca fei ee dann ved cea e Uter ism eiie EE 233 D 3 SPAN SE LOGS e ERI REA 235 0 3 1 APPLICATIONSTATUS Display installed and running applications 236 0 3 2 BESTPOS Best Position and BESTGPSPOS Best GPS Position 237 D 3 3 BESTVEL Best Available Velocity Data and BESTGPSVEL Best Available GPS Ve pec M 243 0 3 4 BESTLEVERARM BESTLEVERARM 2 IMU to Antenna Lever Arm 245 0 3 5 COMCONFIG Current COM Port 246 0 3 6 COMPROTOCOL COM Port enne 248 0 3 7 CORRIMUDATA and CORRIMUDATAS Corrected IMU measurements 249 0 3 8 DIRENT SD Card File List ennem
97. around X axis 3 right Long 4 H 36 handed 11 XXXX 32 bit CRC ASCII Binary and Short Binary Hex 4 H 40 only 12 CR LF Sentence terminator ASCII only 1 The change in velocity acceleration scale factor for each IMU type can be found in Table 73 on page 339 Multiply the scale factor in Table 73 by the count in this field for the velocity incre ments in m s See Table 1 on page 34 for a list of IMU enclosures 2 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 3 The change in angle gyro scale factor can be found in Table 73 on page 339 Multiply the appropriate scale factor in Table 73 by the count in this field for the angle increments in radians 338 SPAN SE User Manual Rev 7 Recommended Input log rawimusa onnew ASCII Example SRAWIMUSA 1105 425384 180 1105 425384 156166800 111607 43088060 430312 3033352 132863 186983 823 5aa97065 Table 73 Raw IMU Scale Factors Acceleration Scale Gyroscope Scale Factor Factor IMU HG1700 AG11 2 0733 rad LSB HG1700 AG58 2 0727 ft s LSB HG1700 AG17 2 0733 rad LSB 2 0726 ft s LSB HG1700 AG62 IMU CPT 0 1 3600 0x256 0 rad LSB 0 05 2 5 m s LSB ilMU FSAS 0 1x 2 8 arcsec LSB 0 05 x 2715 m s LSB Litef LCI 1 4 x 2 deg LSB 2 x 23 m s LSB
98. determine the azimuth axis that SPAN is using Abbreviated ASCII Syntax Message ID 862 SETINITATTITUDE pitch roll azimuth pitchSTD rollSTD azSTD SPAN SE User Manual Rev 7 193 ASCII Binary Type Value Value 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 header Input pitch angle about the x 2 pitch 360 to 360 oe axis in degrees Double 8 H Input roll angle about the y 3 roll 360 to 360 Ae axis in degrees Double 8 H 8 Input azimuth angle about the 4 azimuth 360 to 360 ann z axis in degrees Double 8 H 16 Input pitch standard deviation 1 o 1 o 5 pitchSTD 0 000278 to 180 STD angle in degrees Double 8 H 24 6 rollSTD Input roll STD angle in degrees Double 8 H 32 Input azimuth STD angle in 7 azSTD degrees Double 8 H 40 1 0 000278 is equal to 1 arc second Abbreviated ASCII Example SETINITATTITUDE 0090555 In this example the initial roll and pitch have 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 195 also with a 5 degrees standard deviation
99. enr ER eR SORORE eR CD ERR teneis 45 Enclosure Frame MP 46 M ae au me 47 SPAN SE LED Indicators tenete e eee ob fee reden 68 Status LED Flash Sequence Example sss enne 70 SD Card Access Door dt idee ccr need cea Fb 71 ian Nl eed en ete eee 77 Simple Conflg ratiOli 2 22 25 den Nee EAs 90 Rotation Results aha vee HRS Rak aa ae 90 SPAN SE Power Cable cr e dee ede rei iter nns 96 SPAN SE l O 1 Green Cable iade renes iex cres Piu Donee e 97 SPAN SE I O 2 Yellow Cable 99 Universal IMU Enclosure Top Bottom Dimensions 0 101 Universal IMU Enclosure Side Dimensions 102 IMU Center of Navigation 103 Universal IMU Enclosure Interface Cable 104 Universal IMU Enclosure Interface 104 HG1700 Top Bottom Dimensions 1 cccccccecceceeeeeecce cee eeeeeeeeeeeesenaeceeeeseeaeeeeeeenneeeeess 108 HG1700 Enclosure Side Dimensions sse 109 LN 200 IMU Enclosure Top Bottom Dimensions and Centre of Navigation 111 LN 200 Enclosure Side Dimensions 04 112 ilMU FSAS Top Bottom Dimensions sess 114 ilMU FSAS Enclosure Side
100. gt Acceptable choices for Earth Grounds for central buildings are the following Grounded interior metal cold water pipe within five feet 1 5 m of the point where it enters the building Grounded metallic service raceway Grounded electrical service equipment enclosure 26 SPAN SE User Manual Hev 7 Notices Eight foot grounding rod driven into the ground only if bonded to the central building ground by 6 or heavier bonding wire These installation instructions are the minimum requirements for receiver and antenna installations Where applicable follow the electrical codes for the country of installation Examples of country codes include USA National Electrical Code NFPA 70 Canada Canadian Electrical Code CSA C22 UK British Standards Institute BSI 7671 SPAN SE User Manual Rev 7 27 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 Global Navigational Satellite Systems 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
101. hhh 009 16 af af1 clock parameter hhh 005 17 XX Checksum hh 37 18 CR LF Sentence terminator CR LF a Variable length integer 4 digits maximum from 2 most significant binary bits of Subframe 1 Word 3 reference Table 20 ICD GPS 200 Rev B and 8 least significant bits from subframe 5 page 25 word 3 reference Table 20 ICD GPS 200 Reference paragraph 20 3 3 5 1 3 Table 20 VII and Table 20 VIII ICD GPS 200 Rev B Reference Table 20 ICD GPS 200 Rev B for scaling factors and units d A quantity defined for a conic section where 0 is a circle e 1 is ellipse 0 lt lt 1 is a parabola and gt 1 is a hyperbola e Ameasurement along the orbital path from the ascending node to the point where the SV is closest to the Earth in the direction of the SV s motion SPAN SE User Manual Rev 7 263 D 3 15 GPGGA GPS Fix Data and Undulation This NMEA log provides time position and fix related data of the GNSS receiver See also Section D 2 NMEA Standard Logs on page 233 For more on precision of NMEA logs see Table 52 Position Precision of NMEA Logs on page 267 GPGGA like BESTPOS contains the best available position from either GNSS only or GNSS INS The GPGGA log outputs these messages with contents without waiting for a valid almanac Instead it uses a UTC time calculated with default parameters In this case the UTC time status is set to WARNING since it may not be 100 accu
102. hold NOHOLD Allow log to be removed by the UNLOGALL command Enum default HOLD Prevent log from being removed by the UNLOGALL command SPAN SE User Manual Rev 7 167 B 4 24 LOGFILE Log Data to a File on the SD Card This command allows you to log data to a file on the SD Card Abbreviated ASCII Syntax Message ID 157 LOGFILE action device filename Field ASCII Binary Binary Binary Binary Value Value Description Format Bytes Offset 1 header This field contains the command H 0 name or the message header depending on whether the command is abbreviated ASCII ASCII or binary 2 0 Open a file to log to it or close Enum 4 H Close 1 file 3 device Choose a mass storage device see Enum 4 H 4 Table 21 on page 130 Default is SD 4 filename Filename where filenames have a Char 12 12 H 8 maximum 12 character limit Default is SPAN_ log where is the next number in the list starting at 0 Abbreviated ASCII Example LOGFILE OPEN SD SITE1 GPS 168 SPAN SE User Manual Rev 7 B 4 25 NMEATALKER Set the NMEA Talker ID This command allows you to alter the behavior of the NMEA talker ID The talker is the first 2 characters after the sign in the log header of the GPGGA GPGLL GPGRS GPGSA GPGST GPGSV GPRMB GPRMC GPVTG and GPZDA log outputs The default GNSS NMEA message nmeatalker GP outputs GP as the talker ID regardless of the position t
103. in the receiver the receiver uses the model of the last spanauth code entered via the SPANAUTH command The SPANAUTH command causes a reset automatically To change models on the internal OEMV 3 use the AUTH MODEL and VALIDMODELS commands defined in the OEMV Family Firmware Reference Manual The OEMV 3 card and SPAN SE will reset after receiving the AUTH or MODEL command We recommend that you contact NovAtel Customer Support for assistance in doing this see page 21 or Note 2 below 4 1 Authorization codes are firmware version specific If the receiver firmware is updated it is necessary to acquire new SPAN authorization codes for the required models If you wish to update the firmware in the receiver please contact NovAtel Customer Service 2 When you want to easily upgrade your SPAN SE receiver or its internal OEMV 3 without returning your SPAN SE to the factory our unique field upgradeable feature allows you to buy the equipment that you need today and upgrade them without facing obsolescence When you are ready to upgrade from one model to another call 1 800 NOVATEL to speak with our Customer Service Sales Personnel who can provide the SPAN authorization code that unlocks the additional features of your SPAN SE receiver This procedure can be performed at your work site and takes only a few minutes WARNING Removing a SPAN authorization code will cause the receiver to permanently lose this information Abbreviated ASCI
104. include an A character to enable SPAN API If the API model is not correct contact NovAtel Customer Service to obtain an authorization code that includes the SPAN API model option When installing new SPAN firmware WinLoad prompts you for an authorization code After you configure the SPAN firmware authorization code run the LOG VERSION command to verify that the model options include the required A character Loading User Applications NovAtel uses a proprietary tool called WinLoad to load SPAN user applications You can get WinLoad from NovAtel through customer support or through the NovAtel FTP site at ftp ftp novatel ca outgoing support Software Winload Read the following instructions before using WinLoad to add software to the SPAN SE http www novatel com assets Documents Bulletins apn052 pdf In cases where WinLoad is not practical you can also use SoftLoad to add user applications SoftLoad reprograms the SPAN with a hex file that is stored on an SD card USB stick or RAM Drive Syntax SOFTLOADFILE MassStorageEnum FileName Destination Example SOFTLOADFILE SD 3800 hex OEMV3 In the example softload reprograms the OEMV3 card with 3800 hex from an SD card NOTE the SOFTLOADFILE command does not display a success or failure notice until the programming is complete This process can take several minutes SPAN SE User Manual Rev 7 Chapter 5 API Functionality 5 2 1 Verifying Loaded User Applicat
105. indicators shown in Figure 7 will operate as follows with the changes in LED status occurring in 0 5 second intervals ta Figure 7 SPAN SE LED Indicators Press and hold down power button RED OFF OFF OFF OFF RED RED OFF OFF OFF RED RED RED OFF OFF RED RED RED RED OFF RED RED RED RED RED RED RED RED RED RED OFF OFF OFF OFF OFF Release power button to RESET If power button is held for another 7 seconds all LEDs flash RED again indicating a FRESET OFF OFF OFF OFF OFF RED RED RED RED RED OFF OFF OFF OFF OFF Release button for FRESET SPAN SE User Manual Rev 7 43 Chapter 2 SPAN SE Installation 44 lt For advanced users If you have additional equipment to connect to your system requiring an output timing pulse or an input pulse into SPAN SE see Section 3 11 Synchronizing External Equipment starting on page 76 See Section A 1 1 3 I O 2 Yellow Cable NovAtel part number 01018133 on page 99 for its bare wire pin outs The jacket insulation is cut away slightly from the end but the insulation on each wire is intact Then 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 from the user device on the left to the SPAN SE I O port Mating Molex connector will be provided by NovAtel SPAN SE User Manual Hev 7 Chapter 3 3SPAN SE Operation Before operating your SPAN syste
106. information useful in post processing the TIMEDWHEELDATA log should only be used with the ONNEW trigger See also page 355 for details on this log lt The periods available when you use the ONTIME trigger 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 SE User Manual Rev 7 235 D 3 1 Use this log to query the card to display a list of installed or running applications 236 APPLICATIONSTATUS Display installed and running applications Structure Message ID 520 Log Type ASYNC Field ASCII Binary iar Binary Binary Binary Field Type Value Value Description Format Bytes Offset 1 header This field contains the H 0 command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary 2 APIVer 0 APUI version with Ulong 4 H 4 MAXLONG installed firmware 3 RunStat TRUE or Is the application Boolean 4 H 8 FALSE currently running 4 BaseAddr 0 The running Hex 4 H412 OxFFFFFFFF application s base memory address 5 Size 0 The application s sizein Hex 4 H 16 OxFFFFFFFF memory 6 Name The application s name Char 16 16 H 20 7 Version Application version Char 16 16 H 36 string 8 CompDate The date on which the Char 12 12 H 52 application was compiled 9 CompTim The time at which the Char 12 12 H 64 e application was compiled 10 Next component offset
107. is not operating in an RTK mode pseudorange differential solutions continue for 300 seconds after loss of the data link though a different value can be set using the DGPSTIMEOUT command refer to the OEMV Family Firmware Reference Manual lt On SPAN SE the BESTPOS and BESTGPSPOS logs are available at 1 Hz 1 Hz and 5 Hz only BESTGPSPOS is a SPAN only log and is not available directly from the OEMV Structure BESTGPSPOS Message ID 423 BESTPOS Message ID 42 Log Type Synch Table 44 Position or Velocity Type Position Type Position Type binary ASCII Description 0 NONE No solution 1 FIXEDPOS Position has been fixed by the FIX POSITION command or by position averaging 2 FIXEDHEIGHT Position has been fixed by the FIX HEIGHT or FIX AUTO command or by position averaging 3 Reserved 4 FLOATCONV Solution from floating point carrier phase ambiguities S 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 Continued on the following page SPAN SE User Manual Rev 7 237 238 Position Type Position Type binary ASCII Description 19 PROPOGA
108. log For message structure refer to Section 4 11 on page 148 SPAN SE User Manual Rev 7 253 D 3 10 GIMBALLEDPVA Display gimballed position Use this log to view re calculated gimballed position velocity and attitude whenever a new INPUTGIMBALANGLE command is received NOTE The log is not output until the INS alignment is complete Structure Message ID 1321 Log Type Asynch Field Field Type Description ormat anar Binary 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 WGS84 latitude in degrees Double 8 H 12 5 Longitude WGS84 longitude in degrees Double 8 H 20 6 Height WGS84 ellipsoidal height Double 8 H 28 7 NorthVelocity Velocity in a northerly direction Double 8 H 36 8 EastVelocity Velocity in an easterly direction Double 8 H 44 9 UpVelocity Velocity in an upward direction Double 8 H 52 10 Roll Right handed rotation from local Double 8 H 60 level around the Y axis in degrees 11 Pitch Right handed rotation from local Double 8 H 68 level around X axis in degrees 12 Azimuth Right handed rotation from local Double 8 H 76 level around Z axis in degrees 13 Status INS status Enum 4 H 84 6 XXXX 32 bit CRC Hex 4 H 88 7 CR LF Sentence Terminator ASCII only 254 Recommended Input log gimballedpvaa onnew ASCII Example GIMBALLEDPVAA COM1 0 93 5 F
109. logs are except that a normal ASCII or binary header is replaced with a short header see Tables 41 and 42 For the message header structure of OEMV 3 regular Binary and ASCII logs please refer to the OEMV Family Firmware Reference Manual Table 41 Short ASCII Message Header Structure Field Field Field Type Type Description 1 Char symbol Message Char This is the name of the log Week Number Ushort GPS week number BR 9 Seconds Ulong Seconds from the beginning of the GPS week Table 42 Short Binary Message Header Structure Field Field Type Type Description Bye 1 Sync Char Hex 1 0 2 Sync Char Hex 0x44 1 1 3 Sync Char Hex 0x13 1 2 4 Message Length Uchar Message length not including header or 1 3 CRC 5 Message ID Ushort Message ID number 2 4 6 Week Number Ushort GPS week number 2 6 7 Milliseconds Ulong Milliseconds from the beginning of the 4 8 GPS week D 1 5 GPS Time Status All reported receiver times are subject to a qualifying time status This status gives you an indication of how well a time is known see Table 43 Table 43 GPS Time Status 1 GPS Time GPS Time Status Description Status Decimal ASCII 20 UNKNOWN Time validity is unknown Continued on the following page SPAN SE User Manual Rev 7 229 230 GPS Time GPS Time Status 2 Status Decimal ASCIl Descripti
110. lower 8 bits only 8 Message Ushort The length in bytes of the body 2 8 N Length of the message This does not include the header nor the CRC 9 Sequence Ushort This is used for multiple related 2 10 N logs It is a number that counts down from N 1 to 0 where N is the number of related logs and 0 means it is the last one of the set Most logs only come out one at a time in which case this number is 0 10 Idle Time Uchar The time that the processor is 1 12 Y idle in the last second between successive logs with the same Message ID Take the time 0 200 and divide by two to give the percentage of time 0 100 11 Time Status Enum Indicates the quality of the GPS 13 13 time see Table 40 on page 227 12 Week Ushort GPS week number 2 14 13 ms GPSec Milliseconds from the 4 16 beginning of the GPS week Continued on the following page 226 SPAN SE User Manual Rev 7 ee Binary Ignored Field Name Description Offset Input 14 Receiver Ulong 32 bits representing the status 20 Y Status of various hardware and software components of the receiver between successive logs with the same Message ID 15 Reserved Ushort Reserved for internal use 24 Y 16 Receiver Ushort This is a value between 0 26 Y S W Version 65535 that represents the receiver software build number 1 The 8 bit size means that you will only see to OxB
111. ms SPAN SE User Manual Rev 7 215 lt 1 The ticks per second do not need to be computed as shown in the example above If your hardware provides the tick count directly it is not necessary to compute wheel velocity 2 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 want to use wheel velocities in post processing complete fields 4 and 6 216 SPAN SE User Manual Rev 7 Prompt Interface When the SPAN system turns on no activity information is transmitted from the serial ports except for the port prompt A terminal connected to the receiver display a messages on its monitor For example COMI if connected to COMI port The COM port can be COMI 2 COM3 USBI ICOMI 2 ICOMG or ICOM4 Commands typed at the interfacing terminal s keyboard and sent after pressing the terminal s lt I gt or Enter key lt Most valid commands do produce a visible response on the screen The indication that they have been accepted is a return of the port prompt from the receiver Example An example of no echo response to an input command is SETIMUTOANTOFFSET command It can be entered as follows COM2 setimutoantoffset 0 1 0 1 0 1 Return lt OK COM2 The above example illustrates command input to the receiver COM2 serial port which sets the antenna
112. now initialized with the contents of the BOOTI TXT command file and logging is directed from the receiver s COM2 serial port to the rover terminal SPAN SE User Manual Hev 7 C 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 s COMI serial port is connected to the receiver s COMI serial port and that a rover terminal is connected to the receiver s COM2 serial port Example 1 Open Notepad and type in the following command text setimutype imu hg1700 ag58 setimutoantoffset 1 25 0 35 1 65 0 02 0 02 0 02 log coml rawimusb onnew log coml rangecmpb ontime 1 log coml inspvasb ontime 0 1 log coml inscovsb onnew 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 s
113. of precision X X 0 9 18 vdop Vertical dilution of precision X X 1 2 19 Xx Checksum hh 3F 20 CR LF Sentence terminator CR LF 1 The NMEA GLONASS PRN numbers are 64 plus the GLONASS slot number Current slot numbers are 1 to 24 which give the range 65 to 88 PRN numbers 89 to 96 are available if slot numbers above 24 are allocated to on orbit spares SPAN SE User Manual Rev 7 271 0 3 19 GPGST Pseudorange Measurement Noise Statistics This NMEA log provides pseudorange measurement noise statistics Pseudorange measurement noise statistics are translated in the position domain in order to give statistical measures of the quality of the position solution See also Section D 2 NMEA Standard Logs on page 233 This log reflects the accuracy of the solution type used in BESTGPSPOS see page 237 and GPGGA see page 264 logs except for the RMS field The RMS field since it specifically relates to pseudorange inputs does not represent carrier phase based positions Instead it reflects the accuracy of the pseudorange position The GPGST log outputs these messages with contents without waiting for a valid almanac Instead it uses a UTC time calculated with default parameters In this case the UTC time status is set to WARNING since it may not be 100 accurate When a valid almanac is available the receiver uses the real parameters Then the UTC time is set to VALID Accuracy is based on statistics re
114. on OEMV specific commands refer to the OEMV Family Firmware Reference Manual B 1 Command Formats The receiver accepts commands in 3 formats Abbreviated ASCII ASCII Binary Abbreviated ASCII is the easiest to use for your input The other two formats include a CRC for error checking and are intended for use when interfacing with other electronic equipment Here are examples of the same command in each format Abbreviated ASCII Example LOG COMI BESTPOSB ONTIME 1 CR ASCII Example LOGA COM2 0 66 00UNKNOWN 0 15 917 004c0000 5255 32858 COM1 BESTPOSB ONTIME 1 000000 0 000000 NOHOLD F95592DD CR Binary Example AA44121C 01000240 20000000 1D1D0000 29160000 00004C00 55525A80 20000000 2A000000 02000000 00000000 0000F03F 00000000 00000000 00000000 2304B3F1 B 2 Using a Command as a Log All NovAtel commands may be used for data input as normal or used to request data output Consider the ockout command refer to the OEMV Family Firmware Reference Manual with the syntax lockout prn You can put this command into the receiver to de weight an undesirable satellite in the solution or you can use the lockout command as log to see if there is a satellite PRN that has already been 129 SPAN SE User Manual Rev 7 locked out In ASCII this might be log lockouta once Notice the a after lockout to signify you are looking for ASCII output lt The BESTPOS GNSS only position log can be logged at ra
115. plate 4 SCREWS Figure 74 SPAN IMU Re Assembly SPAN SE User Manual Rev 7 393 H 3 Make the Electrical Connections To make the electrical connections you will need a 3 32 a hex key the wiring harness and the partially assembled SPAN IMU from Section H 2 Install the LN 200 Sensor Unit on page 393 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 75 on page 394 Figure 75 Attach Wiring Harness 394 SPAN SE User Manual Rev 7 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 76 Ensure that the connector is locked in place Figure 76 Attach Samtec Connector SPAN SE User Manual Rev 7 395 H 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 72 on page 391 Apply threadlock to threads Finger tighten the 6 bolts then torque them in a cross pattern to 12 in Ibs The fully assembled IMU enclosure is shown in Figure 77 Figure 77 LN 200 SPAN IMU 396 SPAN SE User Manual Rev 7 19197 12 SPAN SE Interface Card This appendix provides header descriptions for the SPAN SE Interface card NovAtel part number 01018070 The SPAN S
116. 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 centimeters If however some or all of the satellite signals are blocked the accuracy of the position reported by GNSS degrades substantially or may not be available at all In general an inertial navigation system INS uses forces and rotations measured by an IMU to calculate position velocity and attitude This capability is embedded in the firmware of SPAN capable 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 position 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 SPAN SE User Manual Hev 7 Introduction Chapter 1 parameters are known an INS is capable of providing an autonomous solution wit
117. shown in Figure 23 on page 104 A 2 3 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 2 3 3 Electrical and Environmental ELECTRICAL IMU Power Consumption 16 W max IMU Input Voltage 12 to 28 V DC 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 202 SPAN SE User Manual Rev 7 113 A 2 4 ilMU FSAS Table 15 ilMU FSAS Specifications IMU Size 128mm x 128mm x 104 mm 5 04 x 5 04 x 4 09 IMU Weight 2 1 kg 4 63 Ib MECHANICAL DRAWINGS e M6x1 6H 12deep 4x Figure 29 ilMU FSAS Top Bottom Dimensions a See Figure 31 on page 116 for the center of navigation dimensions b Dimensions are in mm 114 SPAN SE User Manual Hev 7 bd e out 0000 i Figure 30 ilMU FSAS Enclosure Side Dimensions 115
118. structure of all binary messages follows the general conventions as noted here 1 Basic format of Header Three sync bytes plus 25 bytes of header information The header length is variable as fields may be appended in the future Always check the header length Data variable CRC 4 bytes 2 3 sync bytes will always be Byte Hex Decimal First AA 170 Second 44 68 Third 12 18 3 The CRC is a 32 bit CRC performed on all data including the header 4 The header is in the format shown in Table 39 Table 39 Binary Message Header Structure Field Binary Ignored Field Name Type Description Offset Input 1 Sync Char Hexadecimal 0xAA 1 0 N 2 Sync Char Hexadecimal 0x44 1 1 N 3 Sync Char Hexadecimal 0x12 1 2 N 4 Header Lgth Uchar Length of the header 1 3 N 5 Message ID Ushort This is the Message ID number 2 4 N of the log Each log has its own unique message ID that you can find as part of each log description in this chapter Continued on the following page SPAN SE User Manual Rev 7 225 Field Binary Ignored Offset Input Field Name Description 6 Message Type Char Bits 0 4 Reserved 1 6 N Bits 5 6 Format 00 Binary 01 ASCII 10 Abbreviated ASCII NMEA 11 Reserved Bit 7 Response bit 0 Original Message 1 Response Message 7 Port Address Uchar See Table 40 on page 227 1 7 N2 decimal values greater than 16 may be used
119. the SPAN frame and the vehicle frame known as vehicle body rotation or RVB using the VEHICLEBODYROTATION command see page 205 If the IMU is SPAN SE User Manual Rev 7 57 Chapter 3 3SPAN SE Operation 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 4 8 Vehicle to SPAN Frame Angular Offsets Calibration Routine starting on page 63 The kinematic alignment begins when the receiver has a good GNSS position fine time is solved the configuration parameters have been set and a GNSS 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 4 3 3 Manual Alignment Manually enter the attitude information using the SETINITATTITUDE or SETINITAZIMUTH commands Details of these commands start on page 193 3 4 3 4 Dual Antenna Alignment SPAN can also use information availa
120. the pseudorange correction source 171 B 4 27 RESET Perform a hardware reset sss eee 174 4 28 RTKCOMMAND Reset or set the RTK filter to its defaults 175 B 4 29 RTKDYNAMICS Set the RTK dynamics 8 00201 176 B 4 30 RTKSOURCE Set the RTK correction 177 4 31 RVBCALIBRATE Vehicle to Body Rotation 179 SPAN SE User Manual Rev 7 4 32 SAVECONFIG Save current configuration NVM 180 B 4 33 SBASCONTROL Set SBAS test mode and PRN 181 4 34 SETAUTOLOGGING Start SD Card Logging at Boot Up 183 B 4 35 SETGIMBALORIENTATION nennen nennen nens 184 B 4 36 SETIMUORIENTATION Set IMU Orientation 185 4 37 SETIMUTOANTOFFSET Set IMU to antenna 189 4 38 SETIMUTOANTOFFSET2 Set IMU to GPS2 antenna offset 190 4 39 SETIMUTYPE 1 191 4 40 SETINITATTITUDE Set initial attitude of SPAN in degrees 193 B 4 41 SETINITAZIMUTH Set initial azimuth and standard deviation 195 4 42 SETINSOFFSET Set INS
121. turn of over 5 degrees second HEADING UPDATE HIGH STD means the standard deviation of the update failed a 3 sigma check against the inertial standard deviation azimuth checked only HEADING UPDATE BAD MISC means that the difference between the ALIGN heading and the INS heading failed a 3 sigma check with the inertial standard deviation HEADING UPDATE USED we took the update for that epoch Table 56 Wheel Status Binary ASCII WHEEL SENSOR INACTIVE WHEEL SENSOR ACTIVE WHEEL SENSOR USED WHEEL SENSOR BAD MISC WHEEL SENSOR HIGH ROTATION SPAN SE User Manual Rev 7 D 3 39 INSVEL INS Velocity This log contains the most recent North East and Up velocity vector values with respect to the local level frame and also includes an INS status indicator Structure Message ID 267 Log Type Synch Binary Binary Field Field Type Data Description Format Bytes Offset 1 Log Header Log header H 0 2 Week GPS Week Ulong 4 H 3 Seconds into Week Seconds from week start Double 8 H 4 4 North Velocity Velocity North in metres per second Double 8 H 12 5 East Velocity Velocity East in metres per second Double 8 H 20 6 Up Velocity Velocity Up in metres per second Double 8 H 28 7 Status INS status see Table 5 on page 55 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 Recomme
122. 0 F to 185 F Humidity 95 non condensing SPAN SE User Manual Rev 7 123 A 2 5 IMU CPT IMU CPT Enclosure Size Table 19 Technical HW Specs for IMU CPT 127 0 mm L X 105 41 mm W X 88 9 mm H IMU CPT Weight 1 81 kg MECHANICAL DRAWINGS Y X 8 1 N 51 13 0 339 N 4x 86 1 1 03 181 Note All dimensions inches mm 6 00 152 4 gt Figure 36 IMU CPT Side and Perspective View 124 SPAN SE User Manual Rev 7 1442 sans AO i T1 At 5 01 o gt 1273 3 39 86 1 1 1 FECE SO 4 55 115 5 4861 40 9 3 50 z 88 9 DER 1 22 7 54 1 65 30 9 41 8 4 55 115 5 1 A 6 66 7 002 1693 P18 aX 4X MOUNTING SURFACE 4X mm 88 UNPAINTED SE c 224 19 1 m e amp 5 SI 4 s O4AX 277 7 19 015 5 440 138 2 G ie canal 910 t 080 L 5 310
123. 0 558ae6ab 3 are Binary Binary Field Field type Data Description Format Bytes Offset 1 SPANVALID Log header H 0 MODELS header 2 mod Number of models with information to Ulong 4 H follow 3 model Model name String Variable Variable max 16 4 expyear Expiry year Ulong 4 Variable Max H 20 5 expmonth Expiry month Ulong 4 Variable Max H 24 6 expday Expiry day Ulong 4 Variable Max H 28 Js Next model offset H 4 number of mods x variable max 28 variable XXXX 32 bit CRC ASCII and Binary only Hex 4 Variable variable CR LF Sentence terminator ASCII only 352 1 In the binary log case additional bytes of padding are added to maintain 4 byte alignment SPAN SE User Manual Hev 7 D 3 62 TIME Time Data This log provides several time related pieces of information including receiver clock offset and UTC time and offset It can also be used to determine any offset in the PPS signal relative to GPS time To find any offset in the PPS signal log the TIME log ontime at the same rate as the PPS output For example if the PPS output is configured to output at a rate of 0 5 seconds log the TIME log ontime 0 5 as follows log time ontime 0 5 The TIME log offset field can then be used to determine any offset in PPS output relative to GPS time Message ID 101 Log Type Synch Recommended Input log timea ontime 1 ASCII Example TIMEA COM1 0 50 5 FI
124. 0000000 0000 149 1521 3 36487 000000025 0 000000000 0 000000000 14 999999992 VALID ed342 79 Table 62 Clock Model Status Clock Status Clock Status Binary ASCII Description 0 VALID The clock model is valid 1 CONVERGING The clock model is near validity 2 ITERATING The clock model is iterating towards validity 3 INVALID The clock model is not valid 4 ERROR Clock model error 318 SPAN SE User Manual Rev 7 Field Field type Data Description Format Binary Offset 1 MARKXTIME Log header H 0 header 2 week GPS week number Long 4 H 3 seconds Seconds into the week as measured from the receiver Double 8 H 4 clock coincident with the time of electrical closure on the Mark Input port 4 offset Receiver clock offset in seconds A positive offset Double 8 H 12 implies that the receiver clock is ahead of GPS Time To derive GPS time use the following formula GPS time receiver time offset 5 offset std Standard deviation of receiver clock offset s Double 8 H 20 6 utc offset This field represents the offset of GPS time from Double 8 H 28 UTC time computed using almanac parameters UTC time is GPS time plus the current UTC offset plus the receiver clock offset UTC time GPS time offset UTC offset 7 status Clock model status see Table 62 Clock Model Enum 4 H 36 Status on page 318 8 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 40
125. 0000000 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 3l 0x80000000 IMU Passed 0 Reserved Status Failed 1 SPAN SE User Manual Hev 7 335 Table 72 IMU CPT Status Nibblez Bit Mask Description Range Value 0 0x00000001 Gyro X Status 1 Valid 0 Invalid NO 1 0x00000002 Gyro Y Status 1 Valid 0 Invalid 2 0x00000004 Gyro Z Status 1 Valid 0 Invalid 3 0x00000008 Unused Set to 0 4 0x00000010 Accelerometer X Status 1 Valid 0 Invalid Nl 5 0x00000020 Accelerometer Y Status 1 Valid 0 Invalid 6 0x00000040 Accelerometer Z Status 1 Valid 0 Invalid 7 0x00000080 Unused Set to 0 8 0x00000100 Unused N2 9 0x00000200 10 0x00000400 11 0x00000800 12 0x00001000 N3 13 0x00002000 14 0x00004000 15 0x00008000 16 0x00010000 N4 17 0x00020000 18 0x00040000 19 0x00080000 20 0x00100000 N5 21 0x00200000 22 0x00400000 23 0x00800000 24 0x01000000 N6 25 0x02000000 26 0x04000000 27 0x08000000 28 0x10000000 N7 29 0x20000000 30 0x40000000 31 0x80000000 336 SPAN SE User Manual Rev 7 lt If any of the non reserved fields indicate a failure contact NovAtel customer service for further information Recommended Input log rawimua onnew ASCII Example RAWIMUA COM3 0 0 0 EXACT 1105 4
126. 03 0 002 3 If you are using a wheel sensor connected directly to the iMAR iIMU FSAS 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 default wheel circumference is 1 96 meters The input type for this mode should be IMU and the polarity is unused SETWHEELPARAMETERS IMU 1000 2 03 0 002 Abbreviated ASCII Syntax Message ID 847 SETWHEELPARAMETERS input polarity ticks circ spacing SPAN SE User Manual Rev 7 201 ASCII Value Binary Description Binary Binary Binary Value 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 2 input See Table 36 on page 202 Optional field to specify to which Enum 4 H input the command should be applied Default is IMU 3 polarity NEGATIVE 0 Optional field to specify the Enum 4 H 4 polarity of the pulse to be POSITIVE 1 received on the mark input Default is POSITIVE 4 ticks 1 10 000 Number of ticks per revolution Ushort 41 H 8 5 circ 0 1 100 Wheel circumference m Double 8 H 12 6 spacing 0 001 1000 Spacing of ticks or resolution of the Double 8 H 20 wheel sensor m 1 In the binary log case an additional 2 bytes of padding are added to maintain 4 byte alignment T
127. 0x00000040 IMU Passed 0 IMU Passed 0 Status Failed 3 Status Failed 1 7 0x00000080 IMU Passed 0 IMU Passed 0 Status Failed 4 Status Failed 1 Continued on the following page SPAN SE User Manual Rev 7 333 Nibble Number HG1700 Description LN200 Description N2 8 0x00000100 Reserved IMU Passed 0 Status Failed 1 9 0x00000200 Reserved IMU Passed 0 Status Failed 1 10 0x00000400 Reserved IMU Passed 0 Status Failed 1 11 0x00000800 Reserved IMU Passed 0 Status Failed 1 N3 12 0x00001000 Reserved IMU Passed 0 Status Failed 1 13 0x00002000 Reserved IMU Passed 0 Status Failed 1 14 0x00004000 Reserved IMU Passed 0 Status Failed 1 15 0x00008000 Reserved Reserved N4 16 0x00010000 Reserved Reserved 17 0x00020000 Reserved Reserved 18 0x00040000 Reserved Reserved 19 0x00080000 Reserved Reserved 5 20 0x00100000 Reserved Reserved 21 0x00200000 Reserved Reserved 22 0x00400000 Reserved Reserved 23 0x00800000 Reserved Reserved Continued on the following page 334 SPAN SE User Manual Rev 7 Nibble Number HG1700 Description LN200 Description 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 0x1
128. 1 For further information see Standards and References available on our website at www novatel com through Support Knowledge and Learning The following table contains excerpts from Table 6 of the NMEA Standard which defines the variables for the NMEA logs The actual format for each parameter is indicated after its description The NMEA National Marine Electronics Association has defined standards that specify how electronic equipment for marine users communicate GPS receivers are part of this standard and the NMEA has defined the format for several GPS data logs otherwise known as sentences Each NMEA sentence begins with a followed by the prefix GP followed by a sequence of letters that define the type of information contained in the sentence Data contained within the sentence is separated by commas and the sentence is terminated with a two digit checksum followed by a carriage return line feed Here is an example of an NMEA sentence that describes time position and fix related data GPGGA 134658 00 5106 9792 N 11402 3003 W 2 09 1 0 1048 47 M 16 27 M 08 AAAA 60 This example and other NMEA logs are output the same no matter what GPS receiver is used providing a standard way to communicate and process GPS information SPAN SE User Manual Rev 7 233 Field Type Symbol Special Format Fields Definition Status A Single character field A Yes Data Valid Warning Flag Clear V No Data Invalid Wa
129. 1 SW ON Connected to Pin 3 switch IMU SIG signal ON OFF voltage applied ON 4 to 34 V 22 SW ON Connected to Pin 1 ground for GND IMU signal ON a RS 422 compatible SPAN SE User Manual Rev 7 119 Table 17 Legacy ilMU FSAS Cable Y Adapter Pin Out DB 9 Male to FSAS DB 9 Female to Function Cow 3 Cable FSAS I O Cable Description DAS 1 Data acquisition and control signals DO 2 Data output signal RS 422 DI 3 Data input signal RS 422 DGND 5 9 Digital ground DIN 7 Data input signal RS 422 DON 8 Data output signal RS 422 A 2 4 2 The iIMU FSAS with the O wheel sensor option provides wheel sensor input from the Distance Measurement Instrument DMI through the DB 9 connector labelled ODO on the IMU interface cable The IMU data goes through the IMU and then into the SPAN receiver through the serial communication line ilMU FSAS Odometer Cabling There are two DMI products that are compatible with the iIMU FSAS system iMWS V2 Magnetic Wheel Sensor from iMAR A magnetic strip and detector are installed inside the wheel The signal then goes through a box that translates the magnetic readings into pulses that are then passed through the cable into the ODO connector on the IMU cable See also Figure 35 below WPT Wheel Pulse Transducer from Corrsys Datron 120 SPAN SE User Manual Hev 7 A transducer trad
130. 122 Table 18 Cable Modification for Corrsys Datron WPT 8 pin M12 Connector on the Corrsys Datron Cable P Female Pin Description Color Ca 1 GND White No change 2 Ug Input Power Brown 3 Signal A Green 6 4 Signal A inverted Yellow 7 5 Signal B Grey 3 6 Signal B inverted Pink 1 7 Reserved No change 8 a Pin 2 is wired to a red banana plug Power in and Pin 1 is wired to a black banana plug Power return so the WPT needs power to operate 10 to 30 V Solder the shield on the WPT cable to the female DB9 housing b This modification is for the Corrsys Datron WPT 8 pin M12 plug cable number 14865 SPAN SE User Manual Hev 7 A 2 4 3 PERFORMANCE IMU IMU Performance 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 Accelerometer Scale Factor 400 ppm Accelerometer Bias 1 0 mg A 2 4 4 Electrical and Environmental ELECTRICAL IMU Power Consumption 16 W max IMU Input Voltage 10 to 34 V DC System Power Consumption 14 8 W typical Data Connector MIL C 38999 III Power Connector MIL C 38999 III same as data connector IMU Interface RS 422 ENVIRONMENTAL iIMU FSAS Temperature Operating 40 C to 71 C 40 F to 160 F Storage 40 C to 85 C 4
131. 146 Log Type Polled Field Type Data Description Format Byes Binary 1 Log Header Log header H 0 2 FileState OPEN 0 The file status Enum 4 CLOSE 1 3 FileName Output filename in Char 12 H 4 8 3 format 4 FileSize Output filesize in KB ULONG 4 H 16 5 Media SD 0 default Output media Enum 4 H 20 USBSTICK 1 Recommended Input log logfilestatusa once ASCII Example LOGFILESTATUSA ICOM1 0 98 5 UNKNOWN 0 644 581 404 0020 0000 411 OPEN Datafi le dat 0 SD 8ef3dc64 310 SPAN SE User Manual Rev 7 D 3 45 LOGLIST List of System Logs Outputs a list of log entries in the system The following tables show the binary ASCII output See also the RXCONFIG log on page 340 for a list of current command settings Message ID 5 Log Type Polled Recommended Input log loglista once ASCII Example LOGLISTA COM1 0 93 5 FINESTEERING 1521 319135 030 00000000 0000 149 7 COMI RXSTATUSEVENTA ONNEW 0 000000 0 000000 HOLD COM2 RXSTATUSEVENTA ONNEW 0 000000 0 000000 HOLD COM3 RXSTATUSEVENTA ONNEW 0 000000 0 000000 HOLD CoM4 RXSTATUSEVENTA ONNEW 0 000000 0 000000 HOLD COMI LOGLISTA ONCE 0 000000 0 000000 NOHOLD COM2 RAWIMUSB ONNEW 0 000000 0 000000 NOHOLD COM2 INSPVASB ONTIME 0 020000 0 000000 NOHOLD 21ed4ccd WARNING Do not use undocumented logs or commands Doing so may produce errors and void your warranty SPAN SE User Manual Rev 7 311
132. 2000 FORS Z NoGo Normal 0 NoGo 1 14 0x00004000 FORS Y NoGo Normal 0 NoGo 1 15 0x00008000 FORS X NoGo Normal 0 NoGo 1 16 0x00010000 Master Warning Normal 0 Warning 1 ku 17 0x00020000 IMU Warning Normal 0 Warning 1 18 0x00040000 B 290 Z Warning Normal 0 Warning 1 19 0x00080000 B 290 Y Warning Normal 0 Warning 1 20 0x00100000 B 290 X Warning Normal 0 Warning 1 NS 21 0x00200000 FORS Z Warning Normal 0 Warning 1 22 0x00400000 FORS Y Warning Normal 0 Warning 1 23 0x00800000 FORS X Warning Normal 0 Warning 1 24 0x01000000 Ae 25 0x02000000 26 0x04000000 27 0x08000000 ae 28 0x 10000000 iy 29 0x20000000 30 0x40000000 31 0x80000000 332 SPAN SE User Manual Rev 7 Table 70 Mode Indication MDI3 MDI2 MDI1 MRF Current IMU Mode 0 0 0 0 Power On BIT PBIT 0 0 0 1 Standby Mode 0 1 1 0 Initiated BIT BIT 0 1 1 1 IBIT Ready 1 1 0 1 Operational Mode Table 71 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 1 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
133. 25384 180 00040000 b8ed 0 1105 425384 156166800 111607 43088060 430312 3033352 132863 186983 823 5aa97065 SPAN SE User Manual Rev 7 337 D 3 56 RAWIMUS Short Raw IMU Data This is a short header version of the RAWIMU log on page 330 Structure Message ID 325 Log Type Asynch nt 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 HG1700 and the LN 200 IMUs see Table 71 on page 333 Refer also to the Interface Control Documentation as provided by Honeywell and Northrop Grumman respectively For the raw IMU status of the iIMU FSAS see Table 68 For the raw IMU status of the Litef LCI refer to Table 69 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 2 Long 4 20 7 X Accel Output Change in velocity count along X axis Long 4 24 8 Z Gyro Output Change in angle count around Z axis right Long 4 28 handed 9 Y Gyro Output Change in angle count around Y axis 2 3 Long 4 32 right handed 10 X Gyro Output Change in angle count
134. 37211 1040 805671970 0 000257666 0 003030102 0 000089758 3 082229474 1 019023628 89 253955744 INS SOLUTION GOOD SPAN SE User Manual Rev 7 317 0 3 49 MARK1TIME MARK2TIME MARKSTIME MARKATIME Time of Mark Input Event This log contains the time of the leading edge of the detected mark input pulse MARKITIME gives the time when a pulse occurs on the MK1I input MARK2TIME is generated when a pulse occurs on a MK2I input and so on These logs allow you to measure the time when events are occurring in other devices such as a video recorder See also the SETMARKxOFFSET commands starting on page 198 54 1 Use the ONNEW trigger with this or the MARKxPVA logs 2 Only the logs the logs and polled log types are generated on the fly at the exact time of the mark Synchronous and asynchronous logs output the most recently available data MARKITIME Message ID 1130 MARK2TIME Message ID 616 MARK3TIME Message ID 1075 MARK4TIME Message ID 1076 Log Type Asynch Recommended Input log mark1timea onnew Example MARK1TIMEA COM1 0 98 0 FINESTEERING 1521 336487 000 00000000 0000 149 1521 3 36487 000000025 0 000000000 0 000000000 14 999999992 VALID 7597ecee MARK2TIMEA COM1 0 98 5 FINESTEERING 1521 336487 000 00000000 0000 149 1521 3 36487 000000025 0 000000000 0 000000000 14 999999992 VALID 8f d08ef6 MARK3TIMEA COM1 0 98 5 FINESTEERING 1521 336487 000 0
135. 3921499963209 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 288 SPAN SE User Manual Hev 7 D 3 30 INSCOVS Short INS Covariance Log This is a short header version of the IVCOV log on page 287 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 in local List of 9 72 H 84 level frame Degrees squared Doubles rotation around the given axis XX XY XZ YX VY YZ ZX ZY ZZ 6 Velocity Covariance Velocity covariance matrix in local List of 9 72 H 156 level frame Meters per second Doubles squared 7 2 2 2 22 7 XXXX 32 bit CRC ASCII Binary and
136. 4 16 0 23945651 399 0 148 98053428 283142 0 028 1858 773 37 7 10859 980 01309c6b 44 12 19388129 378 0 335 103786179 553598 0 012 975 676 36 6 3726 656 8119e24 44 12 19388136 659 0 167 80722615 862096 0 000 758 859 42 7 3714 860 0b19e2b 43 8 20375687 399 0 253 108919708 904476 0 012 2781 090 39 1 10629 934 8119e84 43 8 20375689 555 0 177 84715349 232514 0 000 2163 074 42 2 10619 916 0b19e8b fd2d3125 SPAN SE User Manual Rev 7 323 lt On SPAN SE it is recommended the RANGE log be requested in binary only especially if high rates are desired An ASCII example is shown above for clarity and consistency Table 63 Tracking State State Description State Description 0 L1 Idle 7 L1 Frequency lock loop 1 L1 Sky search 8 L2 Idle 2 L1 Wide frequency band pull in 9 L2 P code alignment 3 L1 Narrow frequency band pull in 10 L2 Search 4 L1 Phase lock loop 11 L2 Phase lock loop 5 11 Reacquisition 19 L2 Steering 6 L1 Steering Table 64 Correlator Type State Description 0 N A 1 Standard correlator spacing 1 chip 2 Narrow Correlator spacing lt 1 chip 3 Reserved 4 Pulse Aperture Correlator PAC 5 6 Reserved Table 65 Channel Tracking Example Channel 0 L1 Phase Lock Loop 1 Fora complete list of hexadecimal and binary equivalents please refer to Unit Con
137. 4 performance 113 replacement parts 419 scale factors 339 sensor installation 366 376 379 383 390 393 394 396 LN 200 IMU SPAN IMU enclosure 390 universal enclosure 379 local level coordinate frame 45 locktime current 326 L band 309 log list 311 trigger 221 type 221 LOG command 163 LOGFILE command 168 logging 71 129 220 LOGLIST log 311 M MAC log 314 manual alignment 58 mark input pulse 318 Mark trigger 198 MARKxCOUNT log 315 MARKXxPVA log 316 MARKxTIME 318 MARKxTIME log 318 mask priority 347 mean sea level 240 fix 265 SPAN SE User Manual Rev 7 Index position 242 memory buffer space 163 non volatile 150 save configuration 180 message ascii 222 format 224 ID 312 313 time stamp 231 trigger 165 167 MKDIR command 131 mode 2 D 271 3 D 271 dynamic 176 operating 270 RTK 237 static 176 model 33 authorization 205 207 card 207 clock 319 expiry date 352 switch 207 upgrades 23 version 352 month 354 360 motion detector 176 moving alignment 57 MPPC See SPAN MPPC N navigation data 270 mode 58 NMEA 169 log list 233 position 267 pseudorange measurement noise statistics 272 satellite range residuals 268 269 NMEATALKER command 169 node 263 noise statistic 272 thermal 323 non volatile memory NVM 150 427 Index save configuration 180 north 299 note antenna motion 176 authorization code 205 logging 163 range residual 268 st
138. 4 31 RVBCALIBRATE Vehicle to Body Rotation Control The RVBCALIBRATE command is used to enable or disable the calculation of the vehicle frame to the SPAN computation frame angular offset These angular offsets must be known in the SPAN system before a kinematic alignment can be attempted The angular offset can be entered with the VEHICLEBODYROTATION command or solved for with the RVBCALIBRATE command 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 system has performed either a static or kinematic alignment and has 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 357 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 4 1 Configuration for Alignment s
139. 40 on page 227 Continued on the following page Field 222 Ignored Field Field Type Description on Input SPAN SE User Manual Hev 7 4 Sequence Long This is used for multiple related logs It is a number that counts down from N 1 to 0 where 0 means it is the last one of the set Most logs only come out one at a time in which case this number is 0 5 Idle Time Float The minimum percentage of time that the processor is idle between successive logs with the same Message ID 6 GPS Time Enum This value indicates the quality of the GPS time see Status Table 43 GPS Time Status on page 229 7 Week Ulong GPS week number 8 Seconds GPSec Seconds from the beginning of the GPS week accurate to the millisecond level 9 Receiver Ulong This is an eight digit hexadecimal number Status representing the status of various hardware and software components of the receiver between successive logs with the same Message ID see Table 75 SPAN Receiver Status on page 345 10 Reserved Ulong Reserved for internal use 11 Receiver Ulong This is a value 0 65535 that represents the s w Version receiver software build number 12 x Char This character indicates the end of the header Example Log RAWEPHEMA COM1 0 35 0 SATTIME 1364 496230 000 00100000 97b7 2310 30 1364 496800 8b0550a1892755100275e6a09382232523a9dc04ee6 794a0000090394ee 8 0550 189 6
140. 43 295 over ground 277 static mode 176 status 237 243 channel tracking 325 327 clock model 319 COM port 321 data 266 event 348 flag 342 indicators 68 receiver 163 223 342 345 time 223 word 349 steer time 230 strobe 76 subframe 329 support 22 synchronize 76 synchronize INS with GPS 292 synchronous log 221 429 Index 430 T talker NMEA 169 technical specifications 92 106 107 110 113 123 128 tests built in 69 time coarse fine 230 CPU 163 ephemeris 329 fine 230 GPS 354 interval 165 167 of mark in event 319 of position fix 266 precision 230 stamp 231 status 223 229 230 steering 230 synchronized 292 UTC 265 278 validity 229 TIME log 353 TIMEDWHEELDATA log 355 track over ground 243 tracking channel 323 continuous 309 326 loop 323 Transmission Control Protocol TCP 78 79 transmit 141 322 trigger 146 147 error 342 log 163 221 312 313 option 164 troubleshooting 421 true north 243 pseudorange error orientation 273 U undulation 240 best position 242 universal enclosure HG1700 362 LN 200 IMU 379 Universal IMU Enclosure specifications 101 technical specifications 124 UNLOG command 210 UNLOGALL command 212 up 299 User Datagram Protocol UDP 78 79 using a command as a log 129 V validity clock model 318 receiver model 352 358 VBS OmniSTAR HP XP 309 initiate 137 subscription 303 VDOP see dilution of precision vector values 299 vehicle fr
141. 43 GP 1283d3e3 14a45bcc 43 NMEATALKERA COM1 7 96 5 43 MAGVARA COM1 6 96 5 43 LOGA COM EW 0 000000 0 000000 43 LOGA COM EW 0 000000 0 000000 43 LOGA COM EW 0 000000 0 000000 43 LOGA COM RXSTATUSEVENTA ONNEW 0 000000 0 000000 ESTEERING 1521 320402 983 40000020 0000 COM1 1 96 5 FINESTEERING 1521 320402 983 40000020 0000 143 IMU_LN200 ESTEERING 1521 320402 984 40000020 0000 0 000000000 0 000000000 5 96 5 UNKNOWN HOLD 4 96 5 UNKNOWN HOLD 3 96 5 UNKNOWN HOLD 2 96 5 UN HOLD NOWN 43 43 COMA COM1 0 96 5 FINESTEERING 1521 320402 984 40000020 0000 143 IMU 115200 N 8 1 N OFF OFF 4 567775 82 e86cf Do not use undocumented commands or logs Doing so may produce errors and void your warranty 4 Binary Field type Data Description Bytes Offset RXCONFIG Log header H 0 header e header Embedded header h H e msg Embedded message Varied a H h Embedded inverted 32 bit CRC ASCII and Long 4 H h a Binary only The embedded CRC is inverted so that the receiver does not recognize the embedded messages as messages to be output but continues with the RXCONFIG message If you want to use the messages output from the RXCONFIG log simply flip the embedded CRC around for individual messages XXXX 32 bit CRC ASCII and Binary only Hex 4 H h a 4 CR LF Sen
142. 45 5 rxstat pri Receiver status priority mask ULong 4 H 12 6 rxstat set Receiver status event set mask ULong 4 H 16 7 rxstat clear Receiver status event clear mask ULong 4 H 20 8 aux stat Auxiliary 1 status word see Table 76 on ULong 4 H 24 page 346 9 aux stat pri Auxiliary 1 status priority mask ULong 4 H 28 10 aux stat set Auxiliary 1 status event set mask ULong 4 H 32 11 auxlstatclear Auxiliary 1 status event clear mask ULong 4 H 36 12 V3stat OEMV 3 status word see Table 77 on ULong 4 H 40 page 346 13 V3stat pri OEMV 3 status priority mask ULong 4 H 44 14 V3stat set OEMV 3 status event set mask ULong 4 H 48 15 V3stat clear 3 status event clear mask ULong 4 H 52 16 V2stat OEMV 2 status word see Table 78 on ULong 4 H 56 page 346 17 V2stat pri OEMV 2 status priority mask ULong 4 H 60 18 V2stat set OEMV 2 status event set mask ULong 4 H 64 19 V2stat clear OEMV 2 status event clear mask ULong 4 H 68 20 Next status code offset H 8 number of stats x 16 variable XXXX 32 bit CRC and Binary only Hex 4 H 8 stats x 64 variable CR LF Sentence terminator ASCII only SPAN SE User Manual Rev 7 347 D 3 59 RXSTATUSEVENT Status Event Indicator This log is used to output event messages as indicated in the RXSTATUS log An event message is automatically generated for all receiver errors which are indicated in the receiver error word In addition event messages
143. 5422 RS232 or RS422 operation COMI TxD RS232 34 COMI TX RS422 COMI RTS RS232 35 Ground 36 Ground 37 IMU Port RX RS422 IMU Port CTS RS232 38 IMU Port RX 4 RS422 IMU Port RxD RS232 39 IMU Port TX RS422 IMU Port RTS RS232 40 IMU Port TX RS422 IMU Port TxD RS232 SPAN SE User Manual Rev 7 Table 93 J601 Multi Communication Header B Pin Description Signal Levels Pin 2 Pin 40 Pin 1 1 OEMV Port CTS RS232 2 OEMVY Port RxD RS232 Connection to OEMV 3 receiver UART 3 OEMV Port RTS RS232 COMI RS 232 only 4 OEMV Port TxD RS232 5 Ground Software configurable GPS synchronous 6 Event out 1 Strobe output strobe LVTTL level Software configurable GPS synchronous 7 Event out 2 Strobe output strobe LVTTL level Software configurable GPS synchronous 8 Event out 3 Strobe output strobe LVTTL level Software configurable GPS synchronous 9 Event out 4 Strobe output strobe LVTTL level 10 Ground 11 Event in 1 Strobe Software configurable LVTTL level input event trigger 12 2 Strobe Software configurable LVTTL level input event trigger 13 Strobe Software configurable LVTTL level input event trigger 14 Bventan 4 Strobe Software configurable LVTTL level input event trigger 15 Ground 16 Ground 17 CAN 1 18 CAN 1 19 CAN 2 20 CAN 2 21 Ground 22 Ground 23 2 RX
144. 619515 2 892414901 6 179554750 INS ALIGNMENT COMPLETE 855d6f76 294 SPAN SE User Manual Hev 7 D 3 36 INSSPD INS Speed This log contains the most recent speed measurements in the horizontal and vertical directions and includes an INS status indicator Structure Message ID 266 Log Type Synch Binary Binary Field Field Type Data Description Format Bytes Offset 1 Log Header Log header H 0 2 Week GPS Week Ulong 4 H 3 Seconds into Week Seconds from week start Double 8 H 4 4 Trk gnd Actual direction of motion over ground Double 8 H 12 track over ground with respect to True North in degrees 5 Horizontal Speed Magnitude of horizontal speed in Double 8 H 20 meters per second 6 Vertical Speed Magnitude of vertical speed in meters Double 8 H 28 per second where a positive value indicates speed upward and a negative value indicates speed downward 7 Status INS status see Table 5 on page 55 Enum 4 H 36 8 XXXX 32 bit CRC 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 COM1 0 94 0 FINESTEERING 1635 490702 000 00000000 0000 406 1635 4907 01 997500000 341 850458219 0 001344556 0 000962845 INS_SOLUTION_GOOD 95aa6f17 SPAN SE User Manual Rev 7 295 D 3 37 INSSPDS Short INS Speed This is a short header version of the NS
145. 69 SETIMUTYPE switch ASCII Binary inti Binary Binary Binary 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 2 Switch See Table 35 IMU IMU Type ENUM 4 H Type on page 192 SPAN SE User Manual Rev 7 191 Table 35 IMU Type Binary ASCII Description 0 IMU_UNKNOWN Unknown IMU type default 1 IMU_HG1700_AG11 Honeywell HG1700 AG11 AG58 2 3 Reserved 4 IMU_HG1700_AG17 Honeywell HG1700 AG17 AG62 5 IMU_HG1900_CA29 Honeywell HG1900 CA29 6 7 Reserved 8 IMU LN200 Litton LN 200 200 Hz model 9 IMU LN200 400HZ Litton LN 200 400 Hz model 10 Reserved 11 IMU HG1700 AG58 Honeywell HG1700 AG58 12 IMU HG1700 AG62 Honeywell HG1700 AG62 13 IMU IMAR FSAS iMAR iIMU FSAS 14 15 Reserved 16 IMU KVH COTS IMU CPT 17 18 Reserved 19 IMU LITEF NG Litef LCI 1 IMU 20 IMU_HG1930_AA99 Honeywell HG1930 AA99 Abbreviated ASCII Example SETIMUTYPE IMU_IMAR_FSAS 192 SPAN SE User Manual Rev 7 4 40 SETINITATTITUDE Set initial attitude of SPAN in degrees This command allows you to input a known attitude to start SPAN operation rather than the usual coarse alignment process The caveats and special conditions of this command are listed below e This alignment is instantaneous based on the user
146. 8 DUALANTENNAPORTCONFIG SPAN MPPC Dual Antenna Port Setup 145 B 4 9 EVENTINCONTROL Control mark input properties 146 B 4 10 EVENTOUTCONTROL Control event out 147 B 4 11 EXTHDGOFFSET Set the Angular Offset 148 4 12 FORMAT Format the SD 149 B 4 13 FRESET Factory reset nousin iinit 150 B 4 14 GIMBALSPANROTATION Gimbal frame to SPAN frame rotation 151 B 4 15 GNSSCARDCONFIG GNSS port configuration 152 B 4 16 ICOMCONFIG Set ICOMX Protocol seem 155 4 17 INPUTGIMBALANGLE Input gimbal angles into the SPAN SE 156 B 4 18 IPCONFIG Set IP 157 B 4 19 INSCOMMAND INS control 158 B 4 20 INSZUPT Request Zero Velocity 159 4 21 INSZUPTCONTROL INS Zero Velocity Update Control 160 4 22 LEVERARMCALIBRATE INS Calibration Command 161 B 4 23 LOG Request logs from the receiver 163 B 4 24 LOGFILE Log Data to a File on the SD 168 4 25 NMEATALKER Set the NMEA Talker ID e 169 4 26 PSRDIFFSOURCE Set
147. 9f449 cd8 0al0 RXCONFIGA 1 15 96 5 UNKNOWN 0 0 000 40000020 0000 143 COMCONTROLA COM1 15 96 5 UNKNOWN 0 0 000 40000020 0000 143 COM3 RTS DEFAULT 5232 98ecb75 d8c3a160 RXCONFIGA 1 14 96 5 0 0 000 40000020 0000 143 COMCONTROLA COM1 14 0 K 0 K 0 K 0 R 96 5 UNKNOWN 0 0 000 40000020 0000 143 COM4 RTS DEFAULT RS232 e3032ae2 1945e7 7 RXCONFIGA COM1 13 96 5 U OWN 0 0 000 40000020 0000 143 INTERFACEMODEA COM1 13 96 5 UNKNOWN 0 0 000 40000020 0000 143 COM1 NOVATE fffl4 e7d5cb24 OWN 0 0 000 40000020 0000 143 INTERFACEMODEA COM1 12 20 0000 143 COM2 NOVATEL NOVATEL ON 9cd39 4b 12706c90 OWN 0 0 000 40000020 0000 143 INTERFACEMODEA COM1 11 L NOVATEL ON b39ad4f 3 e875ddd9 P L NOVATEL ON bc4 RXCONFIGA COM1 12 96 5 U 96 5 UNKNOWN 0 0 000 40000 RXCONFIGA COM1 11 96 5 U 96 5 UNKNOWN 0 0 000 40000020 0000 143 COM3 NOVAT RXCONFIGA COM1 10 96 5 UNKNOWN 0 0 000 40000020 0000 143 INTERFACEMODEA COM1 10 96 5 UNKNOWN 0 0 000 40000020 0000 143 NOVATEL NOVATEL ON ddeb5f 5 3b85fbde RXCONFIGA COM1 9 96 5 UNKNOWN 0 0 000 40000020 0000 143 INTERFACEMODEA COMI 9 96 5 UNKNOWN 0 0 000 40000020 0000 143 USB1 NOVATEL NOVATEL ON 68b6a123 db99b6e7 RXCONFIGA COM1 8 96 5 UNKNOWN 0 0 000 40000020 0000 143 INTERFACEMODEA COMI 8 96 5 UNKNOWN 0 0
148. ADING logs Configuring SPAN with ALIGN on SE D and MPPC D Models To enable the dual antenna ALIGN solution to aid the INS alignment and provide heading updates the offset between the antennas and the IMU must be known This is achieved by entering lever arms to both antennas This is done via the SETIMUTOANTOFFSET and SETIMUTOANTOFFSET2 commands To configure SPAN with ALIGN Aiding SPAN SE User Manual Hev 7 Dual Antenna Functionality Chapter 4 1 Enter the lever arm from the IMU to the primary antenna primary antenna is connected to the connector labeled GPS using the SETIMUTOANTOFFSET command Abbreviated ASCII Example SETIMUTOANTOFFSET 0 54 0 32 1 20 0 03 0 03 0 05 2 Enterthe lever arm from the IMU to the secondary antenna secondary antenna is connected to the connector labeled GPS 2 on SPAN SE or the external receiver for SPAN MPPC using the SETIMUTOANTOFFSET2 command Abbreviated ASCII Example SETIMUTOANTOFFSET2 0 54 0 32 1 20 0 03 0 03 0 05 SPAN SE D and SPAN MPPC can be configured for different alignment routines depending on the motion conditions experienced during the alignment period For example in marine applications the vehicle cannot be guaranteed to be stationary during the alignment process so the standard coarse alignment routine will not work The different alignment routines are described in the following sections 45 1 Alignment on a Moving Vessel Aided Transfer Alignment Default If
149. ARTICULAR 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 GNSS Hotline at 1 800 NOVATEL U S or Canada only or 403 295 4900 Fax 403 295 4901 e mail to support novatel ca website http www novatel com or write to NovAtel Inc Customer Service Dept 1120 68 Avenue NE Calgary Alberta Canada T2E 8S5 SPAN SE User Manual Rev 7 15 Terms and Conditions 16 Standard Terms and Conditions of Sales 1 PRICES All prices are Firm Fixed Price FCA 1120 68th Avenue N E
150. ASCII Example GLOCLOCKA COM1 0 54 5 SATTIME 1364 411884 000 00000000 1d44 2310 0 0 000000000 0 000000000 0 0 0 000000275 792 0 000001207 0 000000000 0 000000000 0 437 9 SPAN SE User Manual Rev 7 255 Binary Field Field type Data Description Offset 1 GLOCLOCK Log header H 0 header 2 Reserved Ulong 4 H 3 Double 8 H 4 4 Double 8 H 12 5 sat type Satellite type where Uchar 1 H 20 0 GLO_SAT 1 GLO_SAT_M new M type 6 Four year interval number starting from 1996 Uchar 1 H 21 4 TGPS GPS time scale correction to UTC SU given at Double 8 H 24 beginning of day in seconds 8 N GLONASS calendar day number within a four year Ushort 2 32 period beginning since the leap year in days 9 GLONASS time scale correction to UTC time in Double 8 H 36 seconds 10 bl Beta parameter 1st order term Double 8 H 44 11 b2 Beta parameter 2nd order term Double 8 H 52 12 Kp The Kp scale summarizes the global level of Uchar 1 H 60 geomagnetic activity A Kp of 0 to 4 is below storm levels 5 to 9 13 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 61 14 CR LF Sentence terminator ASCII only 1 In the binary log case an additional bytes of padding are added to maintain 4 byte alignment 256 SPAN SE User Manual Hev 7 D 3 12 GLOEPHEMERIS GLONASS Ephemeris Data GLONASS ephemeris information is available through t
151. Abbreviated ASCII Syntax Message ID 504 WHEELVELOCITY latency ticks rev wheel vel Rsrvd fwheel vel Rsrvd Rsrvd ticks s Field Field ASCII Binary Binary Binary Binary 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 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 per Ushort 2 H 4 second 5 Reserved Ushort 2 H 6 6 fwheel vel Float wheel velocity in ticks per Float 4 H 8 second T Reserved Ulong 4 H 12 8 Ulong 4 H 16 9 ticks s Cumulative number of ticks per Ulong 4 H 20 second Refer also to our application note APN 036 Using a Wheel Sensor with SPAN available on our website at www novatel com through Support Knowledge and Learning Abbreviated ASCII Example WHEELVELOCITY 123 8 10000040 WHEELVELOCITY 123 810000080 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 5 and measurement from wheel sensor hardware 123
152. Binary Binary 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 2 Switch 0 0 IMU determines axis ENUM 4 H orientation automatically during coarse alignment default 1 1 IMU X axis is pointing UP 2 2 IMU X axis is pointing DOWN 3 3 IMU Y axis is pointing UP 4 4 IMU Y axis is pointing DOWN 5 5 IMU Z axis is pointing UP 6 6 IMU Z axis is pointing DOWN SPAN SE User Manual Rev 7 187 Table 34 Full Mapping Definitions NP A ra gt J closure J MISI Mannie ame SPAN Frame IMU Enclosure IMU Enclosure Frame Axes Frame am 188 SPAN SE User Manual Hev 7 4 37 SETIMUTOANTOFFSET Set IMU to antenna offset It is recommended that you mount the IMU as close as possible to the GNSS antenna particularly in the horizontal plane This command is used to enter the offset between the IMU and the GNSS antenna The measurement should be done as accurately as possible preferably to within millimetres 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 centimetre for example enter 0 01 in the a
153. CA operation Refer to the OEMV Family user manuals for details on DGPS RTK L band or SBAS setup and operation The GNSS positioning mode of operation can also be configured using the position mode wizard in NovAtel s Control and Display Unit CDU software utility See CDU s Help and its wizard screens for more information See GNSSCARDCONFIG GNSS port configuration on page 152 for details RTK BASE CONFIGURATION lt The CDU position mode wizard currently cannot configure firmware version SCD000300 or SKS000200 to receive RTK corrections Instead configuration should be done manually through the CDU console using the GNSSCARDCONFIG command For information about RTK configuration of an OEMV equipped base station refer to OEMV Family Installation and Operation User Manual SPAN SE User Manual Rev 7 51 Chapter 3 3SPAN SE Operation SPAN SE RTK ROVER CONFIGURATION 54 Command description brackets represent optional parameters RTK correction data is input to SPAN SE using the port labelled OEMV3 on the green cable The port is configured using the GNSSCARDCONFIG command at the rover as follows gnsscardconfig card port rx type tx type baud com control parameters gpgga output For example through the SPAN SE COM1 COM4 USB or Ethernet port enter RTCA gnsscardconfig rtca none 9600 RTCM gnsscardconfig rtcm none 9600 RTCMV3 gnsscardconfig rtcmv3 none 9600 CMR gnsscardconfig cmr none 9600 CMR gnsscardcon
154. CMNOCR is identical to RTCM and functions with or without the CR LF SPAN SE User Manual Hev 7 4 16 ICOMCONFIG Set ICOMx Protocol The SPAN SE has a 10 100 RJ 45 Ethernet port which has a MAC address hard coded into flash and user configurable IP information Each port can be used for both TCP and UDP traffic but not simultaneously You must configure the system for either UDP or TCP communication The default is TCP You can also use this command to program a destination or peer IP When using UDP the destination or peer IP allows SPAN to start sending data to the remote peer without waiting to receive data first by sending something first SPAN then gains knowledge of the remote IP This command is saved using the SAVECONFIG command To configure only the ICOM transport protocol use the ICOMCONFIG command with a port name and its one non optional parameter NOTE The SPAN SE does not currently use the ULPort parameter A dummy value e g 0 must be entered but is ignored by the firmware Default TCP port numbers persist for each ICOM port Abbreviated ASCII Syntax Message ID 1248 ICOMCONFIG Port IPProtocol ULPort IPAddress Interface Field ASCII Binary Binary Binary Binary Field Type Value Value Description Format Bytes Offset 1 header This field contains H 0 the command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary 2
155. D 94 Log Type Asynch Recommended Input log rxstatuseventa onchanged ASCII Example 1 RXSTATUSEVENTA COM1 0 17 0 FREEWHEELING 1337 408334 510 00480000 b967 1984 STATUS 19 SET No Valid Position Calculated 6de945ad ASCII Example 2 RXSTATUSEVENTA COM1 0 41 0 FINESTEERING 1337 408832 031 01000400 5967 1984 STATUS 10 SET COM3 Transmit Buffer Overrun 5b5682a9 348 SPAN SE User Manual Rev 7 Table 79 Status Word Word binary Word ASCII Description 0 ERROR Receiver error word see Table 74 on page 343 1 STATUS Receiver status word see Table 75 on page 345 2 AUXI Auxiliary 1 status word see Table 76 on page 346 3 AUX2 Auxiliary 2 status word see Table 77 on page 346 4 AUX3 Auxiliary 3 status word see Table 78 on page 346 Table 80 Event Type Event binary Event ASCII Description 0 CLEAR Bit was cleared 1 SET Bit was set Field type Data Description Format Binary yp Offset 1 RXSTATUSEVENT Log header H 0 header 2 word The status word that generated the event Enum 4 H message see Table 79 above 3 bit position Location of the bit in the status word see Ulong 4 4 Table 75 starting on page 345 for the receiver status table or the auxiliary status tables on page 346 4 event Event type see Table 80 above Enum 4 H 8 3 description This is a text description of the event or error Char 32 32 H 12 5 XXXX 32 bit CRC ASCII and Bina
156. E Interface card is the main interface card within the SPAN SE enclosure product The interface card runs the SPAN application while interfacing with the OEMV3 and OEMV2 GNSS receivers Figure 78 shows the location of the interface card headers within the SPAN board stack The board stack contains the interface card and OEMV receivers along with mounting brackets For further information on the OEMV receivers refer to NovAtel technical publication OM 20000093 OEMV Family Installation and Operation User Manual Rev 9 SPAN SE User Manual Rev 7 397 398 4 LJ zi H SW 500 2 Uu 121 5 dw EN A 18 pue 8 q 8 8 e gE E amp 5 I NE 9 Les n E H i B E E B pE 1 8 8 2 EUCH Ut Co Sou HER BI
157. EXTHDGOFFSET heading headingSTD pitch pitchS TD ASCII Binary Description Binary Message ID 1204 Binary Binary 1 Header Value Value This field contains the command name or the message header depending on whether the command is abbreviated ASCII ASCH or binary respectively Format Bytes Offset 2 Heading 180 0 180 0 Angular offset for the azimuth or heading between the external aiding source and the IMU forward axis Input in degrees DOUBLE 3 HeadingSTD 0 to 10 0 Input heading offset standard deviation Input in degrees DOUBLE H 8 4 Pitch 90 0 to 90 0 Angular offset for the pitch between the external aiding source and the IMU forward axis Input in degrees Default 0 0 DOUBLE H 16 5 PitchSTD 0 to 10 0 Input pitch offset standard deviation Input in degrees Default 0 0 DOUBLE H 24 Abbreviated ASCII Example EXTHDGOFFSET 0 5 1 0 0 23 1 0 148 SPAN SE User Manual Hev 7 B 4 12 FORMAT Format the SD Card This command allows you to format the SC card in the SPAN SE Abbreviated ASCII Syntax FORMAT device volume Message ID 1057 Field Field ASCII Binary Description 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 bin
158. F when the top bits are dropped from a port value greater than 8 bits for example ASCII port USB1 will be seen as OxA0 in the binary output 2 Recommended value is THISPORT binary 192 3 This ENUM is not 4 bytes long but as indicated in the table is only 1 byte 4 These time fields are ignored if Field 11 Time Status is invalid In this case the current receiver time is used The recommended values for the three time fields are 0 0 0 Table 40 Detailed Serial Port Identifiers nox ror Description COMI 20 32 COM port 1 COM2 40 64 COM port 2 COM3 60 96 COM port 3 SPECIAL AO 160 Unknown port THISPORT CO 192 Current COM port FILE E 224 User specified file destination SD card USB1 5A0 1440 USB port 1 ICOM1 OCAO 3232 ICOM port 1 ICOM2 10A0 4256 ICOM port 2 ICOM3 11A0 4512 ICOM port 3 ICOM4 15A0 5536 ICOM port 4 COM4 0 3744 port 4 XCOMI 1A0 416 Internal virtual COM channels for use with SPAN API 2 2 0 672 Internal virtual COM channels for use with SPAN API SPAN SE User Manual Rev 7 227 Table 40 Detailed Serial Port Identifiers ASCII Port Hex Port Decimal Port Name Value Value Description XCOM3 9A0 2464 Internal virtual COM channels for use with SPAN API 228 SPAN SE User Manual Hev 7 0 1 4 ASCII and Binary Logs with Short Headers These logs are set up in the same way normal ASCII or binary
159. G 1036 484878 000 00000028 63e2 0 SOL COMPUTED SINGLE 51 11629893124 114 03820302746 1052 3434 16 271287293 61 19 6934 13 1515 23 8561 0 0 60 000 10 10 0 0 0 0 0 0 1051ada9 Table 46 Signal Used Mask Bit Mask Description 0 0x01 GPS L1 used in Solution 1 0x02 GPS L2 used in Solution 2 0x04 GPS L5 used in Solution 3 0x08 Reserved 4 0x10 GLONASS L1 used in Solution 5 0x20 GLONASS L2 used in Solution 6 7 0x40 0x80 Reserved Table 47 Extended Solution Status Bit Mask Description 0 0x01 AdVance RTK Verified 0 Not Verified 1 Verified 1 3 OxOE Pseudorange lono Correction 0 Unknown 1 Klobuchar Broadcast 2 SBAS Broadcast 3 Multi frequency Computed 4 PSRDiff Correction 5 NovAtel Blended lono value 4 7 OxFO Reserved 1 Unknown can indicate that the lono Correction type is None or that the default Klobuchar parameters are being used SPAN SE User Manual Rev 7 241 Binary Binary Field Field type Data Description Format Bytes Offset 1 BESTPOS Log header H 0 header 2 sol stat Solution status see Table 45 on page 239 Enum 4 H 3 pos type Position type see Table 44 on page 237 Enum 4 H 4 4 lat Latitude Double 8 H 8 5 lon Longitude Double 8 H 16 6 hgt Height above mean sea level Double 8 H 24 7 undulation Undulation the relationship between the geoid and the Float 4 H 32 ellipsoid m of the chosen datum 1
160. GN antennas and the IMU axes The format of this command is identical to the SETIMUTOANTOFFSET command Abbreviated ASCII Syntax Message ID 1205 SETIMUTOANTOFFSET2 x y z a b c Field ASCII Binary Binary Binary Binary Description Format Bytes Offset Type Value Value 1 header This field contains the H 0 command name or the message header depending on whether the command is abbreviated ASCH ASCII or binary 2 x 100 x offset m Double 8 H 3 y 100 y offset m Double 8 H 8 4 7 100 z offset m Double 8 H 16 5 a 0 to 10 Uncertainty in x m Default is Double 8 H 24 10 of the x offset to a minimum of 0 01 m 6 b 0 to 10 Uncertainty in y m Default is Double 8 H 32 10 of the y offset to a minimum of 0 01 m 7 0 to 10 Uncertainty z m Default is Double 8 H 40 10 of the z offset to a minimum of 0 01 m Abbreviated ASCII Example SETIMUTOANTOFFSET 2 0 54 0 32 1 20 0 03 0 03 0 05 190 SPAN SE User Manual Hev 7 B 4 39 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 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 A logging occurs and may overload your system Abbreviated ASCII Syntax Message ID 5
161. Green Orange Orange Red Flashing IMU No RAWIMU packets No RAWIMU N A IMU status error IMU with good IMU IMU type not set bits detect status as reported ed by the IMU N A Power 1 No Unit powered but N A N A N A power off and not to unit operational Flashing unit powered on and operational 1 The power LED is on the power button see SPAN SW Power Button on page 42 3 72 SPAN MPPC Status LED The diagnostic LED provided on the SPAN MPPC is solid yellow to indicate normal operation Error bits and status bits that have been priority masked as errors will cause the LED to flash a code in a binary sequence The binary sequence will be a 6 flash 0 5 second on and 0 25 second off per flash sequence followed by a 1 second delay The sequence will repeat indefinitely If there is more than one error or status present the lowest number will be output The codes are ordered to have the highest priority condition output first The first flash in the 6 flash sequence indicates if the code that follows is an error bit or a status bit Error bits will flash red and status bits will flash yellow The next 5 flashes will be the binary number of the code most significant bit first A red flash indicates a one and a yellow flash indicates a zero For example for an error bit 6 the binary number is 00110 so the output sequence would be 0 0 5 0 75 125150 2 0 225 2 75 3 0 3 5 375 425 5 25 fol
162. I Syntax Message ID 1086 SPANAUTH state part1 part2 part3 part4 part5 model date Abbreviated ASCII Examples SPANAUTH ADD 1234 5678 9ABC DEFO 1234 SJ 100131 SPANAUTH 1234 5678 9ABC DEFO 1234 SJ SPAN SE User Manual Rev 7 205 Field ASCII Binary Description Binary Binary Binary Type Value Value Format Bytes Offset 1 SPAN This field contains the H 0 AUTH command name or the header message header depending on whether the command is abbreviated ASCII ASCII or binary 2 state REMOVE 0 Remove the SPAN authcode Enum 4 H from the system ADD 1 Add the SPAN authcode to the system default 3 part1 4 digit hexadecimal Authorization code section 1 ULong 4 H 4 0 FFFF 4 part2 4 digit hexadecimal Authorization code section 2 ULong 4 H 8 0 FFFF 5 part3 4 digit hexadecimal Authorization code section 3 ULong 4 H 12 0 FFFF 6 part4 4 digit hexadecimal Authorization code section 4 ULong 4 H 16 0 FFFF 7 part5 4 digit hexadecimal Authorization code section 5 ULong 4 H 20 0 FFFF 8 model Alpha Null Model name of the receiver String Vari Vari able numeric terminated 16 able 9 date Numeric Null Expiry date entered as String Vari Vari able terminated yymmdd in decimal max 7 able 206 SPAN SE User Manual Rev 7 In the binary log case additional bytes of padding are added to maintain 4 byte alignment B 4 49 SPANMODEL Switch t
163. IDs 2 In the binary log case an additional bytes of padding are added to maintain 4 byte alignment SPAN SE User Manual Rev 7 173 B 4 27 RESET Performa hardware reset This command performs a hardware reset Following a RESET command the receiver initiates a cold start boot up Therefore the receiver configuration reverts either to the factory default if no user configuration was saved or the last SAVECONFIG settings See also the FRESET command on page 150 The optional delay field is used to set the number of seconds the receiver is to wait before resetting lt The RESET command can be used to erase any unsaved changes to the receiver configuration Abbreviated ASCII Syntax Message ID 18 RESET delay Abbreviated ASCII Example RESET 120 Field ASCI Binary Binary Binary Binary Description Format Bytes Offset Type Value Value 1 RESET header This field contains the command H 0 name or the message header depending on whether the command is abbreviated ASCII ASCII or binary 2 delay Seconds to wait before resetting Ulong 4 H Default is 0 174 SPAN SE User Manual Rev 7 B 4 28 RTKCOMMAND Reset or set the RTK filter to its defaults This command provides the ability to reset the RTK filter and clear any set RTK parameters The RESET parameter causes the AdVance RTK algorithm to undergo a complete reset forcing the system to restart the ambiguity resolution cal
164. IMUs should be returned to NovAtel for repair Contact Customer Support for detailed information Litef IMU LCI IMUs should be returned to NovAtel for repair Contact Customer Support for detailed information Litton Northrop Grumman Litton Systems Inc Navigation Systems Division NSD 21240 Burbank Blvd Woodland Hills CA 91367 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 EXPEDITORS or for Litton FOR CUSTOMS CLEARANCE BY FedEx Trade Networks 19601 Hamilton Ave Torrance CA 90502 1309 U S A SPAN SE User Manual Rev 7 19 20 Warranty Policy NovAtel warrants that during the Warranty Period that a the Product will be free from defects in material and workmanship and conform to NovAtel specifications and b the software will be free from error which materially affect performance THESE
165. IN GNSS INS solution Message ID 219 Log Type Synch Recommended Input log gpgll ontime 1 Example1 GPS only SGPGLL 5107 0013414 N 11402 3279144 W 205412 00 A A 73 Example 2 Combined GPS and INS SINGLL 5106 9812620 N 11402 2906137 W 193052 00 A A 6D Table 51 NMEA Positioning System Mode Indicator Mode Indicator A Autonomous D Differential E Estimated dead reckoning mode M Manual input N Data not valid SPAN SE User Manual Rev 7 Table 52 Position Precision of NMEA Logs NMEA Latitude of Longitude of Altitude of Log decimal places decimal places decimal places GPGGA 4 4 2 GPGLL 7 7 7 7 N A Field Structure Field Description Symbol Example 1 GPGLL Log header GPGLL 2 lat Latitude DDmm mm 5106 7198674 3 lat dir Latitude direction a N N North S South 4 1 Longitude DDDmm mm 11402 3587526 5 lon dir Longitude direction a WwW E East W West 6 utc UTC time of position hours minutes hhmmss ss 220152 50 seconds decimal seconds 7 data status Data status A A A Data valid V Data invalid 8 mode ind Positioning system mode indicator see a A Table 51 on page 266 9 XX Checksum hh 1 10 CR LF Sentence terminator CR LF SPAN SE User Manual Rev 7 267 D 3 17 GPGRS GPS Range Residuals for Each Satellite Range residuals can be
166. INESTEERING 1635 320568 514 00000000 0000 407 163 5 320568 514000000 51 116376614 114 038259915 1046 112025828 0 000291756 0 000578067 0 030324466 0 243093917 0 127718304 19 495023227 INS_ALIGNMENT_COMPLETE 32fbb61b SPAN SE User Manual Rev 7 0 3 11 GLOCLOCK GLONASS Clock Information This log contains the time difference information between GNSS and GLONASS time as well as status flags The status flags are used to indicate the type of time processing used in the least squares adjustment GNSS and GLONASS time are both based on the Universal Time Coordinated UTC time scale with some adjustments GPS time is continuous and does not include any of the leap second adjustments to UTC applied since 1980 The result is that GPS time currently leads UTC time by 15 seconds GLONASS time applies leap seconds but is also three hours ahead to represent Moscow time The nominal offset between GPS and GLONASS time is therefore due to the three hour offset minus the leap second offset Currently this value is at 10785 seconds with GLONASS leading As well as the nominal offset there is a residual offset on the order of nanoseconds which must be estimated in the least squares adjustment The GLONASS M satellites broadcasts this difference in the navigation message This log also contains information from the GLONASS navigation data relating GLONASS time to UTC Message ID 719 Log Type Asynch Recommended Input log gloclocka onchanged
167. LN 200 2 19 rad LSB 2 4 m s LSB SPAN SE User Manual Rev 7 339 D 3 57 RXCONFIG Receiver Configuration This log is used to output a list of all current command settings When requested an RXCONFIG log is output for each setting See also the LOGLIST log on page 311 for a list of currently active logs Message ID 128 Log Type Polled Recommended Input log rxconfiga once ASCII Example RXCONFIGA COMI1 21 96 5 UNKNOWN 0 0 000 40000020 0000 143 COMA 1 21 96 5 UNKNOWN 0 0 000 40000020 0000 143 1 9600 N 8 1 N OFF ON e4 2d9b6 3e13c235 RXCONFIGA COM1 20 96 5 UNKNOWN 0 0 000 40000020 0000 143 COMA COM1 20 96 5 UNKNOWN 0 0 000 40000020 0000 143 COM2 9600 N 8 1 N OFF ON 1 0609b3 1f61f4e9 RXCONFIGA COM1 19 96 5 UNKNOWN 0 0 000 40000020 0000 143 COMA COM1 19 96 5 UNKNOWN 0 0 000 40000020 0000 143 9600 N 8 1 N OFF ON 0678ad5c aa03e067 RXCONFIGA COM1 18 96 5 U OWN 0 0 000 40000020 0000 143 COMA COM1 18 96 5 UNKNOWN 0 0 000 40000020 0000 143 9600 8 1 OFF 7579 2 07 66 RXCONFIGA 1 17 96 5 0 0 000 40000020 0000 143 COMCONTROLA COM1 7 96 5 UNKNOWN 0 0 000 40000020 0000 143 1 RTS DEFAULT RS232 2c5c183c 2559fe22 RXCONFIGA 1 16 96 5 UNKNOWN 0 0 000 40000020 0000 143 COMCONTROLA COM1 16 96 5 UNKNOWN 0 0 000 40000020 0000 143 COM2 RTS DEFAULT RS232 dfb
168. MUORIENTATION command to determine the SPAN computation frame axes mapping that SPAN automatically applies 196 SPAN SE User Manual Hev 7 B 4 42 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 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 SE User Manual Rev 7 197 4 43 SETMARK1OFFSET SETMARK2OFFSET SETMARKSOFFSET SETMARKAOFFSET Set Mark offset Set the offset to the Mark1 Mark2 Mark3 or Mark4 trigger event See also the MARKIPVA to MARKAPVA logs on page 316 The X Y Z offset is measured from the IMU to th
169. N command needs to be enabled please refer to Section B 4 3 APPLYVEHICLEBODYROTATION Enable vehicle to body rotation starting on page 135 SPAN SE User Manual Rev 7 213 Abbreviated ASCII Syntax VEHICLEBODYROTATION alpha beta gamma alpha Obeta gamma Message ID 642 Structure Log Type Asynch Binary Field Field Type Description Format Bytes Offset 1 Log Header Log header H 0 2 X Angle Right hand rotation about SPAN Double 8 H computation frame X axis in degrees 3 Y Angle Right hand rotation about SPAN Double 8 H 8 computation frame Y axis in degrees 4 Z Angle Right hand rotation about SPAN Double 8 H 16 computation frame Z axis in degrees 5 X Uncertainty Uncertainty of X rotation in degrees Double 8 H 24 Default is 0 6 Y Uncertainty Uncertainty of Y rotation in degrees Double 8 H 32 Default is 0 7 Z Uncertainty Uncertainty of Z rotation in degrees Double 8 H 40 Default is 0 8 XXXX 32 bit CRC Hex 4 H 48 9 CR LF Sentence Terminator ASCII only 214 Refer also to our application note APN 037 Vehicle to Body Rotations available on our website at www novatel com through Support Knowledge and Learning Abbreviated ASCII Example VEHICLEBODYROTATION 0090005 SPAN SE User Manual Hev 7 B 4 55 WHEELVELOCITY Wheel velocity for INS augmentation The WHEELVELOCITY command is used to input wheel sensor data into the SPAN SE receiver
170. N identification Ushort 2 H Slot 37 This is also called SLOTO in CDU 3 freqo Frequency channel offset for satellite in the range 0 to Ushort 2 H 2 20 4 sat type Satellite type where Uchar 1 H 4 0 GLO_SAT 1 GLO_SAT_M new M type 5 Reserved 1 H 5 6 e week Reference week of ephemeris GPS time Ushort 2 H 6 7 e time Reference time of ephemeris GPS time in ms Ulong 4 H 8 8 t offset Integer seconds between GPS and GLONASS time A Ulong 4 H 12 positive value implies GLONASS is ahead of GPS time 9 Nt Current data number This field is only output for the Ushort 2 H 16 new M type satellites See example output from both satellite types field 4 on page 257 10 Reserved 1 H 18 11 Reserved 1 H 19 12 issue 15 minute interval number corresponding to Ulong 4 H 20 ephemeris reference time 13 health Ephemeris health where Ulong 4 H 24 0 GOOD 1 BAD 14 pos x X coordinate for satellite at reference time PZ 90 02 Double 8 H 28 in meters 15 pos y Y coordinate for satellite at reference time PZ 90 02 Double 8 H 36 in meters 16 pos z Z coordinate for satellite at reference time PZ 90 02 Double 8 H 44 in meters 17 vel x X coordinate for satellite velocity at reference time Double 8 H 52 PZ 90 02 in meters s 18 vel y Y coordinate for satellite velocity at reference time Double 8 H 60 PZ 90 02 in meters s Continued on the following page SPAN SE User Manual Rev 7 259 nr Binary Binary Field Fie
171. NESTEERING 1337 410010 000 00000000 9924 1984 VALID 1 953377165e 09 7 481712815e 08 12 99999999492 2005 8 25 17 53 17000 VALID e2fc088c SPAN SE User Manual Rev 7 3538 Binary Field type Data Description Offset 1 TIME Log header H 0 header 2 clock status Clock model status not including current Enum 4 H measurement data see Table 62 on page 318 3 offset Receiver clock offset in seconds from GPS time A Double 8 H 4 positive offset implies that the receiver clock is ahead of GPS time To derive GPS time use the following formula GPS time receiver time offset 4 offset std Receiver clock offset standard deviation Double 8 H 12 5 utc offset The offset of GPS time from UTC time computed Double 8 H 20 using almanac parameters UTC time is GPS time plus the current UTC offset plus the receiver clock offset UTC time GPS time offset UTC offset 6 utc year UTC year Ulong 4 H 28 7 utc month UTC month 0 12 Uchar 1 H 32 8 day UTC day 0 31 Uchar 1 H 33 9 utc hour UTC hour 0 23 Uchar 1 H 34 10 utc min UTC minute 0 59 Uchar 1 H 35 1 utc ms UTC millisecond 0 60999 Ulong 4 H 36 12 utc status UTC status Enum 4 H 40 0 Invalid 1 Valid 13 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 44 14 CR LF Sentence terminator ASCII only 1 If UTC time is unknown the values for month and day 0 2 Maxim
172. NR variable xx Checksum hh 72 variable Sentence terminator CR LF 1 The NMEA GLONASS PRN numbers are 64 plus the GLONASS slot number Current slot numbers are 1 to 24 which give the range 65 to 88 PRN numbers 89 to 96 are available if slot numbers above 24 are allocated to on orbit spares SPAN SE User Manual Rev 7 275 0 3 21 GPHDT NMEA Heading Log lt This log is only available on the SPAN SE D This log provides actual vessel heading in degrees True from True North Refer also to information in the HEADING command section of the Firmware Reference Manual You can also set a standard deviation threshold for this log as outlined in HDTOUTTHRESHOLD command section of the OEMV Family Firmware Reference Manual You must have a SPAN SE dual antenna model to use this log For further information refer to Table 82 on page 359 lt If the NMEATALKER command see the NMEATALKER section of the Firmware Reference Manual is set to AUTO the talker the first two characters after the sign in the log header is set to GP GPS satellites only GL GLONASS satellites only or GN satellites from both systems NovAtel does not support a GLONASS only solution Message ID 1045 Log Type Asynch Recommended Input log gphdt onchanged Example 1 GPS only SGPHDT 75 5664 T 36 Example 2 Combined GPS and GLONASS SGNHDT 75 5554 T 45 Field Structure Field Description Symbo
173. Next port variable XXXX 32 bit CRC Hex variable CR LF Sentence terminator SPAN SE User Manual Rev 7 313 D 3 46 MAC MAC Address This log displays the SPAN SE s Media Access Control MAC address See also Section 3 12 SPAN SE Ethernet Connection on page 78 The 6 byte MAC address is typically spaced with colons The first 3 bytes are the same numbers for every SPAN SE and are registered to NovAtel The second three bytes are specific to each SPAN SE Structure Message ID 1100 Log Type Asynch Binary Binary Field Field Type Data Description Format Bytes Offset 1 Log Header Log header H 0 2 MAC address 6 MAC address numbers separated Uchar 6 H by colons 3 XXXX 32 bit CRC ASCII Binary and Short Hex 4 H 4 Binary only 4 CR LF Sentence terminator ASCII only 314 Recommended Input log maca once ASCII Example MACA COM1 0 98 5 FINESTEERING 1637 317484 819 00000000 0000 416 00 21 66 00 207 7C 6abd783e SPAN SE User Manual Rev 7 0 3 47 MARK1COUNT MARK2COUNT MARK3COUNT MARK4COUNT Mark Count When the input mode is set to COUNT using the EVENTINCONTROL command see page 146 the MARKxCOUNT logs become available lt 1 Use the ONNEW trigger with this the MARKxTIME or the MARKxPVA logs 2 Only MARKxCOUNT logs the logs and polled log types are generated on the fly at
174. NovZtel SPAN SE USER MANUAL OM 20000124 Rev 7 Proprietary Notice SPAN SE User Manual Publication Number OM 20000124 Revision Level 7 Revision Date 2011 07 28 This manual reflects SPAN SE firmware version SCD000300RN0000 SPAN MPPC firmware version SKS000200RN0000 and OEMV firmware version 3 803 with a model 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 ALIGN NovAtel OEMV ProPak and RT 20 are registered trademarks of NovAtel Inc OEMV 2 OEMV 3 SPAN SPAN SE SPAN MPPC ProPak V3 and RT 2 are trademarks of NovAtel Inc All other product or brand names are trademarks of their respective holders Manufactured and protect
175. O 2 Yellow Cable Connector Pin Outs on page 100 This cable is RoHS compliant 1331 0 25 00 0 00 SEE DETAIL 230 0 425 00 0 00 1000 0 450 00 0 00 10 00 YELLOW BEND IMU RELIEF ES Pio 30 ODU STRAIGHT PLUG food Enn COM2 SE COM2 ABEL GND ABEL EVENT OUT 1 ABEL EVENT OUT 2 ABEL EVENT OUT 3 Note You will need to remove the weather stripping or rubber boots from either the SPAN SE cable or the Universal IMU cable to make the connection between the serial IMU ports DETAIL SCALE 3 000 Ne 20 Reference Description P10 ODU 30 pin P1 P2 amp P7 DB 9 Figure 19 SPAN SE I O 2 Yellow Cable SPAN SE User Manual Rev 7 99 100 Table 9 I O 2 Yellow Cable Connector Pin Outs 1 Pin Function Connector Pin 10 EVENT OUT 1 Detail B Bare Wire BLACK 23 EVENT OUT 2 Detail B Bare Wire BLUE 11 EVENT OUT 3 Detail B Bare Wire RED 27 GND Detail B Bare Wire GREEN 6 EVENT IN 1 MOLEX 1 5 EVENT IN 2 MOLEX 2 20 EVENT IN 3 MOLEX 3 19 EVENT IN 4 MOLEX 4 28 GND MOLEX 5 GND1 6 GND2 29 GND MOLEX 7 GND3 8 GND4 TXD2 COM2 2 RXD2 COM2 3 VDC OUT COM2 4 30 GND COM2 5 18 CTS2 COM2 7 3 RTS2 COM2 8 16 RXD1 COM1 3 15 TXD1 COM1 2 8 VDC OUT COM1 4 17 GND COM1 5 14 RTS1 COM1 8 1 CTS1
176. OMG and ports 4 parity See Table 24 on page 140 Parity Enum 4 H 8 5 databits 7 or 8 Number of data bits ULong 4 H 12 default 8 6 stopbits 1 or 2 Number of stop bits ULong 4 H 16 default 1 7 handshake See Table 25 on page 140 Handshaking Enum 4 H 20 8 echo OFF 0 No echo Enum 4 H 24 default ON 1 Transmit any input characters as they are received 9 break OFF 0 Disable break detection Enum 4 28 1 Enable break detection default SPAN SE User Manual Rev 7 141 B 4 6 COMCONTROL Control the RS232 hardware control lines This command is used to control the hardware control lines of the COM ports On SPAN SE the mode of COMI COM2 COM3 and COMA can be configured to be RS232 or RS422 On OEMV products the mode is only hardware configurable The TOGGLEPPS mode of this command is typically used to supply a timing signal to a host PC computer by using the RTS or DTR lines The accuracy of controlling the COM control signals is better than 900 us As a SPAN SE user you have access to 3 event out lines that can provide precise PPS output The other modes are typically used to control custom peripheral devices Also it is possible to communicate with all three serial ports simultaneously using this command lt 1 Ifhandshaking is disabled any of these modes can be used without affecting regular RS232 communications through the selected COM port However if handshaking is enabled it may conflict with h
177. ORS Antenna Input 1 and 2 TNC female jack 50 nominal impedance 5 V DC 100 mA max output from SPAN SE to antenna LNA Power ODU Mini Snap Series K 4 pin connector 9 to 28 V DC System Power Consumption Single Antenna 10 W typical Dual Antenna 12 W typical USB Host USB A USB Device USB B Ethernet RJ 45 Ethernet 1 Green ODU Mini Snap Series K 30 pin connector see Table 8 on page 98 2 Yellow ODU Mini Snap Series K 30 pin connector see Table 9 on page 100 NOVATEL PART NUMBER SPAN SE 01018071 PHYSICAL Size 247 x 199 x 76 mm Weight 3 4 kg maximum ENVIRONMENTAL Operating 40 C to 65 C Storage Temperature 50 C to 95 C Humidity Not to exceed 95 non condensing Continued on the following page ENVIRONMENTAL SPAN SE User Manual Rev 7 92 Tested to these standards IEC 60529 IPX7 IEC 60529 IPX6 IEC 68 2 27 60 g RTCA DO 160D curve C IEC 68 2 6 FCC Part 15 Class B EN 55022 Class B EN 55024 EN 60950 1 Waterproof Dust Shock non operating Vibration random Vibration sinusoidal Emissions Emissions Immunity Safety SPAN SE User Manual Rev 7 93 DIMENSIONS Note All dimensions in millimetres
178. Port See Table 23 COM Serial Port to configure Enum 4 H Port Identifiers on page 140 3 IPProtocol DISABLE 0 Not used Enum 4 H 4 TCP 1 Transport Control Protocol default UDP 2 User Datatgram Enum 4 H 8 Protocol 4 ULPort Not used Enum 4 H 12 5 IPAddress Peer IP Address Enum 4 H 16 6 Interface ALL 1 The Ethernet adaptor Enum 4 H 20 default 2 to use SPAN SE can currently only use ETHB 3 ETHA Abbreviated ASCII Example ICOMCONFIG ICOM2 TCP 3001 192 168 1 25 SPAN SE User Manual Rev 7 155 B 4 17 INPUTGIMBALANGLE Input gimbal angles into the SPAN SE This command is used by the external gimble source to input gimble angles to the SPAN SE body mount frame Angles are input in the body mount frame Abbreviated ASCII Syntax Message ID 1317 INPUTGIMBABALANGLE XAngle Y Angle ZAngle XUncert Y Uncert ZUncert ASCII Binary Value Value Description Binary Format Binary Binary Bytes Offset 1 header This field contains the command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary 2 XAngle 180 180 Right hand rotation from mount to gimbal plane about mount body frame X axis in degrees Double 3 YAngle 180 180 Right hand rotation from mount to gimbal plane about mount body frame Y axis in degrees Double 8 H 8 4 ZAngle 180 180 Right hand rotation from mount to gimba
179. Rev 7 71 Chapter 3 3SPAN SE Operation 3 9 2 Prepare the Card To prepare the SD Card in the SPAN SE for data logging 72 1 2 Connect to the receiver through the serial USB or Ethernet ports If necessary format the card using the command FORMAT SD During the format process the SD LED flashes alternating green and orange The LED turns solid green when formatting is complete During the format process if you request a DIR command the receiver generates a ERROR Disk Busy response A WARNING Formatting the card deletes any data that is on the SD Card Ensure that all data is copied to another location before formatting At this stage if you only need data for post processing the logging button located to the right of the card behind the access door can be pressed to start logging of a pre defined list of logs required for post processing applications to an automatically named file in the root directory of the SD Card see Section 3 9 5 Log a Pre Defined List of Logs on page 73 Otherwise continue to Step 3 Select the location on the disk to store your data The default location is in the root directory but you can modify the directory structure using the following commands a To view the current working directory enter the PWD command COM1 pwd SD COM1 Now in the root directory b To make a directory enter the MKDIR command MKDIR SD TESTI Create a directory called test under the root
180. S receiver to track a specific PRN using the ASSIGN command You can force the GNSS receiver to use the corrections from a specific SBAS PRN using the SBASCONTROL command Abbreviated ASCII Syntax Message ID 652 SBASCONTROL keyword system prn testmode Factory Default sbascontrol disable auto 0 none Abbreviated ASCII Example 1 SBASCONTROL ENABLE WAAS 0 ZEROTOTWO Table 33 System Types ASCII Binary Description NONE 0 Don t use any SBAS satellites AUTO 1 Automatically determine satellite system to use default ANY 2 Use any and all SBAS satellites found WAAS 3 Use only WAAS satellites EGNOS 4 Use only EGNOS satellites MSAS 5 Use only MSAS satellites SPAN SE User Manual Rev 7 181 SBASCONTROL header Binary Value Description This field contains the command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary Binary Format Binary Bytes Binary Offset keyword DISABLE 0 Receiver does not use SBAS corrections ENABLE 1 Receiver uses SBAS corrections Enum system See Table 33 on page 181 Choose the SBAS the receiver will use Enum H 4 prn Receiver uses any PRN default 120 138 Receiver uses SBAS corrections only from this PRN ULong H 8 testmode NONE 0 Receiver interprets Type messages as they are intended as do not use default
181. S to get and set information about the Ethernet interface NovAtel CDU 3 900 is compatible with ICOM1 3 but not ICOM4 SPAN SE User Manual Rev 7 29 Conventions Foreword The following conventions have been used in this manual Note that provides information to supplement clarify the accompanying text caution Caution that a certain action operation or configu ration may result in incorrect or improper use of the hardware or software warnine Warning that a certain action operation or configu ration may result in regulatory noncompliance safety issues or equipment damage Prerequisites 30 The installation chapters of this document provide information concerning the installation requirements and considerations for the different parts of the SPAN system 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 SE User Manual Rev 7 Chapter 1 Introduction 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 offers a solution that is mo
182. SE COM 3 Reference Description P1 ODU 30 pin P3toP6 9 Figure 18 SPAN SE I O 1 Green Cable SPAN SE User Manual Rev 7 97 98 Table 8 I O 1 Green Cable Connector Pin Outs P12 Remote Connectors Pin Function Connector Pin 12 CAN H1 Bare Wire BLACK 11 CAN L1 Bare Wire BLUE 22 CAN H2 Bare Wire RED 10 CAN L2 Bare Wire BROWN 29 GND Bare Wire GREEN 30 GND Bare Wire WHITE 17 RXD3 COM3 3 16 TXD3 COM3 2 23 GND COM3 5 15 RTS3 COM3 8 1 CTS3 COM3 7 25 RXD4 COM4 3 13 TXD4 COM4 2 9 VDC OUT COM4 4 26 GND COM4 5 24 RTS4 COM4 8 14 CTS4 COM4 7 20 RXD_V2 OEMV2 3 21 TXD_V2 OEMV2 2 27 GND OEMV2 5 7 RTS_V2 OEMV2 8 6 CTS V2 OEMV2 7 4 RXD_V3 OEMV3 3 5 TXD_V3 OEMV3 2 8 VDC OUT OEMV3 4 28 GND OEMV3 5 19 RTS_V3 OEMV3 8 3 CTS V3 OEMV3 7 a Refer to connector numbers P1 through P6 in Figure 18 on page 97 SPAN SE User Manual Hev 7 A 1 1 3 1 0 2 Yellow Cable NovAtel part number 01018133 This cable supplied with the SPAN SE see Figure 19 provides a means of connecting with communications and I O devices The cable is equipped with a 30 pin connector at the receiver end plus three DB 9 connectors at the other end each connected to a serial port On this cable serial ports COM1 COM2 and the IMU port are available There are also two ends with bare cables as shown in the figure below See Table 9 I
183. SPAN destination device Enum 4 H 68 OEMV3 1 OEMV3 destination device OEMV2 2 OEMV2 destination device Abbreviated ASCII Example SOFTLOAD SD SCD000300RN0000 hex SPAN SPAN SE User Manual Rev 7 203 4 47 SOFTPOWER Power down the SPAN SE Use the SOFTPOWER command to power down the SPAN SE This command is meant for automated setups where the user may not be able to physically touch the SPAN SE but needs to shut the system down Abbreviated ASCII Syntax Message ID 213 SOFTPOWER priority Binary Binary Binary Field ASCII Binary Format Bytes Offset Field Type Value Value Description 1 header This field contains the command H 0 name or the message header depending on whether the command is abbreviated ASCII ASCII or binary 2 priority NOW 1 Power down the SPAN SE Enum 4 H immediately Abbreviated ASCII Example SOFTPOWER NOW 204 SPAN SE User Manual Rev 7 4 48 SPANAUTH Add an authorization code for a new model This command is used to add or remove authorization codes from the receiver Authorization codes are used to authorize models of software for a receiver The receiver is capable of keeping track of 5 authorization codes at one time The SPANVALIDMODELS log see page 352 lists the current available models in the receiver This simplifies the use of multiple software models on the same receiver If there is more than one valid model
184. SPD log on page 295 Structure Message ID 323 Log Type Synch Field Field Type Data Description Format 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 Trk gnd Track over ground Double 8 H 12 5 Horizontal Speed Horizontal speed in metres per Double 8 H 20 second 6 Vertical Speed Vertical speed in metres per second Double 8 H 28 7 Status INS status see Table 5 on page 55 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 296 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 SPAN SE User Manual Rev 7 D 3 38 INSUPDATE INS Update This log contains the most recent INS update information and provides information about the updates that were performed in the INS filter at the previous update epoch and a wheel sensor status indicator Structure Message ID 757 Log Type Asynch Field Binary inti Binary Binary Binary Field Type ASCII 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 2 Solution Type of GPS solution used Enum 4 H Ty
185. S_LEVER_ARM2 Resets the secondary GNSS antenna to IMU lever arm SPAN SE User Manual Rev 7 4 14 GIMBALSPANROTATION Gimbal frame to SPAN frame rotation This command is used to specify a rotational offset between a gimbal mount and the SPAN computation frame This command must be used if the mount frame and SPAN computation frame do not match after the mapping from SETGIMBALORIENTATION is applied to the mount See Chapter 6 Variable Lever Arm for details on frame definitions The message s format and definitions are identical to those in the VEHICLEBODYROTATION command The angles must be entered in the SPAN computation frame and the direction of the angles is from the mount to the SPAN computation frame Abbreviated ASCII Syntax GIMBALSPANROTATION XAngle YAngle ZAngle XUncert YUncert ZUncert ASCII Binary Description Binary Format Message ID 1319 Binary Binary Bytes Offset Value 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 2 XAngle 180 180 Right hand rotation around the Double 8 H degrees SPAN frame X axis in degrees 3 Y Angle 180 180 Right hand rotation around the Double 8 H 8 degrees SPAN frame Y axis in degrees 4 ZAngle 180 180 Right hand rotation around the Double 8 H 16 degrees SPAN frame Z axis in degrees 5 XUncert 0
186. Short Hex 4 H 228 Binary only 8 CR LF Sentence terminator ASCII only Recommended Input log inscovsa onchanged ASCII Example INSCOVSA 1105 425385 020 1105 425385 000000000 0 0997319969301073 0 0240959791179416 0 0133921499963209 0 0240959791179416 0 1538605784734939 0 0440068023663888 0 0133921499963210 0 0440068023663887 0 4392033415009359 0 0034190251365443 0 0000759398593357 0 1362852812808768 0 0000759398593363 0 0032413999569636 0 0468473344270137 0 1362852812808786 0 0468473344270131 117 5206493841025100 0 0004024901765302 0 0000194916086028 0 0000036582459112 0 0000194916086028 0 0004518869575566 0 0000204616202028 0 0000036582459112 0 0000204616202028 0 0005095575483948 1 c92787 SPAN SE User Manual Rev 7 289 D 3 31 INSPOS 5 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 center unless you issue the SETINSOFFSET command see page 197 Structure Message ID 265 Log Type Synch Binary Binary Field Field Type Data Description Format Bytes Offset 1 Log Header Log header H 0 2 Week GPS Week Ulong 4 H 3 Seconds into Week Seconds from week start Double 8 4 4 Latitude Latitude WGS84 Double 8 H 12 5 Longitude Longitude WGS84 Double 8 H 20 6 Height Ellipsoidal Height WGS84 Double 8 H 28 7 Status INS stat
187. Start with the round pilot hole indicated in Figure 68 then press the assembly into place PILOT HOLE ABOVE THIS PILOT PIN REFERENCE MARKERS Figure 68 Installing the Enclosure Body to the Base SPAN SE User Manual Rev 7 387 6 While squeezing and holding the enclosure body and base together to maintain tight contact carefully turn the assembly over and place it on its top as shown in Figure 69 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 Do not over tighten e H U Product identification label not shown Figure 69 Screw Enclosure Base to Body 388 SPAN SE User Manual Rev 7 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 70 Centre of Navigation Labels should Product be here circle icon for LN 200 Identification Label Figure 70 Final Assembly SPAN SE User Manual Rev 7 389 12197 11 D 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
188. TED Propagated by a Kalman filter without new observations 20 OMNISTAR OmniSTAR VBS position L1 sub meter 21 31 Reserved 32 L1 FLOAT Floating L1 ambiguity solution 33 IONOFREE FLOAT Floating ionospheric free ambiguity solution 34 NARROW FLOAT Floating narrow lane ambiguity solution 48 L1 INT Integer L1 ambiguity solution 49 WIDE INT Integer wide lane ambiguity solution 50 NARROW INT Integer narrow lane ambiguity solution 51 RTK DIRECT INS RTK status where the RTK filter is directly initialized from the INS filter 2 52 INS INS calculated position corrected for the antenna 53 INS PSRSP INS pseudorange single point solution no DGPS corrections 54 INS_PSRDIFF INS pseudorange differential solution 55 INS_RTKFLOAT INS RTK floating point ambiguities solution 2 56 INS_RTKFIXED INS RTK fixed ambiguities solution A 57 INS OMNISTAR INS OmniSTAR VBS position L1 sub meter 58 INS OMNISTAR HP INS OmniSTAR high precision solution l 59 INS_OMNISTAR_XP INS OmniSTAR extra precision solution 64 OMNISTAR_HP OmniSTAR high precision 65 OMNISTAR_XP OmniSTAR extra precision 66 CDGPS 1 Position solution using CDGPS corrections 1 In addition to a NovAtel receiver with L band capability a subscription to the OmniSTAR or use of the free CDGPS service is required Contact NovAtel for details 2 These types appear in position logs such as BESTPOS SPAN SE User Manual Hev 7 Table 45 Solution Status
189. TLEVERARM BESTLEVERARM2_ IMU to Antenna Lever Arm The BESTLEVERARM log contains the distance between the IMU and the primary GNSS antenna in the IMU enclosure frame and its associated uncertainties If the you enter the lever arm through the SETIMUTOANTOFFSET command see page 189 these values are reflected in this log When the lever arm calibration is complete see the LEVERARMCALIBRATE command on page 161 the solved values are also output in this log The BESTLEVERARM2 log contains the distance between the IMU and the secondary GNSS antenna in the IMU enclosure frame Currently the secondary lever arm cannot be calibrated so must be entered using the SETIMUTOANTOFFSET 2 command The values in the BESTLEVERARM and BESTLEVERARM2 logs are also available in the IMUTOANTOFFSETS log see page 282 The default X pitch Y roll and Z azimuth directions of the inertial frame are clearly marked on the IMU see Figure 39 on page 185 Structure BESTLEVERARM Message ID 674 BESTLEVERARM2 Message ID 1256 Log Type s Asynch Binary Binary Field Field Type Description Format Bytes Offset 1 Log Header Log Header H 0 2 X Offset IMU Enclosure Frame m Double 8 H 3 Y Offset IMU Enclosure Frame m Double 8 H 8 4 Z Offset IMU Enclosure Frame m Double 8 H 16 5 X Uncertainty IMU Enclosure Frame m Double 8 H 24 6 Y Uncertainty IMU Enclosure Frame m Double 8 H 32 7 Z Uncertainty IMU Enclosure Frame m
190. TOFFSET command starting on page 189 and Section 3 4 6 Lever Arm Calibration Routine starting on page 59 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 245 lt If a SETIMUANTOFFSET 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 54 LEVERARMCALIBRATE is not available for the IMU CPT or HG1930 IMUs Abbreviated ASCII Syntax Message ID 675 LEVERARMCALIBRATE switch maxtime maxstd Field Field Type ASCII Value Binary Description Binary Binary Binary Value 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 2 switch OFF 0 Start or stop the lever arm Enum 4 H calibration The calibration can be ON default 1 stopped early before reaching required time or uncertainty 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 SPAN SE User Manual Rev 7 161 162 Abbreviated ASCII Example 1 LEVERARMCALIBRATE 600
191. User Manual Rev 7 107 A 2 2 1700 IMU Single Connector Enclosure Table 13 HG1700 IMU Specifications PHYSICAL IMU Enclosure Size 193 mm x 167 mm x 100 mm 7 6 x 6 6 x 3 9 IMU Size 160 mm x 160 mm x 100 mm 6 3 x 6 3 x 3 9 IMU Weight 3 4 kg 7 49 Ib MECHANICAL DRAWINGS 4 PLCS 90 7 IMU Enclosure Center SCALE 0 600 AAW TS as CENTER OF ZN 748 NAVIGATION 7 OFFSETS 2 9 H 4 Note Center of Navigation shown IMU Enclosure on the HG1700 label Center F93 3 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 25 HG1700 Top Bottom Dimensions 108 SPAN SE User Manual Rev 7 161 3 96 37 5 IMU Enclosure Center 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 26 HG1700 Enclosure Side Dimensions 109 SPAN SE User Manual Rev 7 A 2 2 1 HG1700 IMU Interface Cable The IMU interface cable provides power t
192. User Manual Rev 7 157 4 19 INSCOMMAND INS control command This command allows you to enable disable or reset INS positioning When INS positioning is disabled no INS position velocity or attitude is output Also INS aiding of RTK initialization and tracking reacquisition is disabled If the command is used to disable INS and then re enable it the INS system has to go through its alignment procedure equivalent to issuing a RESET command See also Section 3 4 1 Configuration for Alignment starting on page 56 158 Abbreviated ASCII Syntax INSCOMMAND action Message ID 379 2 Field ASCII od Binary Binary Binary Value Deseription 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 2 action RESET Resets the GNSS INS Enum 4 H alignment and restarts the alignment initialization DISABLE Disables INS positioning ENABLE Enables INS positioning where alignment initialization starts again default Abbreviated ASCII Example INSCOMMAND ENABLE SPAN SE User Manual Rev 7 B 4 20 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 comman
193. a coarse static alignment kinematic alignment or manual alignment See Section 3 4 1 Configuration for Alignment on page 56 for details on standard alignment modes This alignment mode will be default for any single antenna or 5 model When using a dual antenna D model the ALIGNMENTMODE command must be sent to the receiver ALIGNMENTMODE UNAIDED lt A static coarse alignment is not available for the IMU CPT or the HG1930 SPAN ALIGN Attitude Updates The INS heading updates are used as a way to help constrain the azimuth drift of the INS solution whenever possible This is of greatest value with lower quality IMUs and in environments with poor ability to observe Earth rotation Slow moving marine or train applications are good examples of the intended use By providing an external heading source the solution drift can be constrained in these environments SPAN SE User Manual Hev 7 Chapter 5 API Functionality 5 1 5 2 85 This chapter describes basic API functionality in SPAN SE It does not provide detailed usage information or information required for developers Overview To enable SPAN API and enable SPAN to execute user apps the receiver must have a correctly configured model for the SPAN firmware Use the LOG VERSION command determine if the correct SPAN API model is configured SPANCARD displays the model string immediately after the SPANCARD string In addition to other model options the API model must
194. a sensor to the system Abbreviated ASCII Syntax SETUPSENSOR SensorID EventOut OPP OAP EventIn EIC MIP MITB MITG Message ID 1333 Field ASCII Binary Binary Binary Binary Field Type Value Value Description Format Bytes Offset 1 header This field contains the H 0 command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary 2 SensorID SENSORI 0 The sensor being Enum 4 H configured SENSOR2 1 SENSOR3 2 3 EventOut MARKI 0 Connected to a Sensor Enum 4 H 4 Input Trigger MARK2 1 MARK3 2 MARK4 3 4 OPP NEGATIVE 0 Output pulse polarity Enum 4 H 8 POSITIVE 1 2 OAP 2 500ms Output active period in Ulong 4 H 12 Value must milliseconds Default is be divisible 2 ms by 2 6 EventIn MARKI 0 Connected to a sensor Enum 4 H 16 output Default is MARK2 1 MARK2 MARK3 2 MARK4 3 7 EIC DISABLE 0 Event in control Enum 4 H 20 Default is DISABLE EVENT 1 8 MIP NEGATIVE 0 Mark input polarity Enum 4 H 24 Default is POSITIVE POSITIVE 1 9 MITB 99999999 Mark input time bias in Long 4 H 28 99999999 nanoseconds Default ms is 0 SPAN SE User Manual Rev 7 199 10 MITG 2 3599999 Mark input time guard Ulong 4 H 32 in milliseconds Default is 4 Abbreviated ASCII Example SETUPSENSOR SENSOR3 POSITIVE 2 EVENT POSITIVE 0 2 200 SPAN SE User Manual Hev 7
195. able 36 SETWHEELPARAMETERS Input Binary ASCII 0 IMU default 1 1 2 MARK2 3 MARK3 4 MARK4 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 202 SPAN SE User Manual Hev 7 4 46 SOFTLOADFILE Loads a file to the SPAN SE Use this command to load a hexidecimal file from an external source to reprogram the SPAN SE The SOFTLOADFILE command reprograms the system firmware using a NovAtel formatted input message This allows anybody to reprogram the system in an embedded environment where using WinLoad isn t practical or possible The SoftLoad feature allows reprogramming of the SPAN SE firmware any of the three user applications and the firmware on the OEMV2 and OEMV3 Abbreviated ASCII Syntax SOFTLOADFILE Storage File Dest Message ID 1302 Field ASCII Binary Binary Binary Binary Type Value Value Description Format Bytes Offset 1 heade This field contains the H 0 r command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary 2 Stora SD The type of storage that Enum 4 H ge USB or contains the file to load RAM Filenames have a 64 character limit 3 File The hex file to load Char 64 64 H 4 4 Dest SPAN 0
196. ails Each model is capable of multiple positioning modes of operation For a discussion on GNSS positioning refer to APN 051 Positioning Modes of Operation available from our website at www novatel com Support Knowledge and Learning Application Notes Each model has the following standard features e NovAtel s advanced OEMV L1 L2 GNSS GLONASS PAC technology e Four bidirectional COM ports three of which support data transfer rates of up to 921 600 bits s e A USB port for PC communication e serial port capable of communication with an IMU See also Table 1 on page 34 e Ethernet port for TCP or UDP communication with the receiver e Field upgradeable firmware program software What makes most models different from others is software not hardware This unique feature means that the firmware can be updated any time anywhere without any mechanical procedures whatsoever For example a model with L1 L2 only capabilities can be upgraded to a model with L1 L2 RT 2 in only a few minutes in your office instead of the days or weeks that would be required if the receiver had to be sent to a service depot All that is required to unlock the additional features is a special 1 Rates higher than 115 200 are not standard on most PCs and may require extra PC hardware SPAN SE User Manual Rev 7 33 Chapter 1 Introduction authorization code Refer to the SPANAUTH command on page 205 for further details on this topic
197. al Specifications on page 92 SPAN SE User Manual Rev 7 35 Chapter 2 P E SPAN SE Installation 9 To Power Supply C for IMU only A Reference 1 2 3 36 Cable shown is for the Mating Molex connector Universal Enclosure and ilMU FSAS will be provided by NovAtel Description SPAN SE receiver with an on board SD Card for data storage User supplied NovAtel GNSS antenna Connect an LN 200 HG 1700 iIMU FSAS or a Litef LCl with an IMU interface cable to the connector labelled IMU on the SPAN SE I O 2 yellow cable For the other connections that only apply to the ilIMU FSAS see Section A 2 4 1 iIMU FSAS Interface Cable starting on page 117 User supplied power supply SPAN SE rover 1 9 to 28 V DC Separate supply for IMU 3 see Table on page 42 User supplied PC laptop for setting up and monitoring to one of the four available COM ports the USB device port or the Ethernet port SPAN SE I O 2 yellow cable see Section A 1 1 3 I O 2 Yellow Cable NovAtel part number 01018133 on page 99 SPAN SE I O 1 green cable see Section A 1 1 2 1 Green Cable NovAtel part number 01018134 on page 97 Optional second user supplied NovAtel GNSS antenna Refer to Chapter 4 Dual Antenna Functionality on page 81 IMU CPT interface cable connected to the connector labelled IMU and the event line labelled EVENT IN 4 both on the SPAN SE 2 yellow cable
198. alid position or almanac When the system is running this should correct itself Abbreviated ASCII Syntax Message ID 1129 SETAUTOLOGGING switch Field ASCII Binary Binary Binary Binary Type Value Value Format Byies 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 2 switch OFF 0 Enable or disable auto logging Enum 4 H ON 1 on boot up Field Description Abbreviated ASCII Example SETAUTOLOGGING ON SPAN SE User Manual Rev 7 183 B 4 35 SETGIMBALORIENTATION Field Field Type 1 This command is used to convert Mount Body frame to Mount Computation frame in the exact same manner as SETIMUORIENTATION does for SPAN The mapping definitions here are the same as they are there However unlike an IMU SPAN will not be able to auto detect the orientation of the mount used so this command must be sent to SPAN If the command is not sent SPAN will assume a default mapping of 5 which if incorrect would result in bad results Abbreviated ASCII Syntax SETGIMBALORIENTATION mapping Header Description This field contains the command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary Format Binary H Message ID 1318 0 Mapping Mount X axis is pointing UP Mount X axis is pointing DOWN Mount Y axi
199. 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 SPAN SE 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 SPAN Technology provides a robust GNSS and Inertial solution as well as a portable high performance GNSS receiver in one system Scope 28 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 Service on page 22 After the addition of accessories an antenna and a power supply the SPAN system is ready to go 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 Refer to the OEMV Family Firmware Reference Manual for information on the logs and commands available for the OEMV 3 that is the GNSS eng
200. alue of 2 097 151 which represents a lock time of 65535 96875 s 2097151 32 5 C No is constrained to a value between 20 51 dB Hz Thus if it is reported that C No 20 dB Hz the actual value could be less Likewise if it is reported that C No 51 the true value could be greater Binary Binary Field Field Type Data Description Format Bytes Offset 1 RANGECMP Log header H 0 header 2 obs Number of satellite observations with Long 4 H information to follow 3 Ist range Compressed range log in format of Table 67 Hex 24 H 4 record on page 327 4 Next rangecmp offset H 4 obs x 24 variable XXXX 32 bit CRC ASCII and Binary only Hex 4 H 4 obs x 24 variable CR LF Sentence terminator ASCII only 328 SPAN SE User Manual Hev 7 0 3 54 RAWEPHEM Raw Ephemeris This log contains the raw binary information for subframes one two and three from the satellite with the parity information removed Each subframe is 240 bits long 10 words 24 bits each and the log contains a total 720 bits 90 bytes of information 240 bits x 3 subframes This information is preceded by the PRN number of the satellite from which it originated This message is not generated unless all 10 words from all 3 frames have passed parity Ephemeris data whose TOE Time Of Ephemeris is older than six hours is not shown Message ID 41 Log Type Asynch Recommended Input log rawephema onn
201. alues for high rate logging are 0 05 0 1 0 2 0 25 and 0 5 For logging slower than 1Hz any integer value is accepted Abbreviated ASCII Example GNSSCARDCONFIG CARD1 COM1 RTCA NOVATEL ON 57600 N 8 1 N OFF ON 0 SPAN SE User Manual Rev 7 153 154 Binary Value Table 29 Serial Port Interface Modes ASCII Mode Name Description 0 NONE The port accepts generates nothing 1 NOVATEL The port accepts generates NovAtel commands and logs 2 RTCM The port accepts generates RTCM corrections 3 RTCA The port accepts generates RTCA corrections 4 CMR The port accepts generates CMR corrections 5 OMNISTAR The port accepts generates OmniSTAR corrections 6 7 Reserved 8 RTCMNOCR RTCM with no CR LF appended 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 16 17 Reserved 18 GENERIC The port accepts generates nothing SEND SENDHEX commands from another port generate data on this port Any incoming data on this port can be seen with OEMV PASSCOM logs on another port 1 An output interface mode of RTCMNOCR is identical to RTCM but with the CR LF appended An input interface mode of RT
202. ame 46 vehicle to body rotation RVB 135 179 vehicle to SPAN frame angular offset cali bration 63 VEHICLEBODYROTATION command 205 VEHICLEBODYROTATION log 357 velocity 197 293 computation 299 INS 158 287 limit 239 mark 316 version 205 358 VERSION log 358 warning 205 311 341 cable 39 kinematic alignment 64 PC power settings 56 SAVECONFIG command 59 130 185 SD Card data 71 warnings 30 warranty 19 Waypoint Products Group 257 Web site 22 week reference 329 wheel sensor data 215 355 odometer 120 SPAN SE User Manual Rev 7 Index WHEELSIZE log 356 361 WHEELVELOCITY command 215 word raw ephemeris 329 status 349 week number 263 Y year 354 360 Z Zero Velocity Update ZUPT 159 SPAN SE User Manual Rev 7 431 amp amp Nolte Recyclable Printed in Canada on recycled paper OM 20000124 Rev 7 2011 08 04
203. andshaking of the selected COM port causing unexpected results 2 Be aware that RS422 transceiver code and hardware handshaking are mutually exclusive 3 The PULSEPPSLOW control type cannot be issued for a TX signal 4 Only PULSEPPSHIGH FORCEHIGH and FORCELOW control types can be used for a TX signal 5 The IMU port does not need to be configured by the user Do not attempt to do so Abbreviated ASCII Syntax Message ID 431 COMCONTROL port signal control mode Factory Default comcontrol com1 rts default rs232 comcontrol com rts default rs232 comcontrol com3 rts default rs232 comcontrol com4 rts default rs232 Abbreviated ASCII Example COMCONTROL COMI RS422 Table 26 Tx DTR and RTS Availability Tx Available On DTR Available On RTS Available On COM1 COM2 COM3 COM4 COM1 COM2 COM3 COM4 COM1 COM2 COM3 COM4 142 SPAN SE User Manual Rev 7 COMCONTROL header Table 27 SPAN SE COM Port Values Binary ASCII 1 COM1 2 COM2 3 COM3 6 THISPORT 7 FILE 8 ALL 13 USBI 19 COM4 23 ICOM1 24 ICOM2 25 ICOM3 29 ICOM4 ASCII Value Binary Value Description This field contains the command name or message header depending on whether command is abbreviated ASCII ASCII or binary Binary Bytes Binary Offset port signal See Table 27 on page 143 Unused on the SPAN SE RS232 RS422 port to control Val
204. arness as shown in Figure 42 wiring harness not shown Figure 42 Remove IMU Mounting Plate and Bracket SPAN SE User Manual Rev 7 365 E 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 43 wiring harness not shown Figure 43 Remove IMU Mounting Screws 2 Check the connection of the internal cable harness to the board assembly and route as shown in Figure 44 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 44 Connect IMU to IMU Mounting Plate 366 SPAN SE User Manual Rev 7 3 Being careful of the connectors and the orientation align the pilot holes of the IMU with the pilot pins of the mounting plate Gently place the IMU and mounting plate together being careful not to pinch the cable harness Screw the IMU and mounting plate together using thread locking fluid on the 8 32 screws as shown in Figure 45 ALIGN BOTH PILOT PINS TO HOLES ON IMU Figure 45 Installing IMU to Mounting Plate SPAN SE User Manual Rev 7 367 4 Starting with the round pilot hole shown in Figure 46 align the pilot holes of the a
205. arth s potential which results in a high voltage potential between the centre conductor and shield of the coax cable This high voltage develops because the voltage surge induced onto the center conductor lags in time behind the voltage surge induced onto the shield Hazard Impact A lightning strike causes the ground potential in the area to rise to dangerous levels resulting in harm to personnel or destruction of electronic equipment in an unprotected environment It also conducts a portion of the strike energy down the inner conductor of the coax cable to the connected equipment Only qualified personnel electricians as mandated by the governing body in the country of installation may install lightning protection devices Actions to Mitigate Lightning Hazards Do not install the external antenna lines extra building during a lightning storm 2 Itis not possible to avoid over voltages caused by lightning but a lightning protection device may be used to shunt a large portion of the transient energy to the building ground reducing the over voltage condition as quickly as possible 3 Primary lightning protection must be provided by the operator customer according to local building codes as part of the extra building installation 4 ensure compliance with clause 7 Connection to Cable Distribution Systems of EN 60950 1 Safety for Information Technology Equipment a secondary lightning protection device must be used for i
206. ary 2 device Choose a mass storage device Enum 4 H see Table 21 on page 130 3 volume DOS volume label String 11 11 H 4 Abbreviated ASCII Example FORMAT SD SPAN SE User Manual Rev 7 149 B 4 13 FRESET Factory reset 150 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 When the SPAN SE receives FRESET command it is also passed to the OEMV 3 but without any parameters Therefore the OEMV 3 only does a full reset SPAN SE can do a partial reset of some of its fields Abbreviated ASCII Syntax Message ID 20 FRESET target 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 2 target See Table 28 What data is to be reset by the Enum 4 H receiver Field Description Abbreviated ASCII Example FRESET USER_CFG Table 28 FRESET Target Binary ASCII Description 0 STANDARD Resets commands and INS data 1 USER_CFG Resets the stored commands user configuration 4 MODEL Resets the currently selected model 6 INS_LEVER_ARM Resets the GNSS antenna to IMU lever arm 7 VEHICLE_BODY_R Resets stored vehicle to body rotations 18 IN
207. asurement unit IMU connection 110 113 117 status 331 type 191 inertial navigation system INS 158 INPOSSYNC log 292 input strobe 77 input output I O 92 INPUTGIMBALANGE command 156 INSATT log 285 INSATTS log 286 INSCOMMAND command 158 INSCOV log 287 INSCOVS log 289 INSPOS log 290 INSPOSS log 291 INSPOSSYNC log 292 INSPVA log 293 INSPVAS log 294 INSSPD log 295 INSSPDS log 296 426 INSUPDATE log 297 INSVEL log 299 INSVELS log 300 INSZUPT command 159 INSZUPTCONTROL 160 interface cable 36 39 41 117 119 120 command 152 217 FSAS status 331 graphical 50 gyro time out 331 log and command 55 port specific 154 replacement parts 419 Interface card SPAN MPPC 403 SPAN SE 397 403 Internet Protocol IP 74 78 79 157 interrupt 322 introduction 31 IPCOMSTATUS command 156 157 IPCONFIG command 157 J J model 359 K kinematic alignment 57 L L model 359 latency 237 latitude longitude 240 fix data 265 position 242 L band 136 171 302 304 LBANDINFO log 302 LBANDSTAT log 304 LED 68 69 lever arm 161 245 LEVERARMCALIBRATE command 161 link 321 link loss of 237 Litef equipment returns 19 Litef LCI 1 connector 420 SPAN SE User Manual Rev 7 enclosure frame 46 185 external cable harness 419 IMU status 332 IMU type 192 models 34 power requirements 42 LN 200 cable 113 commands 192 dimensions 112 FAQ 421 installation SPAN IMU enclosure 390 universal enclosure 379 models 3
208. at uses RS 232 for COM 1 and COM 2 and LV TTL for COM 3 360 SPAN SE User Manual Hev 7 D 3 67 WHEELSIZE Wheel Size The SPAN 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 Binary Binary Field Field Type Data Description Format Bytes Offset 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 SPAN SE User Manual Rev 7 361 07 HG1700 IMU in Universal Enclosure Important Assemble in accordance with applicable industry standards Ensure all ESD measures are in place in particular use a ground strap before exposing or handling any electronic items including the IMU Take care to prevent damaging or marring painted surfaces O rings sealing surfaces and the IMU The following procedure provides
209. ated string SPAN SE User Manual Rev 7 131 B 3 6 PWD Present Working Directory Command PWD Message ID 1061 Parameter Values COM Port Enum see Table 23 on page 140 COMI default Mass Storage Device Enum see Table 21 on page 130 SD default B 3 7 FTP The SPAN SE has a built in FTP server to simplify retrieving data from the SD Card After the IP information has been set using the IPCONFIG command any FTP client can connect to the SPAN SE on port 21 The FTP server allows basic file manipulation and directory browsing but files cannot be uploaded to the SD Card at this time To ensure high speed logging is not corrupted the FTP server reads from the SD Card when it is idle that is mounted and no log file open for writing Attempting to use an FTP command when the card is not idle will result in this error 425 SD Card not ready Command Description GET lt filename gt Copy file from SD Card to PC DIR Directory listing of SD Card DEL lt filename gt Delete file from SD Card CWD Change Working Directory 132 SPAN SE User Manual Rev 7 B 4 SPAN SE Command Reference For convenience some commonly used OEMV commands are included in this manual All SPAN specific commands are included in this manual Please refer to the OEMV Family Firmware Reference Manual for a complete list of GNSS only commands categorized by function and then detailed in alphabetical o
210. atus 348 O offset 189 197 clock 319 receiver clock 354 OmniSTAR 154 302 operating mode 270 orientation 185 output 76 92 overload 163 parity 140 141 flag 323 port 322 removed 329 PASHR log 320 PDOP see dilution of precision period 163 165 167 312 313 phase lock loop PLL 324 343 pitch 185 189 245 285 PLL see phase lock loop polarity 76 77 polled log 221 port 41 ascii header 222 communication 225 configuration 139 141 180 246 configure 152 identifier 140 154 interface 154 interrupt 322 log request 164 output 165 167 312 313 power 144 RS232 142 serial 154 321 status 321 348 unlog 212 PORTSTATS log 321 428 position 197 293 INS 158 mark 316 measurements 287 290 synchronized 292 power 41 144 204 prerequisites 30 processing 223 226 323 pseudorange error estimate 323 jump 323 measurement 272 326 327 noise statistic 272 solutions 237 PSRDIFFSOURCE command 171 pulse 318 PWD command 132 Q quality NMEA 272 quotation mark 222 R R model 359 range bias 230 compressed 328 measurement 323 residual 268 RANGE log 323 RANGECMP log 327 328 raw almanac 262 RAWEPHEM log 329 RAWIMU log 330 RAWIMUS log 338 reacquisition 324 real time kinematic RTK 237 receiver character 322 status 163 342 345 reference frames 45 replacement parts 419 420 reset 69 complete 175 hardware 174 RESET command 174 reset hardware 150 residual 268 SPAN SE User Manua
211. 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 SE User Manual Rev 7 Warranty Policy NovAtel Inc warrants that its Global Navigational Satellite Systems GNSS products are free from defects in materials and workmanship subject to the conditions set forth below for the following time periods OEMV 3 Receivers including SPAN SE and SPAN MPPC One 1 Year IMU Units return to manufacturer One 1 Year Antennas One 1 Year Cables and Accessories Ninety 90 Days Computer Discs Ninety 90 Days Software Warranty One 1 Year Date of sale shall mean the date of the invoice to the original customer for the product NovAtel s responsibility respecting this warranty is solely to product replacement or product repair at an authorized NovAtel location only Determination of replacement or repair will be made by NovAtel personnel or by technical personnel expressly authorized by NovAtel for this purpose continued on page 20 1 Return IMU to its manufacturer as follows Honeywell Honeywell International Inc 2600 Ridgway Parkway Ridgway is really not spelled with an e Minneapolis MN 55413 iMar iMAR GmbH Im Reihersbruch 3 D 66386 St Ingbert Germany KVH
212. ble from a NovAtel ALIGN solution to perform an alignment See Chapter 4 Dual Antenna Functionality starting on page 81 for details 3 4 4 Navigation Mode Once the alignment routine has 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 GNSS solution phase observations and automatic zero velocity updates ZUPTs provide updates to the Kalman filter When a wheel sensor is connected to the system wheel displacement updates are also used in the filter The attitude is coarsely defined from the initial alignment process especially in heading Vehicle dynamics specifically turns stops and starts allow the system to observe the heading error and allows the heading accuracy to converge Three to five changes in heading should be sufficient to resolve the heading accuracy The INS Status field changes to INS_SOLUTION_GOOD once convergence is complete If the attitude accuracy decreases the INS Status field changes to INS_SOLUTION_NOT_GOOD When the accuracy converges again the INS status continues as INS_SOLUTION_GOOD 3 4 5 Data Collection The INS solution is available in the INS specific logs with either a standard or short header As shown 58 SPAN SE User Manual Hev 7 3SPAN SE Operation Chapter 3 in Table 6 Table 6 Solution Parameters Parame
213. ble over the Ethernet port on the receiver The Internet Protocol IP address default mask and gateway settings for the receiver can be set using the IPCONFIG command 74 SPAN SE User Manual Hev 7 3SPAN SE Operation Chapter 3 Only use FTP on a secure connection as this port has no security settings at this time lt For information about setting up the Ethernet port refer to Section 3 12 SPAN SE Ethernet Connection starting on page 78 For information on connecting the Ethernet port refer to Section 3 12 4 Connecting to the Ethernet Port starting on page 79 For information about the FTP functionality and Ethernet port commands refer to Appendix B 3 7 FTP starting on page 132 lt FTP functionality is only available if the receiver is not writing files to the SD Card 3 Usethe NovAtel Explorer inside CDU to download the files from the SD Card over any of the SPAN SE ports connected to a PC While all ports are supported for the fastest transfer use the USB connection A WARNING SD CARD IMPORTANT INFORMATION Do not remove the SD Card while data logging to the card is in progress This may result in damage to the card and loss of data Stop the logging using the LOG button or the LOGFILE command before removing the SD Card Do not unplug power to the receiver while data logging to the card is in progress Stop the logging before removing power or use the power button to power down 3 10 Adding Timed Camera Trig
214. can be generated when other conditions which are indicated in the receiver status and auxiliary status words are met On start up the receiver is set to log the RXSTATUSEVENTA log ONNEW on all ports You can remove this message by using the UNLOG command see page 210 When a fatal event occurs for example in the event of a receiver hardware failure a bit is set in the receiver error word part of the RXSTATUS log on page 342 to indicate the cause of the problem Bit 0 is set in the receiver status word to show that an error occurred the error strobe is driven high and the LEDs flash red and yellow showing an error code An RXSTATUSEVENT log is generated on all ports to show the cause of the error Receiver tracking is disabled at this point but command and log processing continues to allow you to diagnose the error Even if the source of the error is corrected at this point the receiver must be reset to resume normal operation In the event of a SPAN SE receiver error the LEDs flash the binary number of the receiver error Red is 1 and green is 0 If you have an invalid auth code the LEDs will be green green red green red which is 5 in binary and that means bit 5 of the receiver error word is set The 5 bit binary error code corresponds to the 32 possible errors defined in Table 74 starting on page 343 lt See also the chapter on Built In Status Tests in the OEMV Family Installation and Operation User Manual Message I
215. ce terminator ASCII only 356 Recommended Input log variableleverarma onnew ASCII Example VARIABLELEVERARMA SPECIAL 0 81 5 FINESTEERING 1614 495820 512 40040000 0000 320 0 0959421909646755 0 1226971902356540 1 1319295452903300 0 0100057787272846 0 0122604827412661 0 1131929545290330 9611d3c6 SPAN SE User Manual Hev 7 D 3 65 VEHICLEBODYROTATION Vehicle to SPAN Frame Rotation The VEHICLEBODYROTATION log reports the angular offset from the vehicle frame to the SPAN frame The SPAN computation frame is defined by the transformed IMU enclosure axis with Z pointing up see the SETIMUORIENTATION command on page 184 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 computation frame This log reports whatever was entered using the VEHICLEBODYROTATION command page 213 or whatever was solved for after invoking the RVBCALIBRATE command see page 179 Recommended Input log vehiclebodyrotationa onchanged ASCII Example VEHICLEBODYROTATIONA COM1 0 36 5 FINESTEERING 1264 144170 094 00000000 bc 2 1541 1 5869999997474209 2 6639999995760122 11 6649999876392343 2 000000000000 0000 2 0000000000000000 5 0000000000000000 25 886cc SPAN SE User Manual Rev 7 357 D 3 66 VERSION Version Information This log contains the version information for all components of a system A component may be hardware for exa
216. ce we know how to form the DCM The angles from the vehicle frame to the local level frame are denoted as 1 3 and 0 We give the matrix indices first as rows 1 3 and then columns 0 sin R 3 2 tan 3 1 in code use atan2 for proper quadrant resolution 8 3 tan Ri L2 R 1 2 82 3 4 8 Vehicle to SPAN Frame Angular Offsets Calibration Routine Kinematic fast alignment requires that the angular offset between the vehicle and IMU 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 205 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 GNSS 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 92 2 Configure the RTK corrections and make sure that the BESTGPSPOS log see page 237 reports a good RTK solution 3 Configure the IMU see Section 3 3 2 SPAN IMU Configuration starting on page 52 SPAN SE User Manual Rev 7 63 Chapter 3 3SPAN SE Operation 4 Ensure that an accurate lever arm has been entered into the syste
217. ced by fifteen hundred milliseconds 1 5 seconds with a pause of at least 250 milliseconds following the second break This will Stop the logging of data on the current port see UNLOGALL on page 212 Clear the transmit and receive buffers on the current port Return the current port to its default settings Set the interface mode to NovAtel for both input and output see the GNSSCARDCONFIG command on page 152 The COMCONTROL command see page 142 may conflict with handshaking of the selected COM port If handshaking is enabled then unexpected results may occur Watch for situations where the COM ports of two receivers are connected together and the baud rates do not match Data transmitted through a port operating at a slower baud rate may be misinterpreted as break signals by the receiving port if it is operating at a higher baud rate This is because data transmitted at the lower baud rate is stretched relative to the higher baud rate In this case configure the receiving port to have break detection disabled using the COM command Baud rates higher than 115200 bps are not supported by standard PC hardware Special PC hardware may be required for higher rates including 230400 bps 460800 bps and 921600 bps Also some PC s have trouble with baud rates beyond 57600 bps Abbreviated ASCII Syntax Message ID 4 COM port bps parity databits stopbits handshake echo break Factory Default com 9600 n 8 1 n off on
218. cees succes rodeo Reed t dee dade 42 Power Button States oie e 42 Inertial Solution Status icc 55 Solution Parameters cae En E 59 Positioning Mode ert d doeet used ree 68 1 Green Cable Connector 0 10000011 98 2 Yellow Cable Connector Pin Outs sssssssssssssseeeenemeeenen n 100 Universal IMU Enclosure 101 Universal IMU Enclosure Interface Cable 104 Universal IMU Enclosure Electrical and 107 HG1700 IMU 2 0 4000000 ennemis nnns 108 LN 200 IMU 111 ilMU FSAS 114 IMU Interface Cable ener 119 Legacy iIMU FSAS Cable Y Adapter 2 2 0220 4 00000 120 Cable Modification for Corrsys Datron WPT ssssssssssssee emeret 122 Technical HW Specs 124 IMU CPT Connector Pin Out Descriptions 126 Mass Storage Device EE TEE EE 130
219. ch base station to accept differential corrections This is useful when the receiver is receiving corrections from multiple base stations See also the RTKSOURCE command on page 177 D4 1 To use L band differential corrections an L band receiver and a subscription to the OmniSTAR service is required Contact NovAtel for details see page 21 2 Since several errors affecting signal transmission are nearly the same for two receivers near each other on the ground a base at a known location can monitor the errors and generate corrections for the rover to use This method is called Differential GPS and is used by surveyors to obtain millimeter accuracy Major factors degrading GPS signals which can be removed or reduced with differential methods are the atmosphere ionosphere satellite orbit errors and satellite clock errors Errors not removed include receiver noise and multipath Abbreviated ASCII Syntax Message ID 493 PSRDIFFSOURCE type ID Factory Default psrdiffsource auto any Abbreviated ASCII Examples 1 Select only SBAS RTKSOURCE NONE PSRDIFFSOURCE SBAS SBASCONTROL ENABLE AUTO 2 Enable OmniSTAR VBS and HP or XP RTKSOURCE OMNISTAR PSRDIFFSOURCE OMNISTAR 3 Enable RTK and PSRDIFF from RTCM with fall back to SBAS RTKSOURCE RTCM ANY PSRDIFFSOURCE RTCM ANY SBASCONTROL ENABLE AUTO SPAN SE User Manual Rev 7 171 Table 31 DGPS Type Binary ASCII Description 0 RTCM 3 RTCM ID 0 RTCM ID lt 1023 or ANY
220. city in a northern direction at MARK1 Double 8 H 40 through MARK4 A negative value implies southern movement 9 EVelocity The velocity an eastern direction at MARKI through Double 8 H 48 MARK4 A negative value implies western movement 10 UpVelocity Velocity at an upward direction at MARK1 through Double 8 H 56 MARK4 11 Roll Right handed rotation from a local level around the Double 8 H 64 axis in degrees at MARKI through MARK4 12 Pitch Right handed rotation from a local level around the Double 8 H 70 axis in degrees at MARKI through MARK4 13 Azimuth Left handed rotation around the Z axis in a clockwise Double 8 H 78 direction from north at MARK1 through MARK4 14 Status INS Status Enum 4 H 86 15 XXXX 32 bit CRC Hex 4 H 90 16 CR LF Sentence terminator ASCII only 351 0 3 61 SPANVALIDMODELS Valid Model Information This log gives a list of valid authorized models available and expiry date information Use the SPANVALIDMODELS log to output a list of available models for the receiver You can use the SPANAUTH command see page 205 to add a model See the VERSION log on page 356 for the currently active model If a model has no expiry date it reports the year month and day fields as 0 0 and 0 respectively Message ID 1089 Log Type Polled Recommended Input log spanvalidmodelsa once ASCII Example SPANVALIDMODELSA COM1 0 99 0 UNKNOWN 0 74 876 404c0020 0000 155 1 SJ 0 0
221. closure 396 Appendix SPAN SE Interface Card 397 Appendix J SPAN MPPC Interface Card 403 J 1 SPAN MPPC Mechanical 404 J 2 SPAN MPPC Connector 407 J 3 SPAN MPPC Breakout 411 J 4 SPAN MPPC to IMU 418 Appendix K Replacement Parts 419 KT SPAN SySIOIm ise e ETERNI ETERNI RE PRESS 419 K 2 Accessories and 419 Manufacturer s Part 222 00 0 0 00 420 Appendix L Frequently Asked Questions 421 Index 423 SPAN SE User Manual Rev 7 1 1 2 3 4 5 6 7 8 9 Primary and Secondary Lightning Protection 26 SPAN SE Receiver neue Ire e piece eden 31 SPAN System e eoe ipd ea Eo ache tants c HERR EE LS e E une cba 31 ded ete ed dedere 37 5 2 2 noo etae 38 Receiver Enclosure Back Panel 38 SPAN SW Power Button 42 SPAN SE LED Indicators 2 1 ioter toe oot 43 l ocal Eevel Frame ENU
222. com com2 9600 n 8 1 n off on com com3 9600 n 8 1 n off on com com4 9600 n 8 1 n off on Abbreviated ASCII Example COM COMI 57600 N 8 1 N OFF ON SPAN SE User Manual Rev 7 139 140 Table 23 COM Serial Port Identifiers Binary ASCII Description 1 COMI COM Port 1 2 COM2 COM Port 2 3 COM3 COM Port 3 6 THISPORT Currently connected port 7 FILE SD Card 8 ALL All ports 13 USBI USB Device 19 COM4 COM Port 4 23 ICOM1 10 100 Ethernet 1 24 ICOM2 10 100 Ethernet 2 25 ICOM3 10 100 Ethernet 3 29 ICOM4 10 100 Ethernet 4 Table 24 Parity Binary ASCII Description 0 N No parity default 1 E Even parity 2 Odd parity Table 25 Handshaking Binary ASCII Description 0 N No handshaking default 1 XON XON XOFF software handshaking 2 CTS CTS RTS hardware handshaking SPAN SE User Manual Rev 7 ASCII Binary Description Binary Binary Binary Value Value Format Bytes Offset 1 COM This field contains the command H 0 header name or the message header depending on whether the command is abbreviated ASCH ASCII or binary 2 port See Table 23 on page 140 Port to configure Enum 4 H 3 bps baud 300 600 900 1200 Communication baud rate bps ULong 4 H 4 2400 4800 9600 19200 Baud rates of 460800 and 921600 38400 57600 115200 or are also available on COM2 230400 C
223. computed in two ways and this NMEA log reports those residuals See also Section D 2 NMEA Standard Logs on page 233 Under mode 0 residuals output in this log are used to update the position solution output in the GPGGA message Under mode 1 the residuals are re computed after the position solution in the GPGGA message is computed The receiver computes range residuals in mode 1 An integrity process using GPGRS would also require GPGGA for position fix data GPGSA for DOP figures and GPGSV for PRN numbers for comparative purposes The GPGRS log outputs these messages with contents without waiting for a valid almanac Instead it uses a UTC time calculated with default parameters In this case the UTC time status is set to WARNING since it may not be 100 accurate When a valid almanac is available the receiver uses the real parameters Then the UTC time is set to VALID lt 1 Ifthe range residual exceeds 99 9 then the decimal part is dropped Maximum value for this field is 999 The sign of the range residual is determined by the order of parameters used in the calculation as follows range residual calculated range measured range 2 There is no residual information available from the OmniSTAR HP XP service so the GPGRS contains the pseudorange position values when using it Residual information is available for the OmniSTAR VBS Message ID 220 Log Type Synch Recommended Input log gpgrs ontime 1 Example 1
224. culations The USE_DEFAULTS command executes the following commands RTKDYNAMICS DYNAMIC RTKSVENTRIES 12 Abbreviated ASCII Syntax Message ID 97 RTKCOMMAND action Factory Default rtkcommand use defaults Abbreviated ASCII Example RTKCOMMAND RESET Field ASCII Binary 220 Binary Binary Binary pied Type Value Value Description Format Bytes Offset 1 RTKCOMMAND This field contains the H 0 header command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary 2 type USE DEFAULTS 0 Reset to defaults Enum 4 H RESET 1 Reset RTK algorithm SPAN SE User Manual Rev 7 175 B 4 29 RTKDYNAMICS Set the RTK dynamics mode This command provides the ability to specify how the receiver looks at the data There are three modes STATIC DYNAMIC and AUTO The STATIC mode forces the RTK software to treat the rover station as though it were stationary regardless of the output of the motion detector DYNAMIC forces the software to treat the receiver as though it were in motion If the receiver is undergoing very slow steady motion lt 2 5 cm s for more than 5 seconds you should use DY NAMIC mode as opposed to AUTO to prevent inaccurate results and possible resets On start up the receiver defaults to the DYNAMIC setting lt 1 Forreliable performance the antenna should not move more than 1 2 cm when in static mode 2 Usethe s
225. d If you are having a hardware problem send a list of the troubleshooting steps taken and results SPAN SE User Manual Rev 7 21 22 Customer Support Contact Information Use one of the following methods to contact NovAtel Customer Support Call the NovAtel Hotline at 1 800 NOVATEL U S amp Canada 1 800 668 2835 or 1 403 295 4900 international Fax 1 403 295 4901 Write NovAtel Inc E mail support novatel ca Customer Support Department Website http www novatel com 1120 68 Avenue NE Calgary AB Canada T2E 855 SPAN SE User Manual Rev 7 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 website 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 www novatel com Where to Buy Dealer Network or contact NovAtel Customer Support directly lt You can only perform a complete firmware reload over a serial COMI but you can load application firmware with the SOFTLOADFILE command SPAN SE User Manual Rev 7 23 24 The following notices apply to the SPAN SE and SPAN SE D For more information on emissions testing please refer to the regulatory body in your geographic area For
226. d 7 0x0080 8 0x0100 N2 9 0x0200 10 0x0400 11 0x0800 12 0x 1000 N3 13 0x2000 14 0x4000 15 0x8000 1 This authorization is related to the receiver model and not the OmniStar subscription To view OmniSTAR subscription information use the LBANDINFO log see page 302 SPAN SE User Manual Rev 7 307 Table 61 OmniSTAR HP XP Status Word Nibble Mask Description Bit 0 0 0x00000001 Subscription expired False True NO 1 0x00000002 Out of region 1 False True 2 0 00000004 Wet error False True 3 0x00000008 Link error False True 4 0x00000010 No measurements False True 5 0 00000020 No ephemeris False True 6 0x00000040 No initial position False True 7 0x00000080 No time set False True 8 0x00000100 Velocity error False True N2 9 0x00000200 No base stations False True 10 0x00000400 No mapping message False True 11 Reserved N3 N5 12 23 24 25 N6 26 0x04000000 Static initialization mode False True 27 Reserved N7 28 30 31 0x80000000 Updating data False True 1 Contact OmniSTAR for subscription support All other status values are updated by collecting the OmniSTAR data for 20 35 minutes 308 SPAN SE User Manual Hev 7 Field Binary Field Type Data Description Format Offset 1 Log header Log header 0 2 freq Measured frequency of L band sig
227. d in order to successfully post process data From a base if using GPS only e RANGECMPB ONTIME 1 e RAWEPHEMB ONNEW From a base if using GPS GLONASS e GLOEPHEMERISB ONNEW e RANGECMPB ONTIME 1 e RAWEPHEMB ONNEW From a rover if using GPS only e RANGECMPB ONTIME 1 e RAWEPHEMB ONNEW 66 SPAN SE User Manual Rev 7 3SPAN SE Operation Chapter 3 e RAWIMUSB ONNEW e IMUTOANTOFFSETSB ONCHANGED e HEADINGB ONNEW Dual antenna only From a rover if using GPS GLONASS GLOEPHEMERISB ONNEW e RANGECMPB ONTIME 1 e RAWEPHEMB ONNEW e RAWIMUSB ONNEW e IMUTOANTOFFSETSB ONCHANGED e HEADINGB ONNEW Dual Antenna Only Post processing is performed through the Waypoint Inertial Explorer software package available from from NovAtel s Waypoint Products Group Visit our website at www novatel com for details SPAN SE User Manual Rev 7 67 Chapter 3 3 7 Status Indicators 3 7 1 SPAN SE Status LEDs 3SPAN SE Operation LED indicators on the front of the SPAN SE see Figure 11 below provide the status of the receiver Table 7 details the LED states which are solid unless otherwise indicated as blinking They represent these categories Power SD Card OEMV 2 Card which is not included in every SPAN SE system OEMV 3 Card IMU which indicates the status of the raw data received from the IMU and INS which indicates the status of the GNSS INS solution computed by the SPAN SE In the event of a receiver error on the SPAN
228. d seconds and an event ID You can queue 10 unprocessed events at a time See TIMEDEVENTPULSE on page 209 for details 3 11 Synchronizing External Equipment The SPAN SE allows you to synchronize with external equipment in two ways 1 The receiver has three configurable output strobes Each strobe is synchronous with GPS time and can be configured for pulse length and polarity 2 The receiver accepts up to four input pulses events Each event signal can be configured for positive or negative polarity Time or a solution position velocity attitude can be generated and output synchronously with each input pulse 3 11 1 Configuring a Synchronous Output Pulse The EVENTOUTCONTROL command see page 147 is used to configure an output strobe There are three output strobe lines in the receiver called MARK1 MARK2 and MARK3 and each of them can be configured independently The event strobes toggle between 3 3 V and 0 V Each strobe can supply 24 mA The pulse consists of two states an active state and a not active state The start of the active state is synchronized with the top of the GPS time second and the polarity of the signal indicates whether the active period is 3 3 V or 0 V The not active period immediately follows the active period and has the alternate voltage Each output strobe can be configured in the following ways Polarity The polarity defines the signal state of the active portion of the signal A positive polar
229. d set ups 204 axes enclosure frame 186 189 197 245 330 local level frame 287 289 299 SPAN frame 185 187 189 193 196 285 286 288 289 357 azimuth 185 189 245 274 285 B baseline heading 280 baud rate see bps beam frequencies 137 BESTGPSPOS log 237 BESTGPSVEL log 243 BESTLEVERARM log 245 BESTPOS log 237 BESTVEL log 243 binary 69 129 154 225 329 bit rate see bps bps 141 break 139 141 322 broadcast almanac 262 buffer 163 Built In Status Test BIT 342 byte 226 Model 359 C No see carrier to noise density ratio cables antenna 419 IMU interface 110 113 117 power 41 warranty 19 calibration 59 63 179 245 card configuration 152 carrier to noise density ratio C No 275 309 326 CD command 131 channel 258 range measurement 323 tracking 258 423 Index tracking status 325 327 checksum 222 225 clock adjust 323 internal 230 offset 319 receiver 354 set 323 status 319 validity 318 CMR 154 dgps type 172 coarse alignment 57 COM command 139 COM port 164 246 321 COMCONFIG command 246 COMCONTROL command 142 command as a log 129 formats 129 prompt interface 217 219 communication 47 COMPROTOCOL log 248 254 computation frame 45 COMVOUT command 144 configuration 359 alignment 56 non volatile memory 150 port 139 246 receiver 174 340 342 reset 174 save 180 connector antenna 92 green 98 input output 92 yellow 100 constraint 323 coordinated universal time UTC
230. d side of the vehicle when facing forward 46 SPAN SE User Manual Hev 7 3SPAN SE Operation Chapter 3 See the VEHICLEBODYROTATION command on page 213 for information on entering the rotation into the system and see the RVBCALIBRATE command on page 179 for information on calculating this rotation Figure 10 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 available from the NovAtel website at www novatel com through Support Firmware Software and Manuals You can find installation instructions in your receiver s Quick Start Guide Alternatively you can use a terminal emulator program such as HyperTerminal to communicate with the receiver Refer also to the 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 PC Software NovAtel CDU 2 Select Open from the Device menu View Tools Help Close Config 3 Select the New button in the Open dialog box The Options Configurations dialog opens _ Edit Iz oO SPAN SE User Manual Rev 7 47 Chapter 3 3SPAN SE Operation 4 Usethe button at the top of the conf
231. d under normal circumstances WARNING This command should only be used by advanced users of GNSS INS Abbreviated ASCII Syntax Message ID 382 INSZUPT SPAN SE User Manual Rev 7 159 4 21 INSZUPTCONTROL INS Zero Velocity Update Control This command allows you to control whether ZUPTs are performed by the system When enabled ZUPTs allow the INS to reduce its accumulated errors Typically the system will automatically detect when it is stationary and apply a ZUPT For certain applications where it is known that the system will never be stationary such as marine or airborne applications ZUPTs can be disabled altogether Abbreviated ASCII Syntax Message ID 1293 INSZUPTCONTROL switch Field ASCII Binary S Binary Binary Binary Field Type Value Value Description Format Bytes Offset 1 Header This field contains the command H 0 name or message header depending on whether the command is abbreviated ASCII ASCII or binary 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 160 SPAN SE User Manual Rev 7 B 4 22 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 IMU center of navigation to the phase center of the antenna See also the SETIMUTOAN
232. e Digital SD card Ethernet connectivity wheel sensor input and scalability for future GNSS advances 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 three gyroscopes gyros so that accelerations along specific axis and angular rotations can be measured Several IMU types are supported and are listed in Table 1 Supported IMU Types on page 34 and Table 35 IMU Type on page 192 e 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 2 on page 47 e Adual frequency GNSS antenna The GNSS receiver is connected to the IMU enclosure with an RS 232 or RS 422 serial link which is the dedicated IMU COM port in SPAN SE and SPAN MPPC A NovAtel GNSS antenna must also be connected to the receiver to track GNSS signals Once the IMU enclosure GNSS antenna and appropriate power supplies are attached and a few simple configuration commands are entered the SPAN system will be up running and ready to navigate Fundamentals of GNSS INS GNSS positioning observes range measurements from orbiting Global Positioning System and GLONASS satellites From these observations the receiver can compute position and velocity with high accuracy NovAtel GNSS
233. e ID Message ID of log to output UShort H 4 4 message Bits 0 4 Reserved Message type of log Char H 6 type Bits 5 6 Format 00 Binary 01 ASCII 10 Abbreviated ASCII NMEA 11 Reserved Bit 7 Response Bit 0 Original Message 1 Response Message 5 Reserved Char H 7 6 trigger 0 ONNEW Does not output current Enum H 8 message but outputs when the message is updated not necessarily changed 1 ONCHANGED Outputs the current message and then continue to output when the message is changed 2 ONTIME Output on a time interval 3 ONNEXT Output only the next message 4 ONCE Output only the current message 7 period Valid values for the high rate Log period for ONTIME Double H 12 logging 0 05 0 1 0 2 0 25 trigger in seconds 2 and 0 5 For logging slower than 1Hz any integer value is accepted Continued on the following page SPAN SE User Manual Rev 7 165 MUS Field Binary Binary Description Type Bytes Offset 8 offset A valid value is any integer Offset for period ONTIME Double 8 H 20 smaller than the period These trigger in seconds If you decimal values on their own wished to log data at 1 second are also valid 0 1 0 2 0 25 after every minute you would 0 5 set the period to 60 and the offset to 1 9 hold 0 NOHOLD Allow log to be removed by Enum 4 H 28 the UNLOGALL command 1 HOLD Prevent log from being removed by the default UNLOGALL command
234. e L band subscription has expired or does not exist 1 FIXEDTIME The L band subscription expires at a fixed date and time 2 COUNTDOWN The L band subscription expires after the specified amount of running time 3 COUNTDOWNOVERRUN The COUNTDOWN subscription has expired but has entered a brief grace period Resubscribe immediately 16 UNKNOWN Unknown subscription 302 SPAN SE User Manual Rev 7 Field Binary Field Type Data Description Format Offset 1 LBANDINFO Log header H 0 header 2 freq Selected frequency for L band service kHz Ulong 4 H 3 baud Communication baud rate from L band satellite Ulong 4 H 4 4 ID L band signal service ID Ushort 2 H 8 5 Reserved Ushort 2 H 10 6 OSN L band serial number Ulong 4 H 12 7 vbs sub L band VBS subscription type see Table 57 on Enum 4 H 16 page 302 8 vbs exp week GPS week number of L band VBS expiration date 1 Ulong 4 H 20 9 vbs exp secs Number of seconds into the GPS week of L band Ulong 4 H 24 VBS expiration date 10 hp sub OmniSTAR HP or XP subscription type see Enum 4 H 28 Table 57 on page 302 11 hp exp week GPS week number of OmniSTAR HP or XP Ulong 4 H 32 expiration date 12 hp exp secs Number of seconds into the GPS week of Ulong 4 H 36 OmniSTAR HP or XP expiration date 13 hp sub mode HP or XP subscription mode if the subscription is Ulong 4 H 40 valid 0 HP 1 XP 14 XXXX 32 bit CRC ASCII and Bina
235. e OmniSTAR service are required Contact NovAtel for details Contact information may be found on the back of this manual or you can refer to the Customer Service section in the OEMV Family Installation and Operation User Manual Abbreviated ASCII Syntax Message ID 494 RTKSOURCE type ID Factory Default rtksource auto any Abbreviated ASCII Examples 1 Specify the format before specifying the base station IDs RTKSOURCE RTCMV3 5 RTKSOURCE RTCM 6 2 Select only SBAS RTKSOURCE NONE PSRDIFFSOURCE NONE SBASCONTROL ENABLE AUTO 3 Enable OmniSTAR HP and VBS RTKSOURCE OMNISTAR PSRDIFFSOURCE OMNISTAR 4 Enable and PSRDIFF from RTCM with a fall back to SBAS RTKSOURCE RTCM ANY PSRDIFFSOURCE RTCM ANY SBASCONTROL ENABLE AUTO SPAN SE User Manual Rev 7 177 Field ASCII Binary Binary Binary Binary Type Value Value Description Format Bytes Offset 1 RTKSOURCE This field contains the H 0 header command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary 2 type See Table 31 DGPS ID Type Enum 4 H Type on page 172 3 Base Station ID Char 5 or ANY ID string Char 5 8 2 H 4 1 If you choose ANY the receiver ignores the ID string Specify Type when you are using base station IDs 2 Inthe binary log case an additional 3 bytes of padding are added to maintain 4 byte alignment 178 SPAN SE User Manual Rev 7 B
236. e asked location in the IMU enclosure frame Abbreviated ASCII Syntax Message ID 1069 SETMARKIOFFSET xoffset yoffset zoffset aoffset Boffset yoffset Abbreviated ASCII Syntax Message ID 1070 SETMARK2OFFSET xoffset yoffset zoffset aoffset Boffset yoffset Abbreviated ASCII Syntax Message ID 1116 SETMARK3OFFSET xoffset yoffset zoffset aoffset Boffset yoffset Abbreviated ASCII Syntax Message ID 1117 SETMARKAOFFSET xoffset yoffset zoffset aoffset Boffset yoffset Field ASCII Binary Binary Binary Binary Field Format Bytes Offset Type Value Value Description 1 header This field contains the command H 0 name or the message header depending on whether the command is abbreviated ASCH ASCII or binary 2 x offset 360 Offset along the IMU enclosure Double 8 H frame X axis m for Mark1 2 3 or 4 3 y offset 360 Offset along the IMU enclosure Double 8 H 8 frame Y axis m for Markl 2 3 or 4 4 z offset 360 Offset along the IMU enclosure Double 8 H 16 frame Z axis m for Mark1 2 3 or 4 5 aoffset 360 Roll offset for Mark in degrees Double 8 H 24 6 Boffset 360 Pitch offset for Mark in degrees Double 8 H 32 7 yoffset 360 Azimuth offset for Mark in degrees Double 8 H 40 Abbreviated ASCII Example SETMARK1 OFFSET 0 324 0 106 1 325 000 198 SPAN SE User Manual Rev 7 B 4 44 SETUPSENSOR Add anew camera sensor Use the SETUPSENSOR command to add a new camer
237. e is RoHS compliant For alternate power sources see Section 2 2 4 on page 41 RED ALIGNMENT POINT us 7 411 GND BLACK 2 1450 450 0 0 0 Win RED n GNO GREEN win WHITE STRIP BACK 100m WITH RONS COMPLIANT DRAIN WIRE Et bn Reference Description P1 ODU 4 pin Vin 9 to 28 V DC Figure 17 SPAN SE Power Cable 96 SPAN SE User Manual Hev 7 A 1 1 2 1 0 1 Green Cable NovAtel part number 01018134 This cable supplied with the SPAN SE see Figure 18 provides a means of connecting with communications and I O devices The cable is equipped with a 30 pin connector at the receiver end plus four DB 9 connectors at the other end one for each serial port The serial ports available on this cable are COM3 COMA both used for command input and data output a direct connection to the internal OEMV 3 COMI used for RTK correction input and a direct connection to the internal OEMV 2 COMI There is also an end with six bare cables for CAN configurations See Table 8 I O 1 Green Cable Connector Pin Outs on page 98 This cable is RoHS compliant 1331 0 25 00 0 00 45 ODU Straight Plug 230 0 25 00 0 00 OEMV3 Green Bend 1000 0 50 00 0 00 Relief 1000 NOVATEI P1 PART 180 0 5 0 Label COM3
238. e refer to the OEMV Family Firmware Reference Manual for a complete list of logs containing GNSS only information 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 Note the following when configuring your SPAN system 1 Recommend logging rates RANGECMPB maximum 20 Hz RANGEB maximum 10 Hz TRACKSTATB maximum 10 Hz No more than one of the above logs should be output at one time We do not recommend ASCII for these logs These recommendations apply to all large OEMV logs 2 When logging to the SD memory card if you log at more than 40 kb sec you will get a warning in RXSTATUS 3 BESTPOS BESTGPSPOS GPGGA GPVTG and GPGLL logs are available at 1 1 and 5 Hz only on SPAN SE with an inertial model 4 When requesting high rate data over COMI COM2 COMG be careful not to overrun the baud rate Refer to Appendix B 4 5 Port configuration control starting on page 139 for further information 5 RAWIMU and RAWIMUS logs are only available with the ONNEW or ONCHANGED trigger These logs are not valid with the ONTIME trigger The raw IMU observations contained in these logs are sequential changes in velocity and rotation As such you can only use them for navigation if they are logged at their full rate See details of these log starting on page 330 6 Tocollect wheel sensor
239. e shows the desired result of all rotations all three frames have the same axis definitions Mount Body Frame m SPAN Computation Frame b or s AN Cony Figure 15 Simple Configuration SPAN Computation Frame b or s Figure 16 Rotation Results 6 3 Usage The following are basic commands that you can use to affect the variable lever arm e SETGIMBALORIENTATION rotates the standard gimbal axis definition to the standard SPAN 90 SPAN SE User Manual Rev 7 Variable Lever Arm Chapter 6 definition see SETIMUORIENTATION on page 185 for more information e GIMBALSPANROTATION defines the rotation from the gimbal mount computation frame mc to the span computation frame b This applies if the axes of the IMU and gimbal mount are not the same after SETIMUORIENTATION and SETGIMBALORIENTATION commands are applied e VEHICLEBODYROTATION defines the rotation from the vehicle frame v to the SPAN computation frame b See 3 1 4 Vehicle Frame on Page 46 for more information SPAN SE User Manual Rev 7 91 Dh Yee uw Technical Specifications This appendix details the technical specifications of the IMUs and the SPAN SE receiver 1 SPAN SE SPAN SE is a SPAN capable receiver The SPAN SE receiver s technical specifications follow For the other OEMV based and SPAN capable receivers details refer to the OEMV Family Installation and Operation User Manual A 1 1 SPAN SE Receiver INPUT OUTPUT CONNECT
240. e time stamp is set for each type of log lt 1 A SPAN SE user can request up to 25 logs from the OEMV 3 in addition to 30 SPAN specific logs If you attempt to log more than 30 logs at a time the receiver responds with an Insufficient Resources error 2 Asynchronous logs such as BESTLEVERARM should only be logged ONNEW Otherwise the most current data is not output when it is available This is especially true of the ONTIME trigger which may cause inaccurate time tags to result 3 Use the ONNEW trigger with the MARKxTIME or logs Before the output of fields for ASCII and binary logs there is an ASCII or binary header respectively See the ASCII and Binary sections that follow There is no header information before Abbreviated ASCII output SPAN SE User Manual Rev 7 221 D 1 1 ASCII ASCII messages are readable by both the user and a computer The structures of all ASCII messages follow the general conventions as noted here 1 2 3 The first character for each record is Each log or command is of variable length depending on amount of data and format All data fields are delimited by a comma with two exceptions The first exception is the last header field which is followed by a to denote the start of the data message The other exception is the last data field which is followed by an to indicate end of message data Each log ends with a hexadecimal number preceded by an asterisk and follo
241. ed on the following page 28 0x 10000000 Forced UNLOGALL to Did not happen Happened OEMV3 N7 29 0x20000000 OEMV 2 status event No event Event 30 0x40000000 OEMV 3 status event No event Event 31 0x80000000 Reserved Table 76 Auxiliary 1 Status Nibble Bit Mask Description Bit 0 Bit 1 NO 0 0x00000001 Reserved 1 0x00000002 2 0x00000004 3 0x00000008 Position averaging Off On N1 4 0x00000010 Reserved 5 0x00000020 6 0x00000040 7 0x00000080 OEMV 3 USB Connected Not connection status connected N2 8 0x00000100 OEMV 3 USB1 buffer No overrun Overrun overrun flag 9 0x00000200 OEMV 3 USB2 buffer No overrun Overrun overrun flag 10 0x00000400 OEMV 3 USB3 buffer No overrun Overrun overrun flag 11 0x00000800 Reserved Table 77 OEMV 3 Status Nibble Description NO 0 0x0000001 Reserved Table 78 OEMV 2 Status Nibble Description NO 0 0x0000001 Reserved 346 SPAN SE User Manual Rev 7 S Binary Binary Fiel Fiel Data Description Form eld eld type ata Descriptio ormat Bytes Offset 1 RXSTATUS Log header H 0 header 2 error Receiver error see Table 74 on page 343 A ULong 4 value of zero indicates no errors 3 stats Number of status codes including receiver ULong 4 H 4 status 4 rxstat Receiver status word see Table 75 on ULong 4 H 8 page 3
242. ed to the volume formed by the intersection points of the user satellite vectors with the unit sphere centered on the user Larger volumes give smaller DOPs Lower DOP values generally represent better position accuracy The role of DOP in GPS positioning however is often misunderstood A lower DOP value does not automatically mean a low position error The quality of a GPS derived position estimate depends upon both the measurement geometry as represented by DOP values and range errors caused by signal strength ionospheric effects multipath and so on lt If the DOP values exceed 9999 0 or there is an insufficient number of satellites to calculate a DOP value 9999 0 is reported for PDOP and HDOP VDOP is reported as 0 0 in this case Message ID 221 Log Type Synch Recommended Input log gpgsa ontime 1 Example 1 GPS only GPGSA M 3 17 02 30 04 05 10 09 06 31 12 1 2 0 8 0 9 35 270 SPAN SE User Manual Hev 7 Field Structure Field Description Symbol Example 1 GPGSA Log header GPGSA 2 mode MA Automatic 2D 3D M M M Manual forced to operate in 2D or 3D 3 mode 123 Mode 1 Fix not available 3 2 2D 3 3D 4 15 prn PRN numters of satellites used in solution null for unused XX XX 18 03 13 fields total of 12 fields 25 16 GPS 1 to 32 24 12 SBAS 33 to 64 add 87 for PRN number 20 GLO 65 to 96 16 pdop Position dilution of precision X X 1 5 17 hdop Horizontal dilution
243. ed under the following U S patents 5 101 416 6 243 409 B1 5 390 207 6 608 998 5 414 729 6 664 923 5 495 499 6 721 657 2 5 734 674 6 728 637 2 5 736 961 6 750 816 5 809 064 7 193 559 B2 6 184 822 7 346 452 6 211 821 B1 Copyright 2009 2011 NovAtel Inc All rights reserved Unpublished rights gO 69 reserved under International copyright laws Printed Canada recycled paper Recyclable 2 SPAN SE User Manual Rev 7 Table of Contents Proprietary Notice 2 Software License 14 Terms and Conditions 16 Warranty Policy 19 Customer Support 21 Firmware Updates and Model Upgrades 23 Notices 24 Foreword 28 1 Introduction 31 1 1 Fundamentals of 5 1 5 32 1 2 ege bien dete 33 2 SPAN SE Installation 35 2 1 SPAN SE Hardware Description 35 2 2 SPAN SE Hardware Installation sse eene nnne 39 2 2 1 Mount Antenna iier chess ard Sneed loc cade dece lose De ss Pepe Donde Eee cce pug 39 2 2 2 Mount IM O set reote reU trt pe tite Dee me dest ave dacs 40 2 2 3 Connect Interface 222222224 41 0 000000 001000100000 40 2 2 4 Gonnect POWER tiene 41 2 2 5 Power BUttOor iei idc gebe iene 42 3
244. ends the file to the receiver The above example sets the IMU type to be the HG1700 658 It also sets the leverarm from the IMU center to the GNSS antenna phase center with the SETIMUTOANTOFFSET command Log requests on COMI of SPAN SE are also made In this case RAWIMUSB logs are logged asynchronously at 100 Hz RANGECMPB logs synchronously at 1 Hz INSPVASB at 10 Hz and the INSCOVSB log would be logged when updated which is at 1 Hz also SPAN SE User Manual Rev 7 219 491975147 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 Information on both SPAN only and selected OEMV logs are contained in this appendix 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 ta
245. er to constrain the position error growth during GNSS outages SPAN also automatically estimates the size of the wheel to mitigate small changes in the size of the wheel due to hardware changes or environmental conditions Information on how the wheel sensor updates are being used is available in the INSUPDATE log see page 297 Wheel sensor information can be input into the system using one of three separate methods l Directly connecting the wheel sensor to one of the event input lines available on the SPAN SE 2 Using the wheel sensor interface on the iIMU FSAS IMU 3 Entering the WHEELVELOCITY commands see page 215 through the user interface Specific details on the three methods of wheel sensor input are described below 3 5 1 Wheel Sensor Updates Using the Event Input Lines The event input lines in SPAN SE can be configured to accept a wheel sensor signal directly Any of the four available event input lines can be used but only one can be used at a time the system does not support multiple wheel sensors This method currently only supports A mode directionless and not A B directional mode of operation for the wheel sensor The receiver automatically accumulates the wheel sensor pulses calculates a distance travelled and applies the constraint information in the SPAN GNSS INS filter To connect your wheel sensor to the SPAN SE event input line connect Signal A from the wheel sensor to one of the event input lines available on t
246. es within this standard A c hh hhmmss ss x Numeric Value Fields Variable X X Variable length integer or floating numeric field Optional leading and trailing zeros numbers The decimal point and associated decimal fraction are optional if full resolution is not required example 73 10 73 1 073 1 73 Fixed HEX hh Fixed length HEX numbers only MSB on the left Information Fields Variable text c c Variable length valid character field Fixed alpha 2 Fixed length field of uppercase or lowercase alpha characters Fixed Fixed length field of numeric characters Fixed text Fixed length field of valid characters NOTES 1 Spaces may only be used in variable text fields 2 A negative sign HEX 2D is the first character in a field if the value is negative The sign is omitted if the value is positive 3 All data fields are delimited by a comma 4 Null fields are indicated by no data between two commas Null fields indicate invalid data or no data available 5 The NMEA Standard requires that message lengths be limited to 82 characters 234 SPAN SE User Manual Rev 7 0 3 SPAN SE Logs The receivers are capable of generating many NovAtel format output logs in either Abbreviated ASCII ASCII or binary format For convenience some commonly used OEMV logs are included in this manual All SPAN specific logs are included in this manual Pleas
247. escription Format Bytes Offset 1 UNLOGALL This field contains the command H 0 header name or the message header depending on whether the command is abbreviated ASCH ASCII or binary 2 port See Table 23 COM Porttoclear Default is ALL_PORTS Enum 4 H Serial Port Identifiers on page 140 3 held FALSE 0 Does not remove logs with the Enum 4 H 4 HOLD parameter default TRUE 1 Removes previously held logs even those with the HOLD parameter 212 SPAN SE User Manual Rev 7 4 54 VEHICLEBODYROTATION Vehicle to SPAN frame rotation Use the VEHICLEBODYROTATION command to set angular offsets between the vehicle frame direction of travel and the SPAN computation frame 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 4 8 Vehicle to SPAN Frame Angular Offsets Calibration Routine starting on page 63 for more details For more information on reference frames see Section 3 1 Definition of Reference Frames within SPAN starting on page 45 RVBCALIBRATE command information is on page 179 The VEHICLEBODYROTATION message can be requested as a log and will report whatever the user entered as a command or the results of the RVBCALIBRATE process whichever is most recent The rotation values are used during kinematic alignment The rotation is used to t
248. ess than 1 Hz 1 Hz or 5 Hz Higher rate velocity information is available in the INSVEL INSPVA or INSSPD logs Structure BESTGPSVEL Message ID 506 BESTVEL Message ID 99 Log Type Synch Binary Binary Field Field type Data Description Format Bytes Offset 1 Log header Log header H 0 2 Sol Status Solution status see Table 45 on page 239 Enum 4 H 3 Vel Type Velocity type see Table 44 on page 237 Enum 4 H 4 4 Latency A measure of the latency in the velocity time tag in Float 4 H 8 seconds It should be subtracted from the time to give improved results 5 Age Differential age Float 4 H 12 6 Hor Spd Horizontal speed over ground in metres per second Double 8 H 16 7 Trk Gnd Actual direction of motion over ground track over Double 8 H 24 ground with respect to True North in degrees 8 Vert Spd Vertical speed in metres per second where Double 8 H 32 positive values indicate increasing altitude up and negative values indicate decreasing altitude down 9 Reserved Float 4 H 40 10 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 44 11 CR LF Sentence terminator ASCH only SPAN SE User Manual Rev 7 243 244 Recommended Input log bestgpsvela ontime 1 ASCII Example BESTGPSVELA COM1 0 62 5 FINESTEERING 1049 247755 000 00000128 763 0 SOL COMPUTED SINGLE 0 250 0 000 0 1744 333 002126 0 3070 6 0082 dfdc635c SPAN SE User Manual Rev 7 0 3 4 BES
249. estion 3 above 4 How l access the inertial solution The INS GNSS solution is available from a number of specific logs dedicated to the inertial filter The INSPOS INSPVA INSVEL INSSPD and INSATT logs are the most commonly used logs for extracting the INS solution These logs can be logged at any rate up to the rate of the IMU data 100 or 200 Hz depending on your IMU model The logs provide the INS GNSS solution at the time an input was received on EVENT IN x Further details on these logs are available in Appendix D Data Logs starting on page 220 5 Canl still access the GNSS only solution while running SPAN The GNSS only solution used when running the OEMV receiver without the IMU is still available when running SPAN BESTGPSPOS solutions are available at 1 Hz or 5 Hz from any port of SPAN SE Other GNSS logs RANGE PSRPOS and so on can be logged up to 20 Hz from the SPAN SE ports 6 What will happen to the INS solution when I lose GNSS satellite visibility SPAN SE User Manual Rev 7 421 When GNSS tracking is interrupted the INS GNSS 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 GNSS outage the horizontal position accuracy is approximately 2 5 m when using an HG1700 AG58 The SPAN soluti
250. ever arm offsets can be applied to each strobe Each input strobe can be configured using the EVENTINCONTROL command see page 146 for the following parameters 1 Polarity When polarity is set to positive events trigger on the rising edge When polarity is set to negative events trigger on the falling edge 2 Time Bias A constant time bias in ns can be applied to each event pulse Typically this is used to account for a transmission delay 3 Time Guard The time guard specifies the minimum number of milliseconds between pulses This is used to coarsely filter the input pulses The time of the input pulses is available from the logs see page 318 The solution synchronous with the event pulses is available from the MARKxPVA logs see page 316 The logs required for input strobes are LOG MARKITIMEB ONNEW Output time for every pulse received LOG MARK1PVAB ONNEW Output time position velocity and attitude for every pulse received at the location specified by the SETMARKIOFFSET command SPAN SE User Manual Rev 7 77 Chapter 3 3SPAN SE Operation The above example is for the MARK 1 event input The input signal levels are 3 75 V to 0 3 V Signal voltages outside these bounds damage the receiver The minimum detectable pulse duration must be greater than or equal to 1 microsecond 3 11 2 1 Using the Input Strobe to Accumulate Counts You can also use an input strobe line to count the number of pulses over o
251. ew ASCII Example RAWEPHEMA COM1 15 60 5 FINESTEERING 1337 405297 175 00000000 97b7 1984 3 1337 403184 8b04e4818da44e50007b0d9c05ee6 64f fhfeb695d 763626f00001b03c6b3 8b04e4818e2b63060536608fd8cdaa051803a41261157eal0d2610626f3d 85004e4818ead0006aa7f7ef8ffda25c1a69a14881879b9c6 f a79863 9 2 0bb16ac3 RAWEPHEMA 1 0 60 5 SATTIME 1337 405390 000 00000000 9767 1984 1 1337 410400 8504e483f 7244e50011d7a6105ee664ffbfe695df9e1643200001200aa92 8b04e483f7a9elfaab2b16a27c7d41 b5c0304794811 7a10d40b564327e 8004e483 82c00252 57a78200150282027a31c0 ba0f c525ffac84e10a06 c5834a5b Field Field type Data Description Format eve ae 1 RAWEPHEM Log header H 0 header 2 prn Satellite PRN number Ulong 4 H 3 ref week Ephemeris reference week number Ulong 4 H 4 4 ref secs Ephemeris reference time s Ulong 4 H 8 5 subframe Subframe 1 data Hex 30 H 12 6 subframe2 Subframe 2 data Hex 30 H 42 7 subframe3 Subframe 3 data Hex 30 H 72 8 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 102 9 CR LF Sentence terminator ASCII only SPAN SE User Manual Rev 7 329 D 3 55 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 338 Structure Message ID 268 Log
252. example in the US that is the Federal Communications Commission FCC and in Europe the Conformit Europ enne CE FCC NOTICES This device complies with part 15 of the FCC Rules Operation is subject to the following two conditions 1 this device may not cause harmful interference and 2 this device must accept any interference received including interference that may cause undesired operation SPAN SE and SPAN SE D comply 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 from that to which the receiver is connected e Consult the dealer or an experienced radio TV technician for help
253. f navigation to the antenna phase center 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 2 2 3 Connect Interface Cables 40 The SPAN SE has two circular connectors on the back panel Each connector has a cable that breaks out the serial ports into DB9 connectors and the input and output event signals to bare wires Each peripheral signal is identified on the cable with a label See Section A 2 2 3 Electrical and Environmental on page 110 for more information on signals wiring and pin out information of the SPAN SE port and its cables 1 Connect the I O 1 green cable s 30 pin connector to the I O 1 green port on the SPAN SE 2 Connect the I O 2 yellow cable s 30 pin connector to the I O 2 yellow port on the SPAN SE 3 Connect a communications cable If you want to connect via a serial connection the I O 1 green cable has DB9 connectors for CONG and and the I O 2 yellow cable has DB9 connections for COMI and 2 If a USB connection is required connect a USB cable to the USB Device port If an Ethernet connection is required connect a network cable to the Ethernet port SPAN SE User Manual Rev 7 SPAN SE Installation Chapter 2 4 Connect the I O 2 yellow cable s IMU connector to an IMU COM port using the IMU s interface cable The figure below shows the Universal Encl
254. f this high data rate a shorter header format was created These shorter header logs are defined with an S RAWIMUSB rather than RAWIMUB We recommend you use these logs instead of the standard header logs to save throughput 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 INS_ALIGNING Description IMU logs are present but the alignment routine has not started INS is inactive 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 GNSS used to aid the INS is absent 1 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 GNSS solution is suspected to be in error This may be due to multipath or limited satellite visibility The inertial filter has rejected the GNSS position and is waiting for the solution quality to improve 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 1 See also the Frequently
255. f you have wheel sensor hardware that accumulates the pulses from a wheel sensor you can send the accumulated tick count to the SPAN SE at 1 Hz using the WHEELVELOCITY command see page 215 The command can be sent in ASCII or binary format The tick count in the WHEELVELOCITY command should reference the number of ticks accumulated at the time of the GNSS second boundary For reference the GNSS second boundary is available from the event output lines on SPAN SE See also the EVENTOUTCONTROL command on page 147 3 5 4 Logging Wheel Sensor Data from SPAN SE The accumulated wheel sensor counts are available by logging the TIMEDWHEELDATA log with the ONNEW trigger LOG TIMEDWHEELDATAB ONNEW If you wish to use the wheel sensor data in post processing then ensure that the TIMEDWHEELDATAB log is included in your logging profile The computed wheel size is available through the WHEELSIZE log with the ONNEW trigger LOG WHEELSIZEB ONNEW 3 6 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 collecte
256. family receivers Fields 6 and 7 are always null 278 SPAN SE User Manual Rev 7 D 3 24 HEADING Heading Information The heading is the angle from True North of the GPS1 to GPS2 vector in a clockwise direction lt Asynchronous logs such as HEADING should only be logged ONCHANGED the most current data is not available or included in the output An example of this occurrence is in the ONTIME trigger If this trigger is not logged ONCHANGED it may cause inaccurate time tags lt This log is only available on the SPAN SE D Message ID 971 Log Type Asynch Recommended Input log headinga onchanged ASCII Example HEADINGA 1 0 77 0 F INESTEERING 1481 418557 000 00000000 3663 36137 SOL_COMPUTED L1_INT 5 913998127 75 566444397 0 152066842 0 0 0 104981117 0 222061798 AAAA 13 10 10 0 0 00 0 11 481a5bab SPAN SE User Manual Rev 7 279 Binary Binary Field Field type Data Description Format Bytes Offset 1 HEADING Log header H 0 header 2 sol stat Solution status see Table 45 on page 239 Enum 4 H 3 pos type Position type see Table 44 on page 237 Enum 4 H 4 4 length Baseline length 0 3000 m Float 4 H 8 5 heading Heading in degrees 0 360 0 degrees Float 4 H 12 6 pitch Pitch 90 degrees Float 4 H 16 7 Reserved Float 4 H 20 8 hdg std dev Heading standard deviation in degrees Float 4 H 24 9 ptch std dev Pitch
257. fected Enum 4 H SENSORS by the trigger command SENSORI 1 SENSOR2 2 SENSOR3 4 3 GPSWeek 0 The GPS week that Ulong 4 H 4 4294967295 triggers the event 4 GPSSeconds 0 604800 The GPS seconds that Ulong 4 H 8 trigger the event 5 EventID The event s identifier Ulong 4 H 12 used to tag the TAGGEDMARKxPV A logs if a sensor input is enabled Default is 0 Abbreviated ASCII Example TIMEDEVENTPULSE 1 1617 418838 100 SPAN SE User Manual Rev 7 209 B 4 52 UNLOG Remove a log from logging control This command permits you to remove a specific log request from the system The port parameter is optional If port is not specified it is defaulted to the port on which the command was received This feature eliminates the need for you to know which port you are communicating on if you want logs to be removed on the same port as this command Abbreviated ASCII Syntax Message ID 36 UNLOG port datatype Abbreviated ASCII Example UNLOG COMI BESTPOSA UNLOG BESTPOSA lt The UNLOG command allows you to remove one or more logs while leaving other logs unchanged Field Binary I Field Binary Binary Field EIS Description Type Bytes Offset 1 UNLOG See Table 39 Binary Message This field contains the H 0 binary Header Structure on page 225 message header header 2 port See Table 23 COM Serial Port Port to which log is Enum 4 H Identifier
258. ference over an L band message In the RTKSOURCE command AUTO means that both the NovAtel RTK filter and the OmniSTAR HP XP filter if authorized are enabled The NovAtel RTK filter selects the first received RTCM RTCA RTCMV3 or CMR message The BESTPOS log selects the best solution between NovAtel RTK and OmniSTAR HP XP 11 NONE 13 Disables all differential correction types 12 Reserved Continued on next page Binary Description 13 RTCMV3 RTCM Version 3 0 ID 0 RTCMV3 ID lt 4095 ANY Cannot be used in PSRDIFFSOURCE command 172 SPAN SE User Manual Hev 7 1 Base Station ID parameter in the command is ignored 2 Available only with the PSPRDIFFSOURCE command refer to page 171 3 All PSRDIFFSOURCE entries fall back to SBAS except NONE Field ASCII Binary Description Binary Binary Binary Type Value Value Format Bytes Offset 1 PSRDIFFSOURCE This field contains the H 0 header command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary 2 type See Table 31 ID Type All types may revert to Enum 4 page 172 SBAS if enabled or SINGLE position types See also Table 44 Position or Velocity Type on page 237 3 Base Station ID Char 5 or ANY ID string Char 5 82 H 4 1 If you choose ANY the receiver ignores the ID string Specify Type when you are using base station
259. fier see Table 23 COM Serial Enum H 4 Port Identifiers on page 140 4 rx chars Total number of characters received through the Ulong H 8 port 3 tx chars Total number of characters transmitted through Ulong H 12 the port 6 acc rx chars Total number of accepted characters received Ulong H 16 through the port 7 dropped chars Number of software overruns Ulong H 20 8 interrupts Number of interrupts on this port Ulong H 24 9 breaks Number of breaks Ulong H 28 This field does not apply for a USB port and is always set to 0 for USB 10 par err Number of parity errors Ulong H 32 This field does not apply for a USB port and is always set to 0 for USB 11 fram err Number of framing errors Ulong H 36 This field does not apply for a USB port and is always set to 0 for USB 12 overruns Number of hardware overruns Ulong H 40 13 Next port offset H 4 port number x 40 14 XXXX 32 bit CRC ASCII and Binary only Hex H 4 port x 40 15 CR LF Sentence terminator ASCII only 322 SPAN SE User Manual Hev 7 D 3 52 RANGE Satellite Range Information RANGE contains the channel measurements for the currently tracked satellites When using this log please keep in mind the constraints noted along with the description It is important to ensure that the receiver clock has been set This can be monitored by the bits in the Receiver Status field of the log header Large jumps in pseudorange as well as accumulated Do
260. fig cmr none 9600 same as CMR lt The baud rate of the rover must match the baud rate of the correction data source If you are using SPAN SE or SPAN MPPC with an RTK correction methodology that requires knowledge of the rover location you can configure SPAN to output GPGGA messages through the OEMV3 COMI port For example to configure SPAN to receive RTCA corrections and output a 2 Hz GPGGA message containing the rover location while otherwise using default settings send the following command gnsscardconfig cardl coml novatel novatel 9600 8 1 n off on 0 5 lt Valid values for high rate GPGGA output are 0 05 0 1 0 2 0 25 and 0 5 Hz For logging at 1 Hz or slower any integer value is accepted 3 3 2 SPAN IMU Configuration 52 3 3 2 1 SPAN Configuration Manually Follow these steps to enable INS as part of the SPAN system using software commands or see SPAN Configuration with CDU on page 54 to see the preferred method using NovAtel s Control and Display Unit CDU software utility 1 Issue the SETIMUTYPE command to specify the type of IMU being used Basic configuration of the SPAN system is now complete The inertial filter starts once the receiver clock reaches FINESTEERING status and the IMU is connected SPAN SE User Manual Hev 7 3SPAN SE Operation Chapter 3 lt A GNSS antenna must be connected and tracking satellites for operation 2 Issue the SETIMUTOANTOFFSET command to enter the dis
261. g error 342 parity 323 status 342 float solution 175 format 222 224 233 FORMAT command 131 149 formats command 129 frame See axes vehicle 57 179 214 frequently asked questions 421 FRESET command 150 SPAN SE User Manual Rev 7 Index G G model 359 GIMBALSPANROTATION command 151 155 GLOCLOCK log 255 GLOEPHEMERIS log 257 GLORAWEPHEM log 261 GNSSCARDCONFIG command 151 152 155 GPALM log 262 GPGGA log 264 GPGLL log 266 GPGRS log 268 GPGSA log 270 GPGST log 272 GPGSY log 274 GPHDT NMEA Heading log 276 GPS overview 230 GPVTG log 277 GPZDA log 278 graphical user interface 50 H handshaking 140 142 hardware reset 174 setup 35 HDOP see dilution of precision header 220 229 ascii 222 log 323 HEADING log 279 health almanac 263 height 239 240 position 242 help 47 hexadecimal 222 225 HG1700 installation SPAN HG enclosure 373 universal enclosure 362 hold 163 166 167 312 313 HP XP OmniSTAR expiration date 303 status 307 309 tracking state 305 425 Index I I model 359 ICOMCONFIG command 155 ICOMSTATUS log 281 identifier serial port 227 247 322 iIMU FSAS cables 117 commands 192 dimensions 114 FAQ 421 models 34 performance 123 replacement parts 420 scale factor 339 specifications 114 impedance 92 IMU CPT cable 126 dimensions 124 electrical 128 environmental 128 FAQ 421 models 34 sensor specifications 127 specifications 124 inertial me
262. g in the header The time tag in the data block should be considered the exact time of applicability of the data All the described INS logs except the INSCOV INSPOSSYNC and INSUPDATE can be obtained at rates up to the full rate of the IMU subject to the limits of the output baud rate 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 D 1 4 ASCII and Binary Logs with Short Headers on page 229 2 The BESTPOS position log can be logged at rates up to 20 Hz directly from the OEMV port but is available at 1 Hz or 5 Hz from any SPAN SE port Other GNSS logs RANGE PSRPOS and so on can be logged up to 20 Hz from the SPAN ports The BESTGPSPOS log is available from SPAN SE only at 1 Hz or 5 Hz 3 Table 5 Inertial Solution Status on page 55 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 your GNSS time status is FINESTEERING as shown in the log headers and you are not getting a good status value something is wrong and the hardware setup must be checked out Check the IMU status word in the RAWIMU or RAWIMUS log and verify that the times in the RAWIMU
263. g that occurs when the IMU is mounted differently from Z pointing up e This command is not save configurable see the SAVECONFIG command on Page 130 and if needed must be entered at startup 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 184 unless you have your IMU mounted with the Z axis not pointing up Then use the tables in the SETIMURIENTATION command on pages 187 168 to determine the azimuth axis that SPAN is using Abbreviated ASCII Syntax Message ID 863 SETINITAZIMUTH azimuth azSTD Field ASCII Binary Binary Binary Field Format Offset Type Value Value Description 1 header This field contains the command H 0 name or the message header depending on whether the command is abbreviated ASCH ASCII or binary 2 azimuth 360 to 360 Input azimuth angle in degrees Double 8 H 3 azSTD 0 000278 to 180 Input azimuth standard deviation Double 8 H48 angle in degrees SPAN SE User Manual Rev 7 195 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 in a direction that is not up please refer to the SETI
264. ge the card while logging is in A progress Data will be lost It is not necessary to turn the receiver off before inserting or extracting a SD Card but the logging session should be closed by pressing the SD Card logging button or issuing the LOGFILE CLOSE command before removing the card An example of an SD Card is shown in Figure 4 SD Memory Card on page 38 The SD Card access door is shown closed in Figure 13 below Move the arrow latch to the left to open the access door To remove the SD Card unlock the access door When the door is open you can see the card Push it slightly to partially eject it Then grasp the card and pull it all the way out Figure 13 SD Card Access Door To insert the card ensure that it is correctly aligned before gently sliding it into the slot If you attempt to insert the card incorrectly it will not go all the way in In this case do not force the card Remove it orient it properly and then insert it After the card is locked in place close the cover by moving the arrow latch to the right until it clicks in place 3 9 Logging Data to the SD Card 3 9 1 Insert the SD Card 1 Insert the card into the SD Card slot 2 Wait for the SD LED to turn solid green lt Large memory sized cards may take a few minutes to mount During this time the LED flashes green and orange Also if you request a DIR command the receiver generates an ERROR DISK Busy response SPAN SE User Manual
265. gers Use the SPAN EVENT IN and SPAN EVENT OUT connections to attach up to three cameras to a SPAN SE and then trigger the cameras based upon GPS information You can send multiple trigger events marked with a user specified ID and a GPS time to trigger the camera At the requested trigger time the SPAN outputs a user specified TTL level pulse to the sensors and waits for a response pulse to indicate a camera exposure When this response is received the SPAN system sends out a position log with the ID of the event 3 10 1 Configuring the Hardware A camera s trigger input connected to a valid MARK OUT and the camera exposure output connected to a valid MARK IN Valid MARK IN MARKI MARK2 MARK3 and MARK4 Valid MARK OUT MARKI MARK2 and MARK3 SPAN SE User Manual Rev 7 75 Chapter 3 3SPAN SE Operation The camera can be connected to any combination of valid MARK IN and MARK OUT connections The number of valid MARKs on the SPAN system limits the number of independently controlled cameras to three 3 10 2 Configuring the Software Use the SETUPSENSOR and TAGGEDMARKxPVA commands to setup the camera sensors on the SPAN system See SETUPSENSOR on page 199 TAGGEDMARKxPVA on page 350 for details 3 10 3 Using Timed Event Pulses When sensors have been connected and configured use the TIMEDEVENTPULSE command to queue events on the system TIMEDEVENTPULSE specifies the sensors that are affected the GPS time for the event in weeks an
266. h no external inputs However because of errors in the IMU measurements that accumulate over time an inertial only solution degrades with time unless external updates such as position velocity or attitude are supplied The SPAN system s combined GNSS INS solution integrates the raw inertial measurements with all available GNSS information to provide the optimum solution possible in any situation By using the high accuracy GNSS solution the IMU errors can be modeled and mitigated Conversely the continuity and relative accuracy of the INS solution enables faster GNSS signal reacquisition and RTK solution convergence The advantages of 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 solution resolution over stand alone GNSS because of the tightly integrated GNSS and INS filters e Output high rate up to 100 or 200 Hz depending on your IMU model and other logging selections position velocity and attitude solutions for high dynamic applications e Use raw phase observation data to constrain INS solution drift even when too few satellites are available for a full GNSS solution 1 2 Models and Features All SPAN system receivers are factory configurable for L1 L2 RTK capability and are compatible with an IMU See Table 1 for firmware model det
267. he GLOEPHEMERIS log GLONASS ephemerides are referenced to the SGS 90 geodetic datum and GLONASS coordinates are reconciled internally through a position filter and output to WGS84 54 GLONASS measurements can be used for post processed positioning solutions or in user designed programs NovAtel plans to offer GLONASS only positioning in the future In the meantime OEMV based output is compatible with post processing software from the Waypoint Products Group NovAtel Inc See also www novatel com for details Message ID 723 Log Type Asynch Recommended Input log gloephemerisa onchanged Example SGLOEPHEMERISA 1 3 49 0 SATTIME 1364 413624 000 00000000 6b64 2310 43 8 1 0 1364 413114000 10786 792 0 0 87 0 9 0260864257812500e 06 6 1145468750000000e 06 2 2926090820312500e 07 1 4208841323852539e 03 2 8421249389648438 03 1 9398689270019531 02 0 00000000000000000 2 79396772384643555 06 2 79396772384643555 06 2 12404876947402954 04 1 396983862 08 3 63797880709171295 12 78810 3 15 0 12 a02cel8b GLOEPHEMERISA COM1 2 49 0 SATTIME 1364 413626 000 00000000 6b64 2310 44 11 1 0 1364 413116000 10784 792 0 0 87 13 1 2882617187500000e 06 1 9318657714843750e 07 1 6598909179687500e 07 9 5813846588134766e 02 2 0675134658813477e 03 2 4769935607910156e 03 2 79396772384643555e 06 3 72529029846191406 06 1 86264514923095703 06 6 48368149995803833 05 4 656612873e 09 3 63797880709171295e 12 78810
268. he I O 2 yellow cable see I O 2 Yellow Cable on page 99 The event input line must be configured for wheel sensor input and the size of the wheel and the number of ticks per revolution must be set using the SETWHEELPARAMETERS command For example if you have your wheel sensor connected to event input 2 with a 2 m circumference wheel and 2000 pulses per revolution the configuration command would be SETWHEELPARAMETERS MARK2 POSITIVE 2000 2 0 0 001 3 5 2 Wheel Sensor Updates using the ilMU FSAS IMU The iIMU FSAS IMU also has a wheel sensor input that can be directly attached to the output of the wheel sensor You can use IMAR s iMWS or another wheel sensor that meets the I IMU FSAS requirements see http www imar navigation de for details An optical encoder style wheel sensor such as the Corrsys Datron wheel pulse transducer can also be used Information about cabling requirements for wheel sensor input to the FSAS wheel sensor interface is available in iIMU FSAS Odometer Cabling on page 120 The size of the wheel and the number of ticks per revolution must also be set using the SETWHEELPARAMETERS command For example a 2 m circumference wheel with 2000 pulses SPAN SE User Manual Rev 7 65 Chapter 3 3SPAN SE Operation per revolution would be configured using the following command SETWHEELPARAMETERS 2000 2 0 0 001 3 5 8 Wheel Sensor Updates using the WHEELVELOCITY Command I
269. he tube body over the HG1700 sensor and onto the base plate Figure 55 SPAN IMU Re Assembly 376 SPAN SE User Manual Hev 7 F3 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 F 2 Install the HG1700 Sensor Unit on page 376 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 56 Figure 56 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 56 SPAN SE User Manual Rev 7 377 4 Check that the flex cable is locked in place Important Figure 57 shows an incorrect installation of the flex cable where it is bowed in the middle It will not operate properly in this position Figure 58 shows the proper installation of the flex cable Notice how the flex cable sits flush against the IMU surface Figure 57 Incorrect Bowed Flex Cable Installation
270. here are several frames of reference involved when dealing with a gimballed mount The frames are all very similar but can be quite confusing due to small differences Below are all frames applicable to the implementation of the variable lever arm Frame Description Notation SPAN body frame The physical IMU axes b SPAN computational Standard SPAN computational frame where Z is b frame up Y is forward and X is right Vehicle frame SPAN computational frame may be rotated to v match the vehicle frame using the VEHICLEBODYROTATION command Mount body frame The physical axes of the gimballed mount mb Gimbal body frame The physical axes of the gimbal plane that gb matches the mount body frame when gimbal angles are zero Mount computation Mapping 5 applied to the mount body frame mc frame Gimbal computation Mapping 5 applied to the gimbal body frame gc frame Mount SPAN frame Mapping five and GIMBALSPANROTATION m applied to the mount frame so that the mount and SPAN frames are coincident when gimbal angles are Zero Gimbal SPAN frame Mapping 5 GIMBALSPANROTATION g applied to the gimbal frame so that the gimbal and SPAN frames are coincident SPAN SE User Manual Rev 7 Chapter 6 Variable Lever Arm The next two figures illustrate a basic scenario for the information in the table above The first figure shows a possible configuration for the mount body frame and SPAN frame The second figur
271. hicle axes or with the axes of the IMU Configuring ALIGN with SPAN SE D The SPAN SE D hardware is built into a single enclosure so there is no hardware setup required other than having two GNSS antennas connected to the GPS1 and GPS2 connectors on the SPAN SE SPAN SE D are pre configured to compute the GNSS baseline ALIGN solution No specific configuration commands need to be sent to the receiver to start the ALIGN processing When the antennas are connected properly to the GPS1 and GPS2 connectors on the SPAN SE the dual antenna ALIGN solution will start automatically on boot up As with all ALIGN capable products the baseline solution is available from the GPHDT and HEADING logs Configuring ALIGN with SPAN MPPC D ALIGN on SPAN MPPC D requires the use of an external NovAtel receiver typically an OEMV2 The external receiver must be an ALIGN capable model Connect the SPAN MPPC D to the external receiver with a null serial cable between COM on the external receiver and any SPAN COM port COM2 by default To select a different SPAN COM port use the DUALANTENNAPORTCONFIG command See DUALANTENNAPORTCONFIG on page 145 for details Once the two receivers are connected SPAN will automatically configure ALIGN communication When the antennas are properly connected to each receiver the dual antenna ALIGN solution will start automatically As with all ALIGN capable products the baseline solution is available from the GPHDT and HE
272. his command to ensure that the receiver searches for a specified L band satellite at a specified frequency with a specified baud rate The factory parameter default is ASSIGNLBAND IDLE lt 1 In addition to a NovAtel receiver with L band capability a subscription to the OmniSTAR service is required Contact NovAtel for details see page 21 2 The frequency assignment field 3 below can be made in kHz or Hz For example ASSIGNLBAND OMNISTAR 1557855 1200 A value entered in Hz is rounded to the nearest 500 Hz 3 OmniSTAR has changed channels frequencies on the AMSC Satellite that broadcasts OmniSTAR corrections for North America NovAtel receivers do not need a firmware change To change frequencies connect your receiver and issue an ASSIGNLBAND command For example the Western Beam frequency as stated on OmniSTAR s website is 1557 8550 MHz Input into the receiver assignlband omnistar 1557855 1200 Abbreviated ASCII Syntax Message ID 729 ASSIGNLBAND mode freq baud Factory Default ASSIGNLBAND IDLE Abbreviated ASCII Example 1 ASSIGNLBAND OMNISTAR 1557855 1200 136 SPAN SE User Manual Rev 7 Table 22 L band Mode Binary ASCII Description 0 Reserved 1 OMNISTAR When you select OmniSTAR enter a dedicated frequency and baud rate 2 IDLE When you select IDLE the receiver is configured to stop tracking any L band satellites The freq and baud fields are optional so that you may select IDLE without specifying
273. his log contains the raw ephemeris frame data as received from the GLONASS satellite 792 Asynch Message ID Log Type Recommended Input log glorawephema onchanged Example GLORAWEPHEMA 1 3 47 0 SATTIME 1340 398653 000 00000000 332d 2020 38 9 0 1340 398653 080 4 0148488460 115 78 0 0218 0033667 8 2 5 0 038000b9031e14439c75ee 0 0404 22660000000000065 0 17 3dd17 GLORAWEPHEMA COM1 0 47 0 SATTIME 1340 398653 000 00000000 332d 2020 41 13 0 1340 398653 078 4 0108d812532805bfalcd2c 0 0208e0a36e8e0952b111da 0 03c02023b68c9a32410958 0 0401 fda44000000000002a 0 0b6237405 Binary Binary Field type Format Data Description Bytes Offset 1 GLORAWEPHEM Log header H 0 header 2 sloto Slot information offset PRN identification Ushort 2 Slot 37 Ephemeris relates to this slot and is also called SLOTO in CDU 3 freqo Frequency channel offset in the range 0 20 Ushort 2 H 2 4 sigchan Signal channel number Ulong 4 H 4 5 week GPS Week in weeks Ulong 4 8 6 time GPS Time in milliseconds binary data or Ulong 4 12 seconds ASCII data 7 recs Number of records to follow Ulong 4 H 16 8 string GLONASS data string Uchar variable H 20 string size 1 9 Reserved Uchar 1 variable 10 Next record offset H 20 recs x string size 1 variable 32 bit CRC ASCII and Binary only He
274. i D 3 9 EXTHDGOFFSET Log the Angular Offset 0 3 10 GIMBALLEDPVA Display gimballed position 254 0 3 11 GLOCLOCK GLONASS Clock Information esee 255 SPAN SE User Manual Hev 7 0 3 12 GLOEPHEMERIS GLONASS Ephemeris Data 257 0 3 13 GLORAWEPHEM Raw GLONASS Ephemeris Data 261 0 3 14 GPALM Almanac enne 262 0 3 15 GPGGA GPS Fix Data and 264 0 3 16 GPGLL Geographic 266 0 3 17 GPGRS GPS Range Residuals for Each Satellite 268 0 3 18 GPGSA GPS DOP and Active 270 0 3 19 GPGST Pseudorange Measurement Noise 272 0 3 20 GPGSV GPS Satellites in View sen 274 0 3 21 GPHDT NMEA Heading Log eene eee 276 0 3 22 GPVTG Track Made Good And Ground Speed 277 0 3 23 GPZDA UTC Time and nennen 278 0 3 24 HEADING Heading 279 0 3 25 ICOMSTATUS Show communication port 281 0 3 26 IMUTOANTOFFSETS IMU to Antenna s Lever
275. id ports are COM1 COM2 COM3 and COM4 Enum Enum H 4 control Unused on the SPAN SE Enum H 8 mode RS232 0 RS 232 mode RS422 1 RS 422 mode N A 2 Used only for ICOM1 and USBI information Enum H 12 SPAN SE User Manual Rev 7 143 B 4 7 COMVOUT Turn power to the ports on or off 144 This command allows you turn power to the COM ports on or off all on or all off Power is supplied at the input voltage out through Pin 4 of COMI COM2 and COMA WARNING Power is turned on through Pin 4 of COMI COM2 and and through Pin A 4 of the OEMV3 COMI Ensure the connections are correct before issuing this command to prevent damage to the electronics Abbreviated ASCII Syntax Message ID 779 COMVOUT switch Factory Default COMVOUT OFF Abbreviated ASCII Example COMVOUT ON 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 Field Description binary 2 switch 0 OFF The state of the output power Enum 4 H 1 ON lines SPAN SE User Manual Rev 7 B 4 8 DUALANTENNAPORTCONFIG SPAN MPPC Dual Antenna Port Setup Use this command to select the SPAN MPPC COM port that is used to communicate with an external ALIGN capable receiver Altho
276. igurations selection box to add a new configuration To delete a configuration select it from the list and click on button To duplicate an existing configuration click on button You can select any name in the list and edit it to change it Preferences Configurations Device Type FlexPak Type Serial 5 Select Serial or Network from the Type list and select the PC laptop port that the receiver is connected to from the Port list If selecting a network connection you should have configured an IP address into the receiver prior to connecting see SPAN SE Ethernet Connection on page 78 Device Type Type Serial Serial Settings Port COM1 Passive Baud Rate 115200 Hardware Handshaking 48 SPAN SE User Manual Rev 7 3SPAN SE Operation Chapter 3 6 Select your desired baud rate from the Baud Rate list If you are logging high rate data we recommend using the highest baud rate that your hardware is able to support 7 Uncheck the Use hardware handshaking checkbox 8 Select OK to save the new device settings 9 Select the new configuration from the Available device configs area of the Open dialog 10 Select the Open button to open receiver communications Available device configs SPAN_SE COM1 115200 bps 11 As CDU establishes the communication session with the receiver a progress box is displayed 12 Select Tools Logging Control Window from the CDU main men
277. ilable to the user through the MAC log 3 12 1 Configuring for TCP or UDP Operation Each SPAN SE Ethernet port can be configured for either TCP or UDP The default configuration of the Ethernet ports is for TCP operation To configure the Ethernet ports see the ICOMCONFIG command on page 155 3 12 2 Configuring the Ethernet Connection Settings Use the IPCONFIG command see page 157 to set the static IP Address the subnet mask and the 78 SPAN SE User Manual Rev 7 3SPAN SE Operation Chapter 3 gateway An example of the IPCONFIG command is IPCONFIG 10 1 100 25 255 255 255 0 10 1 100 1 3 12 3 Configuring Log Requests Destined for the Ethernet Port The COM port identifier for the Ethernet port is ICOMI in ASCII or 23 in binary A sample log request for the Ethernet port is 3 12 4 Connecting to the Ethernet Port LOG 1 RANGECMPB ONTIMI If the port is configured in TCP mode only one connection to the receiver is allowed at a time Data automatically streams to the IP address that connects to the port Because UDP is a connectionless protocol multiple end points could communicate with the port at one time from multiple IP addresses Data streams to the last IP Address to communicate with the receiver For details on the FTP functionality of the Ethernet port see the FTP DOS command on page 132 To connect the SPAN SE directly to the computer s Ethernet port not through a network follow these steps
278. ine of your SPAN SE Visit www novatel com through Support Firmware Software and Manuals to download any NovAtel product manual 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 website at www novatel com for details SPAN SE User Manual Rev 7 Foreword What s new in this version of the User Guide This version of the SPAN SE user manual provides users with additional information about the following e SPAN SE and SPAN MPPC e New IMUs HG1900 HG1930 MicroIRS e SPAN API e Support for variable lever arms e Cards be loaded using Ethernet and removable media SOFTLOADFILE e Timed event triggers e Maximum output event signal increased to 20 MHz Ethernet protocol is updated to match the OEM6 format e SPAN MPPC only already supported by SPAN SE e Dual Antenna support e Litef LCI 1 and IMU CPT IMUs lt the Ethernet protocol has been updated to match the OEM6 format since the last release of SPAN SE and SPAN MPPC firmware The ETHI virtual COM channel on port 3000 has been replaced by ICOMI ICOM2 ICOM3 and ICOMA on ports 3000 3001 3002 and 3003 respectively This may affect previous installations that used Ethernet functionality because it is not backwards compatible Additionally the IFCONFIG message has been replaced by IPCONFIG IPSTATUS and ICOMSTATU
279. information to install the HG1700 sensor into the SPAN HG Enclosure NovAtel part number 01017898 The steps required for this procedure are e Disassemble the SPAN HG Enclosure Install the HG1700 Sensor Unit 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 52 Required Parts Reference Description 1 SPAN IMU Enclosure 2 HG1700 Flex Cable 3 HG1700 Sensor Unit SPAN SE User Manual Rev 7 373 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 53 Figure 53 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 54 on page 375 Lift the tube body away from its base plate and set it aside A e N Remove the 3 ring spacer screws and set them aside 374 SPAN SE User Manual Rev 7 Figure 54 Lift Top Cover Tube Body and 3 Ring Spacer Screws SPAN SE User Manual Rev 7 375 F 2 Install the HG1700 Sensor Unit To re assemble the SPAN IMU with the HG1700 sensor see Figure 55 and follow these steps 1 Mount the HG1700 sensor with the attached 8 screws Apply threadlock to the screw threads Use a hex key to torque each screw to 10 in Ibs 2 Fitt
280. 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 Zpoints 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 e This command is not save configurable see SAVECONFIG command on page 180 and if needed must be entered at startup D4 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 184 unless you have your IMU mounted with the Z axis not pointing up Then use the tables in the SETIMUORIENTATION command on pages 187 186 to
281. instantaneous if you log at a rate less than full data rate of the IMU you will receive the corrected IMU data at the epoch closest to the requested time interval If your IMU is mounted with the z axis as marked on the enclosure pointed up the SPAN 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 45 and the SETIMUORIENTATION command on page 184 If the APPLYVEHICLEBODYROTATION command has been enabled see page 135 the values in CORRIMUDATA S logs will be in the vehicle frame not the SPAN computation frame Message ID 812 and 813 Log Type Synch Recommended Input log corrimudatasb ontime 0 01 Example log SCORRIMUDATASA 1581 341553 000 1581 341552 997500000 0 000000690 0 000001549 0 000001654 0 000061579 0 000012645 0 000029988 770c6232 SPAN SE User Manual Rev 7 249 Binary Binary Field Field Type Description Format Bytes Offset 1 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 7 LateralAcc INS Lateral Acceleration DOUBLE 8 H 36 along X axis 8 LongitudinalAcc INS Longit
282. ion angle pitch x3 xy xz angle roll yx yz variance about Z rotation angle azimuth or yaw and are displayed within the log output as sn XZ YX YY YZ ZX ZY EE ue These values are computed once per second and are only available after alignment See also Section 3 4 1 Configuration for Alignment starting on page 56 and Section 3 1 Definition of Reference Frames within SPAN on page 45 Structure Message ID 264 Log Type Asynch Binary Binary Field Field Type Data Description Format Bytes Offset 1 Log Header Log header H 0 2 Week GPS Week Ulong 4 H 3 Seconds into Week Seconds from week start Double 8 H 4 4 Position Covariance Position covariance matrix in local List of 9 72 H 12 level frame meters squared Doubles 5 Attitude Covariance Attitude covariance matrix in local List of 9 72 H 84 level frame degrees squared Doubles rotation around the given axis 6 Velocity Covariance Velocity covariance matrix in local List of 9 72 H 156 level frame meters per second Doubles squared 7 XXXX 32 bit CRC ASCII Binary and Short Hex 4 H 228 Binary only 8 CR LF Sentence terminator ASCII only SPAN SE User Manual Rev 7 287 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 0 013
283. ion 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 computation frame When the IMU enclosure Z is pointing up the mapping see SETIMUORIENTATION command is 5 You can force the SPAN computation frame to be the same as the IMU enclosure frame by sending the following command SETIMUORIENTATION 5 The origin of this frame is not the enclosure center but the Center of Navigation sensor center You can determine the Center of Navigation of the enclosure using the enclosure markings In the example of the Litef LCI 1 IMU shown in Figure 9 in the Universal IMU Enclosure the Center of Navigation is indicated by the L1 icon The HG1700 and LN200 IMUs may be housed in their own enclosures See Appendix A 2 3 LN 200 IMU Single Connector Enclosure starting on page 111 and Appendix A 2 2 HG1700 IMU Single Connector Enclosure starting on page 108 for the LN200 and HG1700 enclosure markings respectively ure IMU Type LCI 1 HGI700 LN200 Figure 9 Enclosure Frame 3 1 4 Vehicle Frame The definition of the vehicle frame is as follows z axis points up through the roof of the vehicle perpendicular to the ground y axis points out the front of the vehicle in the direction of travel x axis completes the right handed system out the right han
284. ions To verify that a user application has been loaded use the APPLICATIONSTATUS log The log s output contains relevant information about user applications in the three available slots Below is an abbreviated ASCII example COM3 log applicationstatus lt OK COM3 APPLICATIONSTATUS COM3 0 99 0 UNKNOWN 0 0 000 404c0040 0000 326 3 9 FALSE 00000000 00000000 UserAppl 1 000A3 2010 Dec 20 11 26 51 9 FALSE 00000000 00000000 UserApp2 1 000A1 2010 Dec 24 09 09 09 9 FALSE 00000000 00000000 UserApp2 1 000A1 2010 Dec 24 09 09 09 In the example above UserAppl appears 61011 and UserApp2 appears in slots 2 and 3 5 3 Starting Stopping and Removing a User Application 5 8 1 Starting a User Application To start a user application use the APPLICATION command An abbreviated ASCII example of starting the application loaded in the second slot is application userapp2 start The application named userapp2 opens If queried the APPLICATIONSTATUS log will reflect the fact that userapp2 is running For example COM3 application userapp2 start OK COM3 log applicationstatus COM3 lt APPLICATIONSTATUS COM3 0 99 0 FINESTEERING 1615 239395 238 40000040 0000 326 lt 3 lt 9 FALSE 00000000 00000000 NovAppl 1 000A3 2010 Dec 20 11 26 51 9 TRUE 00000000 00000000 NovApp2 1 000A1 2010 Dec 24 09 09 09 9 FALSE 00000000 00000000 NovApp2 1 000A1 2010 Dec 24 09 09 09 COM3
285. ions ANT A72GA TW N For high accuracy applications GPS 702 For L band applications GPS 702L For high performance base station applications ANT C2GA TW N Optional RF Antenna Cable 5 meters GPS C006 15 meters 5 016 SPAN SE User Manual Rev 7 419 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 Part MIL Part 10 pin LEMO plug connector on the FGG 1K 310 CLAC60Z HG1700 interface cables Amphenol or MIL equivalent 22 pin TV 06 RW 13 35 S A MIL DTL 38999 connector on the universal IMU interface cable MIL equivalent 13 pin connector on the LN D38999 26B35SF 200 interface cable MIL equivalent 3 pin connector on the LN D38999 26A98SN 200 power cable MIL 22 pin connector on the iIMU FSAS D38999 26WC35SA interface cable ODU USA 30 pin connector on the SPAN S23KAC T30MFGO SE IMU cables 01CP ROHS ODU 4 pin connector on the SPAN SE 520K0C PO4MFGO power cable 50EP ROHS 420 SPAN SE User Manual Hev 7 191915112 D a Frequently Asked Questions 1 Idon thear any sound from my IMU Why a The LN 200 iIMU FSAS IMU CPT HG1900 HG1930 and Litef IMU do not make noise Check that the IMU interface cable is connected to the IMU DB9 on the yellow SPAN SE cable port on the SPAN SE b When powered
286. itef LCI 1 iIMU FSAS 10 to 34 V DC IMU CPT 9 to 18 V DC For pin out information on the power connector on the SPAN SE see Section A 1 1 1 Power Adapter Cable NovAtel part number 01018135S on page 96 Details on each IMU s power ports and cables are in the IMU appendices starting on page 101 2 2 5 Power Button The power button on the front of the SPAN SE see Figure 6 is managed by software When the system receives sufficient power it powers itself on without the need to press the power button However the power button is connected directly to the onboard power supply to re enable the system when it has been automatically shut down and to manually power down the system The state of the button depends on the amount of time the power button is depressed Table 4 Power Button States Seconds Button is Held Button Action 3 10 seconds SPAN SE is powered off 10 seconds Factory reset see the FRESET command on page 150 Figure 6 SPAN SW Power Button When installing the SPAN SE in a vehicle we recommend that you put a back up battery between the receiver and its voltage supply to act as a power buffer 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 reset 42 SPAN SE User Manual Rev 7 SPAN SE Installation Chapter 2 2 2 5 1 Power Button Behavior After you press the power button the front panel LED
287. itionally 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 34 on page 121 Figure 34 Corrsys Datron WPT The WPT mounts to the wheel lug nuts via adjustable mounting collets The torsion protection rod which maintains rotation around the wheel axis affixes to the vehicle body with suction cups Refer to the Corrsys Datron WPT user manual for mounting instructions The iMAR iMWS V2 sensor is on the inside of the wheel so that all you can see in the vehicle is the grey signal converter box Figure 35 iMAR iMWS Pre Installed iMAR provides a sensor that operates with a magnetic strip glued inside the rim of a non drive wheel and a special detector iRS mounted on the inside of the wheel the disk of the wheel suspension brake cover or brake caliper holder Details are shown in the installation hints delivered with the system The NovAtel IMU interface cable with ODO is the same as that in Section 2 4 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 See also Section 3 5 on page 64 The cable modification is shown in Table 18 below gt lt Connect the female DB9 connector to the male ODO end of the Universal IMU interface cable SPAN SE User Manual Rev 7 121
288. itude in the vehicle frame see page 135 for information on the APPLY VEHICLEBODYROTATION command 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 4 4 Roll Right handed rotation from local level Double 8 H 12 around Y axis in degrees 5 Pitch Right handed rotation from local level Double 8 H 20 around X axis in degrees 6 Azimuth Left handed rotation around Z axis Double 8 H 28 Degrees clockwise from North 7 Status INS status see Table 5 on page 55 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 1 Axis of the SPAN computation frame If the APPLY VEHICLEBODYROTATION command has been invoked it will be the axis of the vehicle frame See Section 3 1 Definition of Reference Frames within SPAN on page 45 for frame definitions Recommended Input log insatta ontime 1 ASCII Example INSATTA 1 0 94 5 FINESTEERING 1635 489927 000 00000000 0000 406 1635 4899 26 997500000 0 000837120 0 000951510 19 997813587 INS_SOLUTION_GOOD ef487d49 SPAN SE User Manual Rev 7 285 0 3 28 INSATTS Short INS Attitude 286 This is a short header version of the INSATT log on page 285 Structure Message ID 319
289. ity dictates that the active portion of the signal is in a high state 3 3 V Active Period Width The active period starts at the GPS time synchronized edge rising for 76 SPAN SE User Manual Rev 7 3SPAN SE Operation Chapter 3 negative polarity and falling for positive polarity The time length of this period is specified in nanoseconds ns Not Active Period Width The not active period immediately follows the active period The width of this period is specified in ns Rules Governing Period Widths The minimum period is 25 ns The maximum period is 999 999 975 ns Periods must be entered as a multiple of 25 ns that is 1000 1025 1050 1075 and so on The sum of the active and not active periods must be a factor of 1 s That is active not active 1 000 000 000 where 1 2 3 500 000 1 GPS Time PPS 3 3V ov 1Hz negative polarity 3 3V 4 p ov 1Hz positive polarity Active Non Active Period Active Period Width Period Width Width Figure 14 Event Out 3 11 2 Configuring an Input Strobe SPAN SE has four available input strobes The input strobes apply an accurate GPS time to the rising or falling edge of an input pulse called an event For each event an accurate position velocity or attitude solution is also available Each input strobe is usually associated with a separate device therefore different solution output l
290. k GPGGA period SPAN SE User Manual Hev 7 Field Field ASCII Binary Description Binary Binary Binary Type Value Value Format Bytes Offset 1 header This field contains the command name or H 0 the message header depending on whether the command is abbreviated ASCII ASCII or binary 2 card CARDI 1 Select a receiver card CARDI is Enum 4 H CARD2 2 OEMV3 default and CARD2 is OEMV2 3 port COMI Enter COMI only for the COMI porton Enum 4 H 4 the GNSS receiver not a SPAN SE port default COM1 4 rx_inter See Table 29 on Receiver interface mode Enum H 8 tx_inter page 154 Transmit interface mode Enum H 12 6 response OFF 0 Response mode Enum H 16 ON 1 default ON 7 bps Bits per second or baud rate Ulong H 20 8 parity N 0 No parity default Enum H 24 E 1 Even parity O 2 Odd parity 9 data bits 7 8 Number of data bits 7 8 default Ulong H 28 10 stop bits 1 or 2 Number of stop bits 1 default or 2 Ulong H 32 11 handshaking N 0 No handshaking default Enum 4 H 36 XON 1 XON XOFF software handshaking CTS 2 CTS RTS hardware handshaking 12 echo OFF 0 No echo default Enum 4 H 40 ON 1 Transmit any input characters as they are received 13 break OFF Disable break detection Enum 4 H 44 ON 1 Enable break detection default 14 GPGGA 0 to disable output Logging period for GPGGA output Float 4 H 48 output default period Valid v
291. k behavior At this time the receiver time will adjusts again this time to an accuracy of 1 microsecond This state is qualified by the FINE time status flag If for some reason position is lost and the range bias cannot be calculated the time status degrades to FREEWHEELING SPAN SE User Manual Hev 7 D 1 6 Message Time Stamps NovAtel format messages generated by the OEMV family receivers have a GPS time stamp in their header GPS time is referenced to UTC with zero point defined as midnight on the night of January 5 1980 The time stamp consists of the number of weeks since that zero point and the number of seconds since the last week number change 0 to 604 799 GPS time differs from UTC time since leap seconds are occasionally inserted into UTC but GPS time is continuous In addition a small error less than 1 microsecond can exist in synchronization between UTC and GPS time The TIME log reports both GPS and UTC time and the offset between the two The data in synchronous logs for example RANGE BESTPOS TIME are based on a periodic measurement of satellite pseudoranges The time stamp on these logs is the receiver estimate of GPS time at the time of the measurement When setting time in external equipment a small synchronous log with a high baud rate will be accurate to a fraction of a second A synchronous log with trigger ONTIME 1 can be used in conjunction with the 1PPS signal to provide relative accuracy better than 250 ns
292. l Example 1 GPHDT Log header GPHDT 2 heading Heading in degrees X X 75 5554 3 True Degrees True T T 4 XX Checksum hh 36 5 CR LF Sentence terminator CR LF 276 SPAN SE User Manual Hev 7 D 3 22 GPVTG Track Made Good And Ground Speed The GPVTG log outputs these messages without waiting for a valid almanac Instead it uses a UTC time calculated with default parameters In this case UTC status is set to WARNING since it may not be 100 accurate When a valid almanac is available the receiver uses the real parameters Then the UTC time is set to VALID GPVTG like BESTPOS contains the best available position from either GNSS only or GNSS INS Message ID 226 Log Type Synch Recommended Input log gpvtg ontime 1 Example 1 GPS only GPVTG 172 516 T 155 295 M 0 049 N 0 090 K D 2B Example 2 Combined GPS and INS SINVTG 190 919 T 190 919 M 0 856 N 1 585 K A 31 lt If the NMEATALKER command see page 169 is set to AUTO the talker the first 2 characters after the sign in the log header is set to GP GPS satellites only or IN GNSS INS solution Field Structure Field Description Symbol Example 1 GPVTG Log header GPVTG 2 track true Track made good degrees True 24 168 3 T True track indicator T T 4 track mag Track made good degrees Magnetic X X 24 168 5 M Magnetic track indicator M M 6 speed Kn Speed over ground knots X X 0 4220347
293. l Rev 7 resolution 175 revision manual 432 RMDIR command 131 roll 185 189 245 285 root mean square RMS 273 rotation 135 179 RTCA 154 DGPS type 172 RTCM 154 DGPS type 172 RTCMV3 154 DGPS type 172 RTK filter 175 RTKCOMMAND command 175 RTKDYNAMICS command 176 RTKSOURCE command 177 RVB see vehicle to body rotation RVBCALIBRATE command 179 RXCONFIG log 340 RXSTATUS log 342 RXSTATUSEVENT log 348 S S model 359 satellite active 270 in view 274 number of 328 range 268 raw 329 tracking 323 SAVECONFIG command 180 SBAS control 181 differential 171 system type 181 SBASCONTROL command 181 scale factor 327 scope 28 secure digital SD Card 71 self test 163 serial port 154 247 322 set up hardware 35 SETAUTOLOGGING command 183 SETIMUORIENTATION command 184 185 SETIMUTOANTOFFSET command 189 SETIMUTOANTOFFSET2 command 190 SPAN SE User Manual Rev 7 Index SETIMUTYPE command 191 SETINITATTITUDE command 193 SETINITAZIMUTH command 195 SETINSOFFSET command 197 SETMARKxOFFSET command 198 SETUPSENSOR command 199 SETWHEELPARAMETERS command 201 short binary header 220 229 signal timing 142 SOFTPOWER command 203 204 SPAN frame 185 SPAN HG enclosure HG1700 IMU installation 373 SPAN IMU enclosure LN 200 IMU 390 SPANAUTH command 205 SPANMODEL command 207 SPAN MPPC 403 connector pin outs 407 firmware version 2 mechanical drawing 404 SPAN SE D 81 configuring ALIGN 82 SPANVALIDMODELS log 352 speed 2
294. l plane about mount body frame Z axis in degrees Double 8 H 16 4 XUncert 0 180 Uncertainty of X rotation in degrees Default is 0 Double 8 H 24 5 YUncert 0 180 Uncertainty of Y rotation in degrees Default is 0 Double 8 H 32 6 ZUncert 0 180 Uncertainty of Z rotation in degrees Default is 0 Double 8 H 40 Abbreviated ASCII Examples INPUTGIMBALANGLE 0 003 0 1234 12 837 INPUTGIMBALANGLE 0 003 0 1234 12 837 0 001 0 001 0 005 156 SPAN SE User Manual Hev 7 B 4 18 IPCONFIG Set IP information Use this command to configure Internet Protocol IP information See also Section 3 12 SPAN SE Ethernet Connection on page 78 Abbreviated ASCII Syntax Message ID 1243 IPCONFIG Interface Mode Mask Gateway Field ASCII Binary oii Binary Binary Binary Field Type Value Description Format Bytes Offset 1 header This field contains the H 0 command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary 2 Interface Physical interface SPAN Ulong 4 H SE can currently only use ETHA 3 Mode DHCP 1 Automatic IP address Ulong 4 H 4 assignment Static 2 Manual IP address assignment 4 IP IP Address Enum 4 H 8 5 Mask Subnet mask Enum 4 H 12 6 Gateway IP gateway Enum 4 H 16 Abbreviated ASCII Example IPCONFIG ETHA STATIC 10 1 100 25 255 255 255 0 10 1 100 1 SPAN SE
295. ld shows the heading from the dual antenna ALIGN solution as specified by the HEADING log The Position Type field shows the GPS only position type from the BESTGPSPOS log The NS Configura tion 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 11637350 Longitude 114 03824467 Hot MSL 1064 578m Velocity 0 0057 0 018 North 0 0005 0 010 East 0 0004 0 011 Up 0 0056m s 0 011 X Offset 0 000m Y Offset 0 000m Z Offset 0 000m On 2 Wheel Sens WHEEL_SENSOR_INACTIVE ALIGN Head 0 00 Pos Type Single Roll Pitch Azimuth IMU_LN200 on IMU 0 5005 0 2683 207 01 INS_SOLUTION_GOOD Ready to use 0 02 0 02 21 00 Thu 21 10 2010 16 48 49 Local SPAN SE User Manual Rev 7 3SPAN SE Operation Chapter 3 3 3 Software Configuration 3 39 1 GNSS Configuration The GNSS configuration can be set up for different accuracy levels such as single point SBAS DGPS and RTK RTCA RTCM RTCM V3 and CMR SPAN SE receivers can also be set up for OmniS TAR HP or OmniSTAR VBS With no additional configuration the system operates in single point mode After the base and SPAN rover are set up you can configure them as shown in the configuration examples below which show how to configure your base and rover for GNSS GLONASS RT
296. ld type Data Description Format Bytes Offset 19 velz Z coordinate for satellite velocity at reference time Double 8 H 68 PZ 90 02 in meters per second 20 LS acc x X coordinate for lunisolar acceleration at reference Double 8 H 76 time PZ 90 02 in meters per second per second 21 LS acc y Y coordinate for lunisolar acceleration at reference Double 8 H 84 time PZ 90 02 in meters per second per second 22 LS acc z Z coordinate for lunisolar acceleration at reference Double 8 H 92 time PZ 90 02 in meters per second per second 23 tau_n Correction to the nth satellite time t_n relative to Double 8 H 100 GLONASS time t_c in seconds 24 delta_tau_n Time difference between navigation RF signal Double 8 H 108 transmitted in L2 sub band and navigation RF signal transmitted in L1 sub band by nth satellite in seconds 25 gamma Frequency correction in seconds per second Double 8 H 116 26 Tk Time of frame start since start of GLONASS day in Ulong 4 H 124 seconds 27 P Technological parameter Ulong 4 H 128 28 Ft User range Ulong 4 H 132 29 age Age of data in days Ulong 4 H 136 30 Flags Information flags see Table 49 GLONASS Ephemeris Ulong 4 H 140 Flags Coding on page 258 31 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 144 32 CR LF Sentence terminator ASCII only 260 SPAN SE User Manual Rev 7 0 3 13 GLORAWEPHEM Raw GLONASS Ephemeris Data Field T
297. liability is measured in percent When a receiver measure height to one meter this is an accuracy Usually this is a one sigma value one SD A one sigma value for height has a reliability of 68 that is the error is less than one meter 68 of the time For a more realistic accuracy double the one sigma value 1 m and the result is 95 reliability error is less than 2 m 95 of the time Generally GPS heights are 1 5 times poorer than horizontal positions As examples of statistics the GPSGST message and NovAtel performance specifications use root mean square RMS Specifications may be quoted in CEP RMS Root mean square a probability level of 68 CEP Circular error probable the radius of a circle such that 50 of a set of events occur inside the boundary Message ID 222 Log Type Synch Recommended Input log gpgst ontime 1 Example 1 GPS only GPGST 141451 00 1 18 0 00 0 00 0 0000 0 00 0 00 0 00 6B 272 SPAN SE User Manual Hev 7 Field Structure Field Description Symbol Example 1 GPGST Log header GPGST 2 utc UTC time of position hours minutes seconds decimal hhmmss ss 173653 00 seconds 3 rms RMS value of the standard deviation of the range inputs x x 2 73 to the navigation process Range inputs include pseudoranges and DGPS corrections 4 smjr std Standard deviation of semi major axis of error ellipse x x 2 55 m 5 smnr std Standard deviation of semi minor axis of err
298. llite information may require the transmission of multiple messages The first field specifies the total number of messages minimum value 1 The second field identifies the order of this message message number minimum value 1 2 A variable number of PRN Elevation Azimuth SNR sets are allowed up to a maximum of four sets per message Null fields are not required for unused sets when less than four sets are transmitted Message ID 223 Log Type Synch Recommended Input log gpgsv ontime 1 Example Including GPS and GLONASS sentences GPGSV 3 1 11 18 87 050 48 22 56 250 49 21 55 122 49 03 40 284 47 18 SGPGSV 3 2 11 19 25 314 42 26 24 044 42 24 16 118 43 29 15 039 42 7E SGPGSV 3 3 11 09 15 107 44 14 11 196 41 07 03 173 4D 274 SPAN SE User Manual Hev 7 Field Structure Field Description Symbol Example 1 GPGSV Log header GPGSV 2 msgs Total number of messages 1 9 3 3 msg Message number 1 9 x 1 4 sats Total number of satellites in view May be different XX 09 than the number of satellites in use see also the GPSGSA log on page 270 5 prn Satellite PRN number XX 03 GPS 1 to 32 SBAS 33 to 64 add 87 for PRN s GLO 65 to 96 6 elev Elevation degrees 90 maximum XX 51 7 azimuth Azimuth degrees True 000 359 XXX 140 8 SNR SNR C No 00 99 dB null when not tracking XX 42 Next satellite PRN number elev azimuth SNR Last satellite PRN number elev azimuth S
299. lowed by second delay The sequence repeats indefinitely until the receiver is reset SPAN SE User Manual Rev 7 69 Chapter 3 3SPAN SE Operation In the example below the first flash in the sequence is red which means that a bit is set in the receiver error word The next five flashes give a binary value of 00111 Converting this value to decimal results in a value of 7 Therefore bit 7 of the receiver error word is set indicating there is a problem with the supply voltage of the receiver s power circuitry 3 4 5 6 cL Figure 12 Status LED Flash Sequence Example Ref Description Ref Description 1 Red 7 End of previous sequence 2 Yellow 8 Beginning of sequence 3 1 second pause 9 Most significant bit of binary value 4 Word identifier flash 10 Lease significant bit of binary value 5 Bit identifier flashes 11 Start of next sequence 6 End of sequence 70 SPAN SE User Manual Rev 7 3SPAN SE Operation Chapter 3 3 8 SD Card Data commands and logs can be recorded from the SPAN SE to a removable SD Card The need for a companion handheld data logger is avoided and continuous user interaction is not required since the SPAN SE is capable of logging data according to pre configured parameters without any user intervention WARNING To minimize the possibility of damage always keep the SD Card cover closed except when exchanging SD Cards Do not chan
300. m ensure that you have followed the installation and setup instructions in Chapter 2 SPAN SE Installation starting on page 35 You can use NovAtel s CDU software to monitor data in real time SPAN system output is compatible with post processing software from NovAtel s Waypoint Products Group Visit our website at www novatel com for details 3 4 Definition of Reference Frames within SPAN The reference frames that are most frequently used throughout this manual are the following The Local Level Frame The SPAN Computation Frame The Enclosure Frame The Vehicle Frame 3 1 1 Local Level Frame The definition of the local level coordinate frame is as follows z xis pointing up aligned with gravity y axis pointing north X axis pointing east North Figure 8 Local Level Frame ENU 3 1 2 SPAN Computation Frame The definition of the SPAN computation frame is as follows e z axis pointing up aligned approximately with gravity SPAN SE User Manual Rev 7 45 Chapter 3 3SPAN SE Operation y axis defined by how user has mounted the IMU x axis defined by how user has mounted the IMU To determine your SPAN x axis and y axis see Table 34 on page 188 This frame is also known as the body frame and in this manual the SPAN frame It is the default frame that attitude is output in and its origin is at the Center of Navigation 3 1 3 Enclosure Frame The definit
301. m 311 0 3 46 MAC MAC 314 D 3 47 MARK1COUNT MARK2COUNT MARK3COUNT MARK4COUNT Mark Count315 D 3 48 MARK1PVA MARK2PVA MARKSPVA MARKAPVA Position Velocity and Attitude at 316 0 3 49 MARK1TIME MARK2TIME MARK3TIME MARK4TIME Time of Mark Input Event 318 0 3 50 PASHR NMEA Inertial Attitude 320 0 3 51 PORTSTATS Statistic A nee 321 0 3 52 RANGE Satellite Range 323 D 3 53 RANGECMP Compressed Version of the RANGE 327 0 3 54 RAWEPHEM Raw 329 0 3 55 RAWIMU IMU Data semen nennen 330 0 3 56 RAWIMUS Short Raw IMU 338 0 3 57 RXCONFIG Receiver Configuration sene 340 0 3 58 RXSTATUS Receiver Status 342 0 3 59 RXSTATUSEVENT Status Event 348 0 3 60 TAGGEDMARKxPVA Output information from a MARK input 350 0 3 61 SPANVALIDMODELS Valid Model Information 352 SPAN SE User Manual Rev 7 7 D 3 62 TIME Time Data 00 000009 353 0 3 63 TIMEDWHEELDATA Timed Wheel Data 355 0 3 64 VARIABLELEVERARM Di
302. m either manually or through lever arm calibration see page 59 5 Allow the system to complete a coarse alignment see page 57 Remain stationary long enough for the coarse alignment to finish The alignment is complete when the INS status changes to INS_ALIGNMENT_COMPLETE see Table 5 on page 55 Another indication that the alignment is complete is the availability of INSCOV log on page 287 6 Enable the vehicle to body calibration using the RVBCALIBRATE ENABLE command see page 179 7 Start to move the system As with the lever arm calibration movement of the system is required for the observation of the angular offsets 8 Drive series of manoeuvres such as figure eights if the driving surface is not level or a straight course if on level ground remember that most roads have a crown resulting in a constant roll of a few degrees Avoid driving on a surface with a constant non zero slope to prevent biases in the computed angles Vehicle speed must be greater than 5 m s 18 km hr for the calibration to complete 9 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 357 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 kinematic alignment is required Each time the IMU is re
303. me 369 Install Enclosure Body on the Base 370 Screw Enclosure Base to Body eee ti 371 Final Assembly eee cedi te edt ip eoe nee dd eee 372 Required Parts deiade egregie Pos enat 373 Bolts and Hex Key ooo edid du d ede 374 Lift Top Cover Tube Body and Ring Spacer Screws 375 SPAN IMU 376 Attach Flex Cable dn RE o mete e t RA 377 Incorrect Bowed Flex Cable Installation 2 378 Correct Flat Flex Cable Installation 378 HG1700 SPAN IMU eret Ue dole 378 reU EU E dem edo eR EER TER 380 Disconnect Wiring Harness from SDLC Card se 381 IMU Bracket roii ee e ef Pago ee Gn i oce ts 381 Remove IMU Bracket SDLC 382 Install LN 200 IMU to BaSe 2 383 Install Bracket to Base 384 Making Connections 2 ter e egere ees 385 Connect Internal Cable 386 Installing the Enclosure Body to the Base ss 387 Screw
304. mentation System SBAS corrections The receiver automatically switches to Pseudorange Differential RTCM or RTCA or RTK if the appropriate corrections are received regardless of the current setting To enable the position solution corrections you must issue the SBASCONTROL ENABLE command The receiver does not attempt to track any GEO satellites until you use the SBASCONTROL command to tell it to use either WAAS EGNOS or MSAS corrections DISABLE stops the corrections from being used When in AUTO mode if the receiver is outside the defined satellite system s corrections grid it reverts to ANY mode and chooses a system based on other criteria Once tracking satellites from one system in ANY or AUTO mode it does not track satellites from other systems This is because systems such as WAAS EGNOS and MSAS do not share broadcast information and have no way of knowing each other are there The testmode parameter in the example is to get around the test mode of these systems EGNOS at one time used the IGNOREZERO test mode At the time of printing ZEROTOTWO is the correct setting for all SBAS including EGNOS running in test mode On a simulator you may want to leave this parameter off or specify NONE explicitly When you use the SBASCONTROL command to direct the GNSS receiver to use a specific correction type the GNSS receiver begins to search for and track the relevant GEO PRNs for that correction type only You can force the GNS
305. mounted this calibration should be performed again See also Sections 3 4 3 1 and 3 4 3 2 starting on page 57 for details on coarse and kinematic alignment WARNING After the RVBCALIBRATE ENABLE command is entered there are no vehicle body rotation parameters present and a kinematic alignment is NOT A possible Therefore this command should only be entered after the system has performed either a static or kinematic alignment and has a valid INS solution 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 4 1 Configuration for Alignment starting on page 56 The angular offset values are not applied to the attitude output unless the APPLYVEHICLEBODYROTATION command is enabled see page 135 3 5 SPAN Wheel Sensor Configuration The SPAN SE receiver supports various wheel sensor inputs A wheel sensor can be used to measure the distance travelled by counting the number of revolutions of a ground vehicle wheel Typical wheel sensor hardware outputs a variable frequency pulse that 64 SPAN SE User Manual Hev 7 3SPAN SE Operation Chapter 3 varies linearly with speed If the pulses are accumulated and the size of the wheel known a displacement of the wheel over time can be calculated SPAN SE takes in a wheel sensor input and applies a displacement update to the GNSS INS Kalman filter in ord
306. mple a receiver or data collector or firmware in the form of applications or data for example data blocks for height models or user applications See Table 84 VERSION Log Field Formats on page 360 for details on the format of key fields Message ID 37 Log Type Polled Recommended Input log versiona once ASCII Example VERSIONA COM1 0 97 5 F INESTEERING 1521 318658 225 00000000 0000 149 5 SPANCARD SJ DDV08490044 3 00 A SCS000200RN0000 SCB000100RB0000 Mar 3 2009 16 35 00 SPANFPGA SCFOOO1OORNOO14 GPSCARD L12GRV DAB08190083 OEMV3G 4 00 X2T 3 621 3 000 2009 Feb 18 12 31 14 GPSCARD L12GRV BZZ08190377 OEMV2G 3 01 2T 3 20053 3 000 2006 Jul 14 12 28 52 IMUCARD HG1700 100Hz 2 010 Feb 09 2007 10 39 41 53221 358 SPAN SE User Manual Rev 7 Table 81 OEMV in SPAN SE Model Designators Designator Description G 12 L1 or 12 L1 L2 GLONASS channels frequencies to match GPS configuration L 1 L band channel OmniSTAR HP XP capability Q Allows OEMV3 to talk to SPAN Receiver for OEMV FW Version 3 800 and later R Receive RT2 and or RT20 corrections Z Enable align header Designator Description Table 82 SPAN SE Model Designators C Low cost INS Alignment restricted to kinematic only D SPAN SE with dual antenna functionality
307. mplete is the availability of INSCOV log on page 287 7 Start to move the system The lever arm is not observable while the system is stationary Immedi ately 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 varia tion 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 8 Monitor the calibration log BESTLEVERARM see page 245 using the ONCHANGED trigger The lever arm is saved automatically in non volatile memory If the IMU or GNSS antenna are re mounted the calibration routine should be re run to compute an accurate lever arm 3 4 7 Vehicle to Body Rotations 60 This section provides general guidance on how to extract the vehicle s attitude with respect to the local level frame 3 4 7 1 Frame Definitions The vehicle frame is defined as x perpendicular to the direction of travel in the horizontal plane y direction of travel and z up 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 IMU axis orientation that SPAN automatically uses SPAN forces z to be up in the internal computation frame Output attitude in
308. n UTC Universal Coordinated Time If the SPAN SE receiver has no almanac UTC is unavailable The Date of Last Change field has 4 decimal digits reserved for the year followed by 2 decimal digits for the month and 2 decimal digits for the day Example Date of September 5 2001 Date of Last Change field for this date when converted to a Ulong has a value of 20010905 The following steps can be used to obtain the various parts of the Date of Last Change field Ulong Year Ulong DateOfLastChange 10000 Ulong Month Ulong DateOfLastChange Year 10000 100 Ulong Day Ulong DateOfLastChange Year 10000 Month 100 The Time of Last Change field is similar to the Date of Last Change field in that the value of the field has 2 decimal digits reserved for the hour followed by 2 decimal digits for the minutes and 2 decimal digits for the seconds Example Time of 16 01 25 Time of Last Change field when converted to a Ulong has a value of 160125 The following steps can be used to obtain the various parts of the Time of Last Change field Ulong Hour Ulong TimeOfLastChange 10000 Ulong Minutes Ulong TimeOfLastChange Hour 10000 100 SPAN SE User Manual Rev 7 251 Ulong Seconds Ulong TimeOfLastChange Hour 10000 Minutes 100 Structure Message ID 159 Log Type Polled Field Data Bytes Format Units Offset 1 Log Header 0 2 Filename 12 Char none H 3 Si
309. n building equipment installations with external antennas The following device has been approved by NovAtel Inc Polyphaser Surge Arrestor DGXZ 24NFNF A If this device is not chosen as the primary lightning protection device the device chosen must meet the following requirements l Visit www novatel com Products WEEE and RoHS for more information SPAN SE User Manual Rev 7 25 Notices e UL listed or equivalent in country of installation for example TUV VDE and so on for lightning surge protection e The primary device must be capable of limiting an incoming surge to 10kV 5 shield of the coaxial cable entering the building should be connected at a grounding plate at the building s entrance The lightning protection devices should have their chassis grounded to the same ground near to the building s entrance 6 The primary and secondary lightning protections should be as close to the building s entrance as possible Where feasible they should be mounted onto the grounding plate itself See also Figure 1 Primary and Secondary Lightning Protection on the following page x v 6 rm oa 2 4 L i L 9 5 5 Figure 1 Primary and Secondary Lightning Protection Reference Description Reference Description 1 Primary Lightning Protection Device 4 GNSS Receiver 2 Secondary Lightning Protection Device 5 To Ground 3 External Antenna 6 Grounding plate or grounding point at the building s entrance
310. nal Hz Ulong H 3 C No Carrier to noise density ratio Float H 4 C No 10 log10 S NQ dB Hz 4 locktime Number of seconds of continuous tracking no cycle Float H 8 slipping 5 Reserved Float H 12 6 tracking Tracking status of L band signal see Table 58 on Hex H 16 page 305 7 VBS status Status word for OmniSTAR VBS see Table 59 on Hex H 18 page 306 8 bytes Number of bytes fed to the standard process Ulong H 20 9 ftgood dgps Number of standard updates Ulong H 24 10 bad data Number of missing standard updates Ulong H 28 11 Reserved the hp status 1 field is obsolete and has been replaced by the Hex H 32 longer OmniSTAR HP Status field The shorter legacy status here is maintained for backward compatibility 12 hp status 2 Additional status pertaining to the HP or XP process Hex H 34 see Table 60 on page 307 13 bytes hp Number of bytes fed to the HP or XP process Ulong H 36 14 hp status Status from the HP or XP process see Table 61 on Hex H 40 page 308 15 Reserved Hex H 44 16 XXXX 32 bit CRC ASCII and Binary only Hex H 48 17 CR LF Sentence terminator ASCII only SPAN SE User Manual Rev 7 309 D 3 44 LOGFILESTATUS Displays information about system logging This log displays the current status of media logging The output file is updated to reflect each new log entry If no log file is open FileState is CLOSED FileName is NULL and Filesize is 0 Message ID 1
311. nded Input log insvela ontime 1 ASCII Example SINSVELA USB1 0 19 0 FINESTEERING 1543 236173 000 00000000 9c95 37343 1543 23 6173 002500000 14 139471871 0 070354464 0 044204369 INS SOLUTION GOOD SPAN SE User Manual Rev 7 299 D 3 40 INSVELS Short INS Velocity This is a short header version of the INSVEL log on page 299 Structure Message ID 324 Log Type Synch Binary Binary Field Field Type Data Description Format Bytes Offset 1 Log Header Log header H 0 2 Week GPS Week Ulong 4 H 3 Seconds into Week Seconds from week start Double 8 H 4 4 North Velocity Velocity North in metres per second Double 8 H 12 East Velocity Velocity East metres per second Double 8 H 20 6 Up Velocity Velocity Up metres per second Double 8 H 28 7 Status INS status see Table 5 on page 55 Enum 4 H 36 8 XXXX 32 bit CRC ASCII Binary and Short Hex 4 H 40 Binary only 9 CR LF Sentence terminator ASCII only Recommended Input log insvelsa ontime 1 ASCII Example INSVELSA USB2 0 18 5 FINESTEERING 1541 487942 000 00040000 9c95 37343 1541 4 87942 000549050 12 656120921 3 796947104 0 100024422 1 5 SOLUTION GOOD 407d82ba 300 SPAN SE User Manual Hev 7 D 3 41 IPSTATUS Displays ethernet port settings Use this log to display settings for all Ethernet ports If DHCP is used to configure IP addresses this command displays automatically obtained dynamic addres
312. ne second and report the total at the top of each second by setting the input event line to COUNT mode EVENTINCONTROL MARK1 COUNT When in COUNT mode the polarity time bias and time guard entries in the EVENTINCONTROL log are ignored The maximum signal frequency for the count mode is 50 KHz When an input strobe is configured for COUNT mode the totals are available by logging the MARKxCOUNT logs see page 315 For example the following gives the total pulses on event strobe every second LOG MARK1COUNTA ONNEW 3 12 SPAN SE Ethernet Connection The SPAN receiver has four Ethernet ports The device has a unique Media Access Control MAC address hard coded into flash and user configurable IP information There are four ports available for Ethernet Ports 3000 3001 3002 and 3003 are used to access ICOM1 ICOM2 ICOM3 and ICOMA respectively Each port can be used for both Transmission Control Protocol TCP and User Datagram Protocol UDP traffic but not simultaneously SPAN SE uses a static IP address Dynamic Host Configuration Protocol DHCP is a protocol for automating the configuration of computers that use TCP IP There is no DHCP support at this time An FTP port is available for transfer of data files from the data logging SD Card The receiver is shipped with a default configuration as follows e Default IP 192 168 0 10 e Default mask 255 255 255 0 e Default Gateway 192 168 0 1 The MAC address is ava
313. ns e form factor for easy integration into current systems 34 SPAN SE User Manual Hev 7 Chapter 2 SPAN SE Installation 2 1 This chapter contains instructions to set up your SPAN SE system SPAN SE uses NovAtel s powerful OEMV receiver technology as its GNSS engine The OEMV delivers many enabling features like GNSS GLONASS capability and AdVance RTK which are both supported in SPAN SE A dedicated CPU for real time GNSS INS processing on these cards results in fast data rates since the raw data i e RAWIMUS and INSPVAS and solution i e INSPVA have a low output latency SPAN SE Hardware Description The basic hardware setup consists of a SPAN SE receiver see Figure 1 on page 31 connected to an IMU see Figure 2 on page 31 a GNSS antenna and a power supply For real time differential operation a communication link between the base and rover s is necessary This can be a null modem cable or a radio link Figure 3 on page 37 shows a basic setup and also shows the setup with an optional second antenna For more details on the connections between the SPAN SE receiver and the see Figure 33 iIMU Interface Cable Connections with a SPAN SE on page 118 If your IMU enclosure and IMU have come separately additional installation instructions for installing the IMU can be found in Appendix E IMU Installation starting on page 341 For more information on SPAN SE cables please see Appendix A Technic
314. ntered for all SPAN systems 2 LEVER_ARM_SECONDARY Secondary lever arm entered for dual antenna SPAN systems Table 54 Lever Arm Source Value dat 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 CALIBRATING Lever arm currently calibrating via LEVERARMCALIBRATE command 3 LEVER ARM CALIBRATED Lever arm computed from calibration routine via LEVERARMCALIBRATE command 4 LEVER ARM FROM COMMAND Lever arm entered via command 5 LEVER RESET If the current IMU orientation does not match the value restored from NVM then the lever arm will be reset to zero with this status SPAN SE User Manual Hev 7 D 3 27 INSATT INS Attitude This log and the INSATTS log contains the attitude measurements corresponding to the SPAN computation frame axis See Section 3 1 Definition of Reference Frames within SPAN on page 45 for definitions of the frames used in SPAN The attitude measurements provided by SPAN 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 of the SPAN computational frame with respect to local level and not the frame marked on the enclosure See the SETIMUORIENTATION command on page 164 to determine what the SPAN computation frame will be given how your IMU is mounted To output the att
315. num 4 H 4 Captures a single asynchronous event with the input COUNT 2 Increments a counter with each input for a wheel sensor for example Period of count is from one 1PPS to the next PPS oi juj m j c 4 polarity NEGATIVE 0 Negative polarity default Enum 4 H 8 POSITIVE 1 Positive polarity 5 t_bias If Field 3 is EVENT Long 4 H 12 Time bias in nanoseconds default 0 minimum 999 999 999 maximum 999 999 999 If Field 3 is COUNT This field is not used 6 t_guard If Field 3 is EVENT Ulong 4 H 16 Time guard in milliseconds default 4 minimum 2 maximum 3 599 999 If Field 3 is COUNT This field is not used Abbreviated ASCII Example EVENTINCONTROL COUNT SPAN SE User Manual Hev 7 B 4 10 EVENTOUTCONTROL Control event out properties This command controls up to three Event Out output triggers See also Section 3 11 Synchronizing External Equipment starting on page 76 P4 EVENTOUTCONTROL MARK1 ENABLE POSITIVE 10000000 240000000 command will generate a 4 Hz signal The signal is held high for 10 ms during each cycle and the leading edge of the high signal is aligned to the 1PPS Abbreviated ASCII Syntax Message ID 613 EVENTOUTCONTROL mark switch polarity active period non active period Field ASCII Binary Binary Binary Binary nee Type Value Value Description
316. 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 Install the LN 200 Sensor Unit e 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 71 Required Parts Reference Description 1 SPAN IMU Enclosure 2 LN 200 Wiring Harness 3 LN 200 Sensor Unit 390 SPAN SE User Manual Rev 7 H 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 72 Figure 72 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 73 on page 392 SPAN SE User Manual Rev 7 391 Figure 73 Lift Top Cover and Tube Body 392 SPAN SE User Manual Rev 7 H 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 Ibs 2 Fitthe tube body over the LN 200 sensor and onto the base
317. o a previously authorized model This command is used to switch the receiver between models previously added with the SPANAUTH command see page 205 When this command is issued the receiver saves this model as the active model The active model is now used on every subsequent start up The SPANMODEL command causes an automatic reset Use the SPANVALIDMODELS log to output a list of available models for your receiver The SPANVALIDMODELS log is described on page 352 Use the VERSION log to output the active model see page 358 lt If you switch to an expired model the receiver will reset and enter into an error state You will need to switch to a valid model to continue Abbreviated ASCII Syntax Message ID 1087 SPANMODEL model Input Example spanmodel sj ASCII Binary Binary Binary Description Format Offset Value Value SPANMODEL header This field contains the command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary 2 model Max 16 character SPAN model name String Variable Variable null terminated max 16 string including the null 3 Reserved Ulong 4 Variable 1 In the binary log case additional bytes of padding are added to maintain 4 byte alignment SPAN SE User Manual Rev 7 207 B 4 50 TAGNEXTMARK Add a new camera event Use this command with the TAGGEDMARKxPVA log TAGNEXTMARK inserts a unique identifier
318. o 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 23 on page 104 A 2 2 2 PERFORMANCE IMU IMU Performance 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 Gyro Rate Bias 5 0 degrees hr Gyro Rate Scale Factor 150 ppm Angular Random Walk 0 5 degrees rt hr Accelerometer Range 50g Accelerometer Linearity 500 ppm Accelerometer Scale Factor 300 ppm Accelerometer Bias 3 0 mg A 2 2 3 Electrical and Environmental ELECTRICAL IMU Power Consumption IMU H58 9 W max IMU H62 8 W max IMU Input Voltage 12 to 28 V DC System Power Consumption 14 8 W typical Input Output Connectors MIL C 38999 III 22 pin all IMU s IMU Interface Temperature Humidity RS 232 or RS 422 Operating Storage 95 non condensing ENVIRONMENTAL IMU 30 C to 60 C 22 F to 140 F 45 C to 80 C 49 F to 176 F a For replacement connectors on the interface and power cables see Section J 3 Manufacturer s Part Numbers on page 202 110 SPAN SE User Manual Rev 7 2 3 LN 200
319. on 60 APPROXIMATE Time is set approximately 100 COARSE This time is valid to coarse precision 120 COARSESTEERING Time is coarse set and is being steered 130 FREEWHEELING Position is lost and the range bias cannot be calculated 140 FINEADJUSTING Time is adjusting to fine precision 160 FINE Time has fine precision 180 FINESTEERING Time is fine set and is being steered 200 SATTIME Time from satellite This is only used in logs containing satellite data such as ephemeris and almanac 1 See also Section D 1 6 Message Time Stamps on page 231 2 See also Section D 1 6 Message Time Stamps on page 231 There are several distinct states that the receiver goes through 4 UNKNOWN e COARSE e FREEWHEELING e FINE e FINESTEERING On start up and before any satellites are being tracked the receiver can not possibly know the current time As such the receiver time starts counting at GPS week 0 and second 0 0 The time status flag is set to UNKNOWN After the first ephemeris is decoded the receiver time is set to a resolution of 10 milliseconds This state is qualified by the COARSE or COARSESTEERING time status flag depending on the state of the CLOCKADJUST switch Once a position is known and range biases are being calculated the internal clock model begins modelling the position range biases and the receiver clock offset Modelling continues until the model is a good estimation of the actual receiver cloc
320. on 0 0x00000001 Error Flag see Table 74 SPAN No error Error Receiver Error on page 343 3 1 0x00000002 Temperature status OK Warning 2 0x00000004 Power supply OK Warning 3 0x00000008 Antenna power Powered Not powered 4 0x00000010 INS reset detected No INS Reset INS Reset 1 5 0x00000020 Antenna open OK Open 6 0x00000040 Antenna shorted OK Shorted 7 0x00000080 SPAN CPU overload No overload Overload 8 0x00000100 COMI buffer overrun No overrun Overrun N2 9 0x00000200 CON2 buffer overrun No overrun Overrun 10 0x00000400 COM3 buffer overrun No overrun Overrun 11 0x00000800 COMA buffer overrun No overrun Overrun 12 0x00001000 USB buffer overrun No overrun Overrun N3 13 0x00002000 Ethernet buffer overrun No overrun Overrun 14 0x00004000 IMU buffer overrun No overrun Overrun 15 0x00008000 RF1 AGC status OK Bad 16 0x00010000 Reserved N4 17 0x00020000 RF2 AGC status OK Bad 18 0x00040000 Almanac UTC known Valid Invalid 19 0x00080000 Position solution Valid Invalid 20 0x00100000 Position fixed Not Fixed Fixed N5 21 0x00200000 Clock steering Enabled Disabled 22 0x00400000 Clock model Valid Invalid 23 0x00800000 Reserved 24 0x01000000 Software resource OK Warning N6 25 0x02000000 OEMV 2 CPU overload No overload Warning 26 0x04000000 OEMV 3 CPU overload No overload Warning 27 0x08000000 SD logging warning buffer is OK buffer is greater than 80 full SPAN SE User Manual Rev 7 345 Nibble Bit Description Continu
321. on continues to be computed for as long as the GNSS outage lasts but the solution uncertainty increases with time This uncertainty can be monitored using the INSCOV log see page 287 7 What does it mean if my IMUCARD version string looks like this lt IMUCARD Test mode 20Hz 2 1 0 0 Sep 13 2010 09 34 20 This means that the SPAN enabled receiver has detected the SDLC card and is communicating with card but the SDLC card is not communicating with the IMU Check that the SDLC to IMU connections to ensure both power and communication lines are connected to the IMU 422 SPAN SE User Manual Hev 7 Numerics 2 D 271 3 D 271 A abbreviated ascii 129 224 accelerometers 330 accumulated doppler range ADR 323 accuracy 189 230 237 acquisition 324 ADR see accumulated doppler range AG11 AG58 17 62 192 age solution position 242 age solution 237 240 ALIGN configuring for SPAN SE D 82 alignment 56 58 158 189 ALIGNMENTMODE command 133 almanac 150 data 262 time status 230 ambiguity half cycle 323 angular offset 63 antenna 189 419 altitude 265 motion 176 API functionality 85 89 APPLICATION command 134 135 APPLICATIONSTATUS log 236 APPLY VEHICLEBODYROTATION command 134 135 ascii 129 222 abbreviated 224 ASSIGNLBAND command 136 asterisk 222 asynchronous log 221 atmospheric delay 323 attitude 158 285 293 316 authorization 205 206 SPAN SE User Manual Rev 7 automate
322. on shall be without prejudice to the accrued rights of either party including payments due to NovAtel This provision shall survive termination of this Agreement howsoever arising 6 Warranty NovAtel does not warrant the contents of the Software or that it will be error free The Software is furnished AS IS and without warranty as to the performance or results you may obtain by using the Software The entire risk as to the results and performance of the Software is assumed by you See product enclosure if any for any additional warranty 7 Indemnification NovAtel shall be under no obligation or liability of any kind in contract tort or oth erwise and whether directly or indirectly or by way of indemnity contribution or otherwise howsoever to the Licensee and the Licensee will indemnify and hold NovAtel harmless against all or any loss dam age actions costs claims demands and other liabilities or any kind whatsoever direct consequential special or otherwise arising directly or indirectly out of or by reason of the use by the Licensee of the Software whether the same shall arise in consequence of any such infringement deficiency inaccu racy error or other defect therein and whether or not involving negligence on the 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 P
323. onnected to the SPAN SE D to compute a GNSS heading solution From any of the SPAN SE D or SPAN MPPC D COM ports the ALIGN baseline solution can be logged along with the standard OEMV logs If the SPAN SE D or SPAN MPPC D is configured as a SPAN capable model the ALIGN GNSS baseline can also be used to assist the initial alignment of the SPAN solution In addition the ALIGN baseline solution will aide the heading solution from SPAN if the heading drifts due to slow or constant dynamics For GPS GLONASS SBAS models ALIGN is capable of a 10 Hz heading output rate A GPS only model is also available for dual frequency receivers Installation The hardware for the dual antenna functionality is installed in a manner similar to that for other SPAN SE D and SPAN MPPC D systems Consider the following during the installation 1 Install the IMU and the two antennas to the vehicle so that the relative distance between them is fixed 2 Theantennas should be mounted where the view of the satellites will not be obstructed by any part of the vehicle SPAN SE User Manual Rev 7 Chapter 4 Dual Antenna Functionality 4 3 4 4 4 5 82 3 If you are running SPAN with an IMU and ALIGN the lever arms or distance from the IMU s Center of Navigation to the antenna phase center needs to be accurately measured using the coordinate axes defined on the outside of the IMU IMU enclosure frame The ALIGN baseline does NOT need to be aligned with the ve
324. or RAWIMUS logs are changing over time 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 D 1 Log Types Refer to the LOG command see page 163 for details on requesting logs The receiver is capable of generating many different logs These logs are divided into the following SPAN SE User Manual Rev 7 220 three types synchronous asynchronous and polled The data for synchronous logs is generated on a regular schedule Asynchronous data is generated at irregular intervals If asynchronous logs are collected on a regular schedule they do not output the most current data The data is delayed until the scheduled output time The data in polled logs is generated on demand An example of a polled log is RXCONFIG It would not make sense to log this kind of data ONCHANGED or ONNEW The following table outlines the log types and the valid triggers to use Table 37 Log Type Triggers Type Recommended Trigger Illegal Trigger Synch ONTIME ONNEW ONCHANGED Asynch ONCHANGED Polled ONCE or ONTIME 1 ONNEW ONCHANGED 1 Polled log types do not allow fractional offsets and cannot do ontime rates faster than 1Hz See Section D 1 6 Message Time Stamps on page 231 for information on how the messag
325. or ellipse x x 1 88 m 6 orient Orientation of semi major axis of error ellipse degrees x x 15 2525 from true north 7 lat std Standard deviation of latitude error m 2 51 8 lon std Standard deviation of longitude error m 1 94 9 alt std Standard deviation of altitude error m 4 30 10 XX Checksum hh 6E 11 CR LF Sentence terminator CR LF SPAN SE User Manual Rev 7 273 D 3 20 GPGSV GPS Satellites in View This NMEA log provides the number of SVs in view PRN numbers elevation azimuth and SNR value See also Section D 2 NMEA Standard Logs on page 233 There are four satellites maximum per message When required additional satellite data sent in 2 or more messages a maximum of 9 The total number of messages being transmitted and the current message being transmitted are indicated in the first two fields The GPGSV log outputs these messages with contents without waiting for a valid almanac Instead it uses a UTC time calculated with default parameters In this case the UTC time status is set to WARNING since it may not be 100 accurate When a valid almanac is available the receiver uses the real parameters Then the UTC time is set to VALID The GPGSV log can be used to determine which satellites are currently available to the receiver Comparing the information from this log to that in the GPGSA log shows you if the receiver is tracking all available satellites lt 1 Sate
326. osure connections IMU SE FSAS EI connec tions with a SPAN SE refer to iIMU FSAS Interface Cable on page 117 For IMU CPT con nections with a SPAN SE refer to IMU CPT Cable on page 126 To Power Supply T Power for IMU only 5 Connect the antenna to the antenna port on the receiver using an appropriate coaxial cable 2 2 4 Connect Power The SPAN SE receiver requires an input supply voltage between 9 VDC and 28 VDC The power cable supplied has bare leads that can be connected to an appropriate DC power supply The receiver has an internal power module that does the following filters and regulates the supply voltage protects against over voltage over current and high temperature conditions e provides automatic reset circuit protection There is always a drop in voltage between the power source and the power port due to cable loss Improper selection of wire gauge can lead to an unacceptable voltage drop at the SPAN system A paired wire run represents a feed and return line Therefore a 2 m wire pair represents a total wire path of 4 m For a SPAN system operating from a 12 V system a power cable longer than 2 1 m 7 ft should not use a wire diameter smaller than 24 AWG Each IMU requires its own power supply see Table 3 on page 42 SPAN SE User Manual Rev 7 41 Chapter 2 SPAN SE Installation Table 3 IMU Power Supply IMU Power Requirement LN 200 HG1900 HG1930 12 to 28 V DC HG1700 and L
327. ovAtel shall not be liable to indemnify the Licensee against any loss sus tained by it as the result of any claim made or action brought by any third party for infringement of any letters patent registered design or like instrument of privilege by reason of the use or application of the Software by the Licensee or any other information supplied or to be supplied to the Licensee pursuant to the terms of this Agreement NovAtel shall not be bound to take legal proceedings against any third party in respect of any infringement of letters patent registered design or like instrument of privilege which may now or at any future time be owned by it However should NovAtel elect to take such legal proceedings at NovAtel s request Licensee shall co operate reasonably with NovAtel in all legal actions concerning this license of the Software under this Agreement taken against any third party by NovAtel to protect its rights in the Software NovAtel shall bear all reasonable costs and expenses incurred by Licensee in the course of co operating with NovAtel in such legal action 4 Restrictions You may not a copy other than as provided for in paragraph 2 distribute transfer rent lease lend sell or sublicense all or any portion of the Software except in the 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
328. page 135 Structure Field Field Type Description Format Message ID 507 Log Type Synch Binary Bytes Binary 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 Double 8 H 28 7 North Velocity Velocity in a northerly direction a Double 8 H 36 negative value implies a southerly direction 8 East Velocity Velocity in an easterly direction a Double 8 H 44 negative value implies a westerly direction 9 Up Velocity Velocity in an up direction 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 55 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 af719fd9
329. pe for the last position update See Table 44 on page 237 3 Reserved Long 4 H 4 4 Phase 0 to maximum Number of phase Long 4 H 8 GPS L1 channels observations used in the 1 last INS filter update 5 Reserved Long 4 H 12 6 ZUPT TRUE FALSE A zero velocity update was Bool 4 H 16 performed during the last INS filter update 7 Wheel Status of a wheel sensor Enum 4 H 20 Status during the last INS update See Table 56 on page 298 8 Heading Refer to Status of the heading Enum 4 H 24 Update Table 55 on update during the last INS page 298 filter update Recommended Input log insupdatea onnew ASCII Example INSUPDATEA FILE 0 0 0 F INESTEERING 1549 165116 006 00000000 4289 0 SINGLE 0 0 0 FALSE WHEEL SENSOR INACTIVE HEADING UPDATE USED 5al6ecba SPAN SE User Manual Rev 7 297 Table 55 Heading Update Enums ASCII EE CHE HEADING UPDATE INACTIVE HEADING UPDATE ACTIVE HEADING UPDATE USED HEADING UPDATE HIGH STD DEV HEADING UPDATE HIGH ROTATION HEADING UPDATE BAD MISC The HeadingUpdate enums are available on the SPAN SE D and are shown when 298 Heading updates are running but the epoch is not used as an update then it will be marked HEADING UPDATE ACTIVE When all other rejection criteria pass a heading update will still only be applied once every 5 seconds 20 seconds when stationary HEADING UPDATE HIGH ROTATION means the last 1 second recorded a
330. pecifications 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 SE User Manual Rev 7 17 18 Terms and Conditions experimental developmental preproduction sample incomplete or out of specification Products viii returned Products if the original identification marks have been removed or altered or ix Services or research activities 7 EXCLUSION OF LIABILITY If a Party would but for this paragraph 7 have concurrent claims in contract and tort including negligence such claims in tort including negligence shall to the extent permitted by law be wholly barred unenforceable and excluded NovAtel shall not be liable to the Buyer by way of indemnity or by reason of any breach of the Order or of statutory duty or by reason of tort including but not limited to negligence for any loss of profit loss of use loss of production loss of contracts or for any financing costs or for any indirect or consequential damage whatsoever that may be suffered by the Buyer In the event and to the extent that NovAtel shall have any liability to Buyer pursuant to the terms of the Order NovAtel shall be liable to Buyer only for those damages which have been foreseen or might have reasonably
331. peration User Manual SPAN SE User Manual Rev 7 403 J 1 SPAN MPPC Mechanical Drawings 0 00 1 ag 28 PIN 39 a PIN 40 gt z 8 25 E je 35 a EI 393 1 55 PIN 2 PIN 40 z 600 og 84 aa 699 2 75 PIN 2 PIN 1 52 9 1 2 08 727 gt 2 86 a 2X 1174 1 a _ ma 4 62 oN 99 xS 58 gt 48 rum TAL Ln Nb 1 ETT ERI CHAMFER 4 6 0 18 X45 4PLCS 850 335 7X 815 me T oa v 321 KTL E ad fe c 667 8 12 63 T als 5 T S tla E T 1602 E E ES M x 2 a a a ME s 79
332. ppler range ADR occur as the clock is being adjusted If the ADR measurement is being used in precise phase processing it is important not to use the ADR if the parity known flag in the ch tr status field is not set as there may exist a half 1 2 cycle ambiguity on the measurement The tracking error estimate of the pseudorange and carrier phase ADR is the thermal noise of the receiver tracking loops only It does not account for possible multipath errors or atmospheric delays If both the L1 and L2 signals are being tracked for a given PRN two entries with the same PRN appear in the range logs As shown in Table 66 Channel Tracking Status on page 325 these entries can be differentiated by bit 20 which is set if there are multiple observables for a given PRN and bits 21 22 which denotes whether the observation is for L1 or L2 This is to aid in parsing the data Message ID 43 Log Type Synch Recommended Input log rangea ontime 30 ASCII Example RANGEA COM1 0 63 5 FINESTEERING 1429 226979 000 00000000 5103 2748 26 6 0 23359924 081 0 078 122757217 106875 0 015 3538 602 43 3 19967 080 08109 04 6 0 23359926 375 0 167 95654966 812027 0 019 2757 355 36 7 19960 461 01309c0b 21 0 20200269 147 0 038 106153137 954409 0 008 86 289 49 5 13397 470 08109c44 21 0 20200268 815 0 056 82716721 366921 0 008 67 242 46 1 13391 980 01309c4b 16 0 23945650 428 0 091 125835245 287192 0 024 2385 422 41 9 10864 640 08109c6
333. quires the specific use of the UNLOG command see page 210 To remove all logs that have the hold parameter use the UNLOGALL command with the held field set to 1 see page 212 The port parameter is optional If port is not specified port is defaulted to the port that the command was received on lt 1 SPAN SE users can request up to 25 GNSS only logs that is logs generated on the internal 3 and up to 30 SPAN specific logs provided the requested data amount is less than the effective baud rate of the communication port logging the data If you attempt to log more than 30 logs at a time the receiver responds with an Insufficient Resources error 2 Maximum flexibility for logging data is provided to the user by these logs The user is cautioned however to recognize that each log requested requires additional CPU time and memory buffer space Too many logs may result in lost data Receiver overload can be monitored using the idle time field and buffer overload bits of the Receiver Status in any log header 3 Polled log types do not allow fractional offsets or ONTIME rates faster than 1Hz 4 Use the ONNEW trigger with the MARKxTIME or MARK xPVA logs see page 316 5 Only the MARKxPVA logs or logs and polled log types are generated the fly at the exact time of the mark Synchronous and asynchronous logs output the most recently available data 6 If you do use the ONTIME trigger
334. r Customer Service K 1 SPAN System IMUs see Table 1 Supported IMU Types on page 34 for details IMU H58 IMU H62 UIMU H58 UIMU H62 IMU LN200 UIMU LN200 IMU SE FSAS EI IMU LCI UIMU CPT Receivers see Table 1 Supported IMU Types on page 34 for details SPAN SE SPAN MPPC ProPak V3 to LN 200 IMU interface cable see Figure 29 on page 114 01017375 LN 200 power adapter cable see Figure 31 on page 116 01017821 ProPak V3 to iIMU FAS IMU interface cable see Table 16 on page 119 60723086 ProPak V3 to HG1700 IMU interface cable identical to LN 200 cable see Figure 29 on 01017384 page 114 SPAN SE I O 1 green multi connector cable 01018134 SPAN SE I O 2 yellow multi connector cable 01018133 SPAN SE power cable 01018135 External Cable Harness FSAS IMU 01018388 External Cable Harness Litef LCI 1 IMU Universal IMU Enclosure Interface Cable 01018299 KVH IMU CPT terminated cable 60723114 OEMV CDU and Convert4 disk refer to page 45 of this manual and to the OEMV Family 01017827 Installation and Operation User Manual SPAN MPPC Breakout Board with cables and packaging 01018504 SPAN SE User Guide OM 20000124 SPAN Technology for OEMV User manual OM 20000104 OEMV Family Installation and Operation User Manual OM 20000093 OEMV Family Firmware Reference Manual OM 20000094 K 2 Accessories and Options Part Description NovAtel Part Optional NovAtel GPS Antennas For aerodynamic applicat
335. r Manual Rev 7 379 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 60 Figure 60 Remove Base 380 SPAN SE User Manual Rev 7 2 While squeezing and holding the assembly tightly together carefully turn the assembly over and set it down as shown in Figure 61 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 61 Disconnect Wiring Harness from SDLC Card 3 Lift the enclosure lid off the assembly to expose the IMU bracket shown in Figure 62 Disconnect the harness at the SDLC card and remove Disconnect harness at SDLC card and remove Figure 62 IMU Bracket SPAN SE User Manual Rev 7 381 4 Using a3 mm hex bit unscrew 4 mm screws and remove the IMU bracket with SDLC as shown in Figure 63 Figure 63 Remove IMU Bracket SDLC 382 SPAN SE User Manual Rev 7 G2 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
336. r 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 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 s
337. ransform the vehicle frame attitude estimates from GNSS into the SPAN frame of the IMU during the kinematic alignment If you use the APPLY VEHICLEBODYROTATION command on page 135 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 The VEHICLEBODYROTATION command sets the initial estimates for the angular offset The uncertainty values are optional To estimate your VEHICLEBODYROTATION angles follow these steps 1 Imagine a frame coincident with the vehicle frame 2 Rotate your imagined frame about the vehicle Z axis so that the Y axis of your frame is approxi mately aligned coplanar with the assumed Y axis of the IMU enclosure as defined by your IMU orientation in Table 34 on page 188 This angle is the gamma angle in the command and follows the right hand rule for sign correction 3 Rotate about the vehicle X axis This angle is the alpha angle in the command Finally rotate about the vehicle Y axis This angle is the beta angle in the command Your imag ined frame should now be coincident with the assumed IMU enclosure frame lt Enter rotation angles in degrees 54 For further information refer to Section 3 4 7 Vehicle to Body Rotations on page 60 To apply the vehicle to body rotation angles to the output attitude in the INSPVA or INSATT logs the APPLY VEHICLEBODYROTATIO
338. rate When a valid almanac is available the receiver uses the real parameters Then the UTC time is set to VALID Message ID 218 Log Type Synch Recommended Input log gpgga ontime 1 Example SGPGGA 134658 00 5106 9792 N 11402 3003 W 2 09 1 0 1048 47 M 16 27 M 08 AAAA 60 264 SPAN SE User Manual Hev 7 Field Structure Field Description Symbol Example 1 GPGGA Log header GPGGA 2 utc UTC time status of position hours minutes seconds hhmmss ss 202134 00 decimal seconds 3 lat Latitude DDmm mm Ti 5106 9847 4 lat dir Latitude direction N North S South a N 5 lon Longitude DDDmm mm YYYYy Yy 11402 2986 6 lon dir Longitude direction E East W West a W 7 GPS qual GPS Quality indicator X 1 0 fix not available or invalid 1 GPS fix C A differential GPS OmniSTAR HP OmniSTAR XP orOmniSTAR VBS 4 RTK fixed ambiguity solution RT2 5 floating ambiguity solution RT20 OmniSTAR HP or OmniSTAR XP 6 Dead reckoning mode 7 Manual input mode fixed position 8 Simulator mode 9 WAAS 8 Sats Number of satellites in use May be different to the XX 10 number in view 9 hdop Horizontal dilution of precision X X 1 0 10 alt Antenna altitude above below mean sea level X X 1062 22 11 a units Units of antenna altitude M metres M M 12 undulation Undulation the relationship between the geoid and x x 16 271 the WGS84 ellipsoid 13 u units Units of undulation
339. rder B 4 1 ALIGNMENTMODE Set the alignment mode Abbreviated ASCII syntax ALIGNMENTMODE mode Field ASCII Binary RA Binary Binary Binary Fiel Description eld Type Value scripto 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 2 mode UNAIDED 0 Regular SPAN static coarseor Enum 4 H kinematic alignment mode AIDED 1 Seed the static coarse STATIC alignment with an initial azimuth AIDED_ 2 Seed the full attitude from an TRANSFER ALIGN solution Pitch and Heading taken from ALIGN Roll will be assumed 0 Depending on the model of the receiver the default value will change The default for any single antenna S model will be UNAIDED while the default for a dual antenna D model will be AIDED_TRANSFER Abbreviated ASCII Example ALIGNMENTMODE AIDED_TRANSFER SPAN SE User Manual Rev 7 133 B 4 2 APPLICATION Start and remove applications Use this command to start applications or remove applications from the system Abbreviated ASCII Syntax Message ID 413 APPLICATION AppSlot Function 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 Field Description binary
340. re accurate and reliable than either GNSS or INS alone could provide The combined GNSS INS solution has the advantage of the absolute accuracy available from GNSS and the continuity of INS through traditionally difficult GNSS conditions SPAN SE is the solution engine of NovAtel s leading edge SPAN technology It provides the user interface to SPAN and outputs raw measurement data or solution data over several communication protocols or to a removable SD card Multiple GNSS synchronous strobes and event input lines offer easy integration into a larger system Combining SPAN SE with a SPAN supported IMU creates a complete GNSS INS system Figure 2 SPAN System IMUs 31 SPAN SE User Manual Rev 7 Chapter 1 Introduction 1 1 32 The SPAN system consists of the following components e A SPAN capable receiver such as SPAN SE The SPAN SE is capable of receiving and tracking different combinations of GPS GLONASS and L band OmniSTAR signals using a maximum of 72 channels 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 receiver also supports the timing requirements of the IMU and runs the real time INS Kalman filter The SPAN SE also offers on board data logging with a Secur
341. re body and base Carefully lower the body onto the base observing the O rings and alignment of comers Press the enclosure body into place starting with the round pilot hole indicated in Figure 49 ROUND PILOT HOLE ABOVE THIS PILOT PIN REFERENCE MARKERS Figure 49 Install Enclosure Body on the Base 370 SPAN SE User Manual Rev 7 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 50 Using a 3 mm hex bit lightly fasten four equally spaced M4 screws to hold the parts together Apply thread locking fluid to each screw before inserting Install the remaining screws in similar fashion Tighten all screws then check all of them again for tightness Tighten these screws to 1 36 1 58 N m 12 14 Ib in Do not over tighten Figure 50 Screw Enclosure Base to Body SPAN SE User Manual Rev 7 371 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 51 Centre of Navigation Labels triangular Product icon for HG1700 should be here Identification Label on r Figure 51 Final Assembly 372 SPAN SE User Manual Rev 7 HG1700 IMU in SPAN HG Enclosure The following procedure detailed in this appendix provides the necessary
342. request Ulong 4 H 3 Seconds Seconds from week at Mark1 2 3 or 4 Double 8 H 4 4 Latitude Latitude WGS84 at Mark1 2 3 or 4 Double 8 H 12 2 Longitude Longitude WGS84 at Markl 2 3 or 4 Double 8 H 20 6 Height Height WGS84 at Mark1 2 3 or 4 Double 8 H 28 7 North Velocity Velocity in a northerly direction negative Double 8 H 36 implies a southerly direction at Mark1 2 3 or 4 8 East Velocity Velocity in an easterly direction negative Double 8 H 44 implies a westerly direction at Mark1 2 3 or 4 9 Up Velocity Velocity in an up direction at Mark1 2 3 4 Double 8 H 52 10 Roll Right handed rotation from local level around Double 8 H 60 Y axis in degrees at Mark1 2 3 or 4 11 Pitch Right handed rotation from local level around Double 8 H 68 X axis in degrees at Mark1 2 3 or 4 12 Azimuth Left handed rotation around Z axis degrees Double 8 H 76 clockwise from North at Mark1 2 3 or 4 13 Status INS Status see Table 5 on page 55 at Mark Enum 4 H 84 14 XXXX 32 bit CRC Hex 4 H 88 15 CR LF Sentence Terminator ASCII only Recommended Input log markpvaa onnew 1 ASCII Example MARK4PVAA COMI 0 93 0 EXACT 1635 491268 341 00000000 0000 406 1635 491268 34 1052475 51 116354114 114 038189654 1047 542785217 0 003821896 SPAN SE User Manual Hev 7 0 000978162 0 001633065 0 419833850 0 633450994 20 646068306 INS SOLUTION GOOD 620d9261 1481 251850 001000000 51 116573435 114 0372
343. rning Flag Set Latitude Fixed Variable length field degreeslminutes decimal 2 fixed digits of degrees 2 fixed digits of mins and a variable number of digits for decimal fraction of mins Leading zeros always included for degrees and mins to maintain fixed length The decimal point and associated decimal fraction are optional if full resolution is not required Longitude Time hhmmss ss Fixed Variable length field degreeslminutes decimal 3 fixed digits of degrees 2 fixed digits of mins and a variable number of digits for decimal fraction of mins Leading zeros always included for degrees and mins to maintain fixed length The decimal point and associated decimal fraction are optional if full resolution is not required Fixed Variable length field hourslminuteslseconds decimal 2 fixed digits of hours 2 fixed digits of mins 2 fixed digits of seconds and variable number of digits for decimal fraction of seconds Leading zeros always included for hours mins and seconds to maintain fixed length The decimal point and associated decimal fraction are optional if full resolution is not required Defined field Some fields are specified to contain pre defined constants most often alpha characters Such a field is indicated in this standard by the presence of one or more valid characters Excluded from the list of allowable characters are the following which are used to indicate field typ
344. rom either GNSS only or GNSS INS BESTGPSVEL contains the best available GNSS velocity without INS Both logs have an identical format 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 A valid solution with a latency of 0 0 indicates that the instantaneous Doppler measurement was used to calculate velocity The velocity is typically computed from the average change in pseudorange over the time interval or the RTK Low Latency filter As such it is an average velocity based on the time difference between successive position computations and not an instantaneous velocity at the BESTGPSVEL time tag The velocity latency to be subtracted from the time tag is normally 1 2 the time between filter updates Under default operation the positioning filters are updated at a rate of 2 Hz This translates into a velocity latency of 0 25 second The latency can be reduced by increasing the update rate of the positioning filter being used by requesting the BESTGPSVEL or BESTGPSPOS messages at a rate higher than 2 Hz For example a logging rate of 10 Hz would reduce the velocity latency to 0 005 seconds For integration purposes the velocity latency should be applied to the record time tag On SPAN SE BESTVEL and BESTGPSVEL are available at l
345. ry only Hex 4 H 44 15 CR LF Sentence terminator ASCII only 1 If the subscription type is COUNTDOWN see Field 7 above the expiration week and expiration seconds into the GPS week contain the amount of running time remaining in the subscription If the subscription type is COUNTDOWNOVERRUN the expiration week and expiration seconds into GPS week count the amount of the overrun time SPAN SE User Manual Rev 7 303 0 3 43 LBANDSTAT L band Status Information This log outputs status information for a standard L band OmniSTAR XP Extra Precision or OmniSTAR HP High Performance service lt 1 In addition to a NovAtel receiver with L band capability a subscription to the OmniSTAR service is required Contact NovAtel for details 2 In binary the receiver outputs 48 bytes without the checksum when the LBANDSTATB log is requested Message ID 731 Log Type Asynch Recommended Input log Ibandstata ontime 1 ASCII Example LBANDSTATA COM1 0 73 5 FINESTEERING 1314 494510 000 00000000 c797 1846 1551488896 43 19 62 3 0 00 0082 0000 7235 11 0 0000 0001 7762 04000000 0 93f7d2af 304 SPAN SE User Manual Hev 7 Table 58 L band Signal Tracking Status Nibble Description Range Value 0 0x0001 Tracking state 0 Searching 1 Pull in 2 Tracking 3 Idle NO 1 0x0002 2 0x0004 3 0x0008 Reserved 4 0x0010 1 5 0 0020 6
346. ry only Hex 4 H 44 6 CR LF Sentence terminator ASCII only SPAN SE User Manual Rev 7 349 D 3 60 TAGGEDMARKxPVA Output information from a MARK input Use this command to output Event ID tagged position velocity and attitude information received MARK input Abbreviated ASCII Syntax Message IDs TAGGEDMARKxPVA ONNEW 1 1258 2 1259 1327 1328 350 SPAN SE User Manual Rev 7 Field Field Description Field Binary Binary Recommended Input log TAGGEDMARK1PVA ONNEW Abbreviated ASCII Example log taggedmarklpva onnew SPAN SE User Manual Rev 7 Name Type Bytes Offset 1 Header This field contains the message header H 0 2 Week The GPS week at the MARK 1through MARK4 Ulong 4 H request 3 Seconds Seconds from the GPS week at the MARK1 through Double 8 H 4 request 4 EventID Tagged Event ID This value corresponds to the ID set Ulong 4 H 12 by a TRIGGEREVENT command associated with the specified mark input If no TRIGGEREVENT is set before an event is received on the specified mark this value will default to 0 5 Latitude The latitude WGS84 at MARK1 through MARK4 Double 8 H 16 6 Longitude The longitude WGS84 at MARK1through Double 8 H 24 7 Height The height WGS84 at MARK1 through MARK4 Double 8 H 32 8 NVelocity The velo
347. s on page 140 being sent Default is THISPORT 3 message Any valid message ID Message ID of log to UShort 2 H 4 output 4 message Bits 0 4 Reserved Message type of log Char 1 H 6 type Bits 5 6 Format 00 Binary 01 ASCII 10 Abbreviated ASCH NMEA 11 Reserved Bit 7 Response Bit 0 Original Message 1 Response Message 5 Reserved Char 1 H 7 210 SPAN SE User Manual Rev 7 Field ASCII Binary Binary Binary Binary Value Value Description Format Bytes Offset 1 UNLOG This field contains the H 0 ASCII command name or the header message header depending on whether the command is abbreviated ASCII ASCII or binary 2 port See Table 23 COM Serial Port Port to which log is being Enum 4 H Identifiers on page 140 sent Default is THISPORT 3 message Message Name N A Message name of log to ULong 4 H 4 disable SPAN SE User Manual Rev 7 211 B 4 53 UNLOGALL Remove all logs from logging control If port is specified this command disables all logs on the specified port only All other ports are unaffected If port is not specified this command defaults to the ALL PORTS setting Abbreviated ASCII Syntax Message ID 38 UNLOGALL port Abbreviated ASCII Example UNLOGALL COM2 54 The UNLOGALL command allows you to remove all log requests currently in use Field ASCII Binary ee Binary Binary Binary Field Type Value Value D
348. s is pointing UP Mount Y axis is pointing DOWN Mount Z axis is pointing UP default 6 Mount Z axis is pointing DOWN Double 184 1 See Table 35 IMU Type on page 192 for details Abbreviated ASCII Example SETGIMBALORIENTATION 6 SPAN SE User Manual Rev 7 B 4 36 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 1 The default IMU axis definitions are Y forward Z up X out the right hand side Itis strongly recommended that you mount your IMU in this way with respect to the vehicle 2 You only need to use this command if the system is to be aligned while in motion using the fast alignment routine see Section 3 4 3 3 Manual Alignment on page 58 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 A 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 34 on page 188 For example if the IMU is mo
349. scribed in the VEHICLETOBODYROTATION log as isthe rotation about the z axis 15 the rotation about the x axis D 1 the rotation about the y axis This direction cosine matrix DCM expresses mathematically the sequence of rotations as b R RGB R where R is a rotation around the z axis that is the third axis of the x y and z set as in cosy siny 0 R y siny cosy 0 0 0 1 R is a rotation around the x axis as in 1 0 0 R a 0 cosy sina 0 sina cosa is a rotation around the y axis as in SPAN SE User Manual Rev 7 61 Chapter 3 3SPAN SE Operation 62 cos 0 sing R B 0 1 0 sing 0 cosf These three rotations define the transformation from the vehicle frame to the body frame To go the other way between the frames from the body frame to the vehicle frame we take the transpose of this which is R Rp R 7 R G R 8 a R 2 R R 7 R Explicitly the elements of this matrix are cosy cos 8 sin ysinasin 8 sinycos cosysin f sin ysin cos R sinycos 8 3 cosycos siny sin fj cos y sin cos ff cosa sin f sin o cos 2 3 4 7 3 Relating the Body Frame to the Local Level Frame The body to local level matrix can be formed from the roll pitch and azimuth convert to yaw to form the matrix angles found in the INSPVA or INSATT log where roll is about the y axis pitch is abo
350. ses Message ID 1289 Log Type Asynch Field Field Type Data Description Format Bytes 1 Log Header Log header H 0 2 Interface Always ETHA Enum 4 H 3 IPAddress Ethernet IP address Ulong 4 H 4 4 NetMask Network mask Ulong 4 H 8 5 Gateway Network gateway Ulong 4 H 12 6 XXXX 32 bit CRC ASCII Binary and Short Hex 4 H 16 Binary only 7 CR LF Sentence terminator ASCII only Recommended Input log ipstatus ASCII Example IPSTATUSA USB1 0 98 0 FINESTEERING 1635 320781 983 00000001 0000 394 1 ETHA 192 168 0 10 255 255 255 0 192 168 0 1 2854b03a SPAN SE User Manual Rev 7 301 D 3 42 LBANDINFO L band Configuration Information This log outputs configuration information for an L band service lt In addition to a NovAtel receiver with L band capability a subscription to the OmniSTAR service is required Contact NovAtel for details Contact information may be found on the back of this manual or you can refer to the Customer Service section in the OEMV Family Installation and Operation User Manual Message ID Log Type 730 Asynch Recommended Input log lbandinfoa ontime 1 ASCII Example 1 OmniSTAR HP LBANDINFOA COM2 0 81 5 FINESTEERING 1295 152639 184 00000240 c51d 34461 1547547 4800 c685 0 762640 EXPIRED 0 0 FIXEDTIME 1199 259199 0 8cc5e573 Table 57 L band Subscription Type Binary ASCII Description 0 EXPIRED Th
351. sk Description BEUC CAUT 28 0x10000000 Carrier phase measurement 9 Half cycle not added N7 1 Half cycle added 29 Reserved 30 0x40000000 PRN lock flag 0 PRN not locked out 1 PRN locked out 31 0x80000000 Channel assignment 0 Automatic 1 Forced 1 Grouped Channel has an associated channel L1 L2 pairs 2 This bit is zero until the parity is known and the parity known flag bit 11 is set to 1 Data Description Format pisa 1 RANGE Log header H 0 header 2 obs Number of observations with information to follow Long 4 H 3 PRN slot Satellite PRN number of range measurement UShort 2 4 GPS 1 to 32 SBAS 120 to 138 GLONASS 38 to 61 4 glofreq GLONASS Frequency 7 UShort 2 H 6 5 psr Pseudorange measurement m Double 8 H 8 6 psr std Pseudorange measurement standard deviation m Float 4 H 16 7 Carrier phase in cycles accumulated Doppler range Double 8 H 20 8 adr std Estimated carrier phase standard deviation cycles Float 4 H 28 9 dopp Instantaneous carrier Doppler frequency Hz Float 4 H 32 10 C No Carrier to noise density ratio Float 4 H 36 C No 10 log19 S No dB Hz 11 locktime number of seconds of continuous tracking no cycle slipping Float 4 H 40 12 ch tr Tracking status see Table 66 Channel Tracking Status on ULong 4 H 44 status page 325 and the example in Table D 3 56 13 Next PRN offset H
352. splay variable lever arm details 356 0 3 65 VEHICLEBODYROTATION Vehicle to SPAN Frame Rotation 357 D 3 66 VERSION Version 2 0 358 0 3 67 WHEELSIZE 17 nennen ener nennen 361 Appendix HG1700 IMU in Universal Enclosure 362 E 1 Disassemble the Universal Enclosure nnnm 363 E 2 Install the HG1700 Sensor 366 Appendix F HG1700 IMU in SPAN HG Enclosure 373 F 1 Disassemble the SPAN IMU Enclosure nnne 374 F 2 Install the HG1700 Sensor 000410000 376 Make the Electrical Connections cccccccceceeceseseaeseececeeeeceeceaaeeaseeeeeeeeeseeaeaneneseess 377 F 4 Re Assemble the SPAN IMU nnne 378 Appendix G LN 200 IMU in Universal Enclosure 379 G 1 Disassemble the Universal 380 G 2 Install the LN 200 Sensor Unit 383 Appendix H LN 200 IMU in SPAN IMU Enclosure 390 H 1 Disassemble the SPAN IMU Enclosure 391 H 2 Install the LN 200 Sensor 0000000 0 emn nnne nnne 393 Make the Electrical 394 H 4 Re Assemble the SPAN IMU En
353. ssembled 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 46 Assemble Into Enclosure Body 368 SPAN SE User Manual Rev 7 5 Connect the internal cable harness to the enclosure body as shown in Figure 47 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 Ib ft Figure 47 Fasten Internal Cable Harness 6 Ensure the O rings are in place If they are not as necessary make sure the grooves of the enclosure base are clean and free of debris using isopropyl alcohol As shown in Figure 48 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 48 Install O rings SPAN SE User Manual Rev 7 369 7 Clean the surface of the enclosure body where it mates with the O rings using isopropyl alcohol As shown in Figure 49 align the reference markers and pilot holes pins of the enclosu
354. standard deviation in degrees Float 4 H 28 10 stn ID Station ID string Char 4 4 H 32 11 SVs Number of observations tracked Uchar 1 H 36 12 solnS Vs Number of satellites in solution Uchar 1 H 37 13 obs Number of satellites above the elevation mask angle Uchar 1 H 38 14 multi Number of satellites above the mask angle with L2 Uchar 1 H 39 15 Reserved Uchar 1 H 40 16 ext sol stat Extended solution status see Table 47 Extended Solution Uchar 1 H 41 Status on page 241 17 Reserved Uchar 1 H 42 18 sig mask Signals used mask If 0 signals used in solution are Uchar 1 H 43 unknown see Table 46 on page 241 19 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 44 20 CR LF Sentence terminator ASCII only 280 SPAN SE User Manual Rev 7 D 3 25 ICOMSTATUS Show communication port status Use this command to view a list of all ICOM port ICOMCONFIG settings NOTE ETHA is the only Ethernet adapter available to SPAN SE 4 on Binary Binary Field Field Type Description Format Bytes Binary Offset 1 Header Log Header H 0 2 CommPort Communications port See Enum 4 H Table 23 on page 140 3 Protocol Ethernet protocol Enum 4 H 4 TCP 2 UDP 3 EthPort Ethernet port number Ulong 4 H 8 IP IP address Ulong 4 H 12 3 XXXX 32 bit CRC ASCII and Binary Hex 4 H 16 only 4 CR LF Sentence terminator ASCII only Abbreviated ASCII Syntax log ICOMSTATUS ONCE Message ID 1292 Example o
355. station Only use calibrations when precise measurement of the lever arm is not possible The lever arm calibration routine can only be used when the receiver is operating in RTK mode lt The Lever Arm Calibration Routine is not available for the IMU CPT or the HG1930 Initial estimates and uncertainties for the lever arm are entered using the SETIMUTOANTOFFSET command see page 189 The calibration routine uses these values as the starting point for the lever SPAN SE User Manual Rev 7 59 Chapter 3 3SPAN SE Operation 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 92 2 Configure the RTK corrections and make sure that the BESTGPSPOS log see page 237 reports a good RTK solution 3 Configure the IMU see Section 3 3 2 SPAN IMU Configuration starting on page 52 4 Enter the initial estimate for the lever arm using the SETIMUTOANTOFFSET command see page 189 5 Specify the limits of the calibration through the LEVERARMCALIBRATE command see page 161 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 6 Remain stationary long enough for the coarse alignment to finish The alignment is complete when the INS status changes to INS_ALIGNMENT_COMPLETE see Table 5 on page 55 Another indication that the alignment is co
356. status OK Error 3 0x00000008 FPGA status OK Error 4 0 00000010 Electronic Serial Number ESN access status OK Error 5 0x00000020 Authorization code status OK Error 6 0x00000040 Slow ADC status OK Error 7 0x00000080 Supply voltage status OK Error N2 8 0x00000100 Thermometer status OK Error 9 0x00000200 Temperature status OK Error 10 0x00000400 MINOSS status OK Error 11 0x00000800 PLL RF1 hardware status L1 OK Error Continued on the following page SPAN SE User Manual Rev 7 343 Nibble Bit Mask Description N3 12 0x00001000 PLL RF2 hardware status L2 OK Error 13 0x00002000 RF1 hardware status L1 OK Error 14 0x00004000 RF2 hardware status L2 OK Error 15 0x00008000 NVM status OK Error N4 16 0x00010000 Software resource limit OK Error 17 0x00020000 Model status Valid Invalid 18 0x00040000 COM port power status Not Over Over Current Current 19 0x00080000 Reserved N5 20 0x00100000 Remote loading in progress No Yes 21 0x00200000 Export restriction OK Error 22 0x00400000 Reserved 23 0x00800000 N6 24 0x01000000 25 0x02000000 26 0x04000000 27 0x08000000 N7 28 0x10000000 29 0x20000000 30 0x40000000 31 0x80000000 Component hardware failure OK Error 344 SPAN SE User Manual Rev 7 Table 75 SPAN Receiver Status Nibble Bit Descripti
357. t 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 GNSS velocity vector and injecting it into the SPAN filter as the initial system attitude The kinematic alignment is the default alignment routine for IMU CPT 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 fast alignment routine to work optimally the course over ground s azimuth and pitch must match the SPAN computation frame s azimuth and pitch For example a plane being blown in the wind has a a large crab angle and the course over ground trajectory will not match the direction the IMU is pointing Additional configuration parameters are necessary to enable the kinematic alignment In order to simplify this configuration it is strongly suggested that you mount the IMU in parallel to the vehicle frame The Y axis marked on the IMU enclosure should point in the direction of travel Specify which IMU 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 the command would be SETIMUORIENTATION 5 Specify the angular offsets between
358. t a sale to where the Software will be used on NovAtel supplied hardware or in conjunction with other NovAtel supplied software use the Software with the product s as supplied by NovAtel You agree not to use the Software for any purpose other than the due exercise of the rights and licences hereby agreed to be granted to you 2 Copyright NovAtel owns or has the right to sublicense all copyright trade secret patent and other proprietary rights in the Software and the Software is protected by national copyright laws international treaty provisions and all other applicable national laws You must treat the Software like any other copy righted material except that you may make one copy of the Software solely for backup or archival pur poses one copy may be made for each piece of NovAtel hardware on which it is installed or where used in conjunction with other NovAtel supplied software the media of said copy shall bear labels showing all trademark and copyright notices that appear on the original copy You may not copy the product manual or written materials accompanying the Software No right is conveyed by this Agree ment for the use directly indirectly by implication or otherwise by Licensee of the name of NovAtel or of any trade names or 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 N
359. t out20 Yellow J6 Event out3o J18 Event out4o Yellow SPAN SE User Manual Rev 7 411 412 Description Description J7 Event inlo J19 Event 20 Yellow J8 Event 3 J20 Event in4o Yellow 9 CAN 1o J21 CAN lo Orange J10 20 22 20 Orange ARINCo J23 ARINCo White Table 95 SPAN MPPC Breakout Board J24 Main Board Connector Pin Description 1 Vin 2 GND 3 Vin 4 GND 5 Vin 6 GND 7 Vin 8 GND 9 Vin 10 GND 11 Vin 12 GND 13 GND 14 GND 15 USBHo 16 USBHo 17 USBH Vbus 18 GND 19 USBDo 20 USBDo 21 USBD Vbus 22 GND 23 ETH TXo 24 ETH TXo 25 GND 26 GND SPAN SE User Manual Rev 7 Description 27 ETH RXo 28 ETH RXo 29 GND 30 GND 31 COMI RXo 32 COMI RXo 33 COMI 34 COMI TXo 35 GND 36 GND 37 IMU RXo 38 IMU RXo 39 IMU TXo 40 IMU TXo 4 Table 96 SPAN MPPC Breakout Board J25 USB Host Connector Pin Description USBH Vbus USBHo USBHo GND SHELL SHELL HDi nt BY 5 N eR Table 97 SPAN MPPC Breakout Board J26 Main Board Connector Pin Description OEMV3 RXo OEMV3 RXo 4 OEMV3 TXo OEMV3 TXo GND Event outlo SND
360. t routine for SPAN The alignment starts as soon as a GNSS 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 4 4 Navigation Mode on page 58 If the system is stationary for less than 1 minute the coarse alignment finishes early provided at least 30 stationary seconds were detected The quality of the coarse alignment is poorer with stationary durations of less than 1 minute In order for IMU CPT to execute a coarse alignment an initial estimate of the heading of the vehicle must be entered using the SETINITAZIMUTH command If the IMU Y axis is facing east to within 10 degrees standard deviation then the command would be SETINITAZIMUTH 90 10 3 4 8 2 Kinematic Alignmen
361. ta BY WB NK amp Event out20 SPAN SE User Manual Rev 7 413 Pin Description 8 Event 9 Event out4o 10 GND 11 Event inlo 12 Event 20 13 Event 3 14 Event in4o 15 GND 16 GND 17 CANIo 18 CAN Io 19 20 20 20 21 GND 22 GND 23 CONO RXo 24 RXo 25 TXo 26 2 TXo 27 GND 28 GND 29 COM3 RXo 30 CONG RXo 31 COMG TXo 32 COM3 TXo 33 RXo 34 RXo 35 COMA TXo 36 COMA TXo 37 GND 38 GND 39 ARINCo 40 ARINCo 414 SPAN SE User Manual Rev 7 Table 98 SPAN MPPC Breakout Board J27 USB Device Connector Pin Description USBD Vbus USBDo USBDo GND SHELL SHELL HD nm BY NI eR Table 99 SPAN MPPC Breakout Board J28 Ethernet Connector Pin Description ETH TXo ETH TXo ETH RXo Not used Not used ETH RXo Not used HD MY BY WI NY Not used Table 100 SPAN MPPC Breakout Board J29 Power Connector Pin Description 1 PWR 2 GND Table 101 SPAN MPPC Breakout Board J30 Serial Port Connection Pin Description Not used COMI RXo COMI TXo Not used GND Not used COMI TXo SD NM B
362. taking place the SD LED flashes green and orange If the format fails the LED blinks red indicating an error Note that mounting a large capacity SD Card can also take extra time as the free space is being calculated During mounting the SD LED flashes green and orange to indicate busy Table 21 Mass Storage Device ASCII Binary Description SD 0 Internal SD Card default USBSTICK 1 External USB thumb drive 130 SPAN SE User Manual Rev 7 B 3 1 DIR Show Directory Command DIR Message ID 1055 Parameter Values COM Port Enum see Table 23 on page 140 THISPORT default Mass Storage Device Enum see Table 21 on page 130 SD default B 3 2 CD Change Directory Command CD Message ID 1054 Parameter Values Mass Storage Device Enum see Table 21 on page 130 SD default Path Null terminated string B 3 3 FORMAT Format storage medium Command FORMAT Message ID 1057 Parameter Values Mass Storage Device Enum see Table 21 on page 130 SD default Volume Name Optional string B 3 4 MKDIR Make Directory Command MKDIR Message ID 1060 Parameter Values Mass Storage Device Enum see Table 21 on page 130 SD default Path Null terminated string B 3 5 RMDIR Remove Directory Command RMDIR Message ID 1058 Parameter Values Mass Storage Device Enum see Table 21 on page 130 SD default Path Null termin
363. tance from the IMU center of navigation to the antenna phase center see page 189 The offset between the antenna phase center and the IMU center of navigation must remain con stant 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 stan dard 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 GNSS solution is accurate to a few centimeters For the integrated INS GNSS sys tem to have this level of accuracy the offset must be measured to within a centimeter Any offset error between the two systems shows up directly in the output position For example a 10 cm error in recording this offset will result in at least a 10 cm error in the output If it is impossible to measure the IMU center of navigation to antenna phase center precisely the offset can be estimated by carrying out the Lever Arm Calibration Routine See Section 3 4 8 Vehicle to SPAN Frame Angular Offsets Calibration Routine on page 63 SPAN SE User Manual Rev 7 53 Chapter 3 3SPAN SE Operation 3 8 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 and may differ from the current your CDU version
364. tarting on page 56 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 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 2 Switch RESET 0 Control the vehicle ENUM 4 H DISABLE 1 body rotation computation ENABLE 2 Abbreviated ASCII Example RVBCALIBRATE RESET SPAN SE User Manual Rev 7 179 B 4 32 SAVECONFIG Save current configuration in NVM This command saves the user s present configuration in non volatile memory The configuration includes the current log settings FIX settings port configurations and so on Its output is in the RXCONFIG log see page 340 See also the FRESET command page 150 WARNING If you are using this command in CDU ensure that you have all windows other A than the Console window closed Otherwise log commands used for the various windows are saved as well This will result in unnecessary data being logged Abbreviated ASCII Syntax Message ID 19 SAVECONFIG 180 SPAN SE User Manual Rev 7 B 4 33 SBASCONTROL Set SBAS test mode and PRN This command allows you to dictate how the receiver handles Satellite Based Aug
365. tatic option to decrease the time required to fix ambiguities and reduce the amount of noise in the position solution If you use STATIC mode when the antenna is not static the receiver will have erroneous solutions and unnecessary RTK resets Abbreviated ASCII Syntax Message ID 183 RTKDYNAMICS mode Factory Default rtkdynamics dynamic Abbreviated ASCII Example RTKDYNAMICS STATIC Table 32 Dynamics Mode ASCII Binary Description AUTO 0 Automatically determine dynamics mode STATIC 1 Static mode DYNAMIC 2 Dynamic mode Field ASCII Binary Description Binary Binary Binary Type Value Value Format Bytes Offset 1 RTKDYNAMICS This field contains the command H 0 header name or the message header depending on whether the command is abbreviated ASCH ASCII or binary 2 mode See Table 32 Set the dynamics mode Enum 4 H 176 SPAN SE User Manual Hev 7 B 4 30 RTKSOURCE Set the RTK correction source This command lets you identify from which base station to accept RTK RTCM RTCMV3 RTCA CMR and OmniSTAR HP XP differential corrections This is useful when the receiver is receiving corrections from multiple base stations See also the PSRDIFFSOURCE command on page 171 To set up RTK differential corrections see the GNSSCARDCONFIG command on page 152 lt To use OmniSTAR HP XP differential corrections a NovAtel receiver with L band capability and a subscription to th
366. tel part number 01018133 on page 99 NO The sections that follow outline how to set up the system s parts and cables SPAN SE User Manual Rev 7 37 Chapter 2 SPAN SE Installation 54 Data can be collected through any of the peripheral devices USB Ethernet or serial COM ports If you have chosen to connect the receiver using a COM port the port must be configured for a suitably high baud rate to handle the size of the logs you request USB is recommended for logging of high rate data Data storage is via a Secure Digital SD memory card that you access in the front of the SPAN SE See also Section 3 8 SD Card starting on page 71 NC TESS Figure 4 SD Memory Card The back panel of the SPAN SE is shown in Figure 5 The SPAN SE has multiple COM and I O connectors Note that there is more than one interface cable with the SPAN SE Figure 5 Receiver Enclosure Back Panel Table 2 on page 39 shows a summary of the receiver s back panel port names 38 SPAN SE User Manual Rev 7 SPAN SE Installation Chapter 2 Table 2 Receiver Enclosure Back Panel Labels SPAN Enclosure Port Label Description SPANSSE ipic A Supply Voltage USB Host USB Host USB Device USB Device Ethernet Ethernet GPS1 Antenna 1 GPS2 Antenna 2 optional Green multi pin connector 1 containing SPAN SE COM ports Vo 1 OEMV COM port event inputs and output strobes Yellow multi pin connector 2 02 containing SPAN SE COM por
367. tence terminator ASCII only SPAN SE User Manual Rev 7 341 D 3 58 RXSTATUS Receiver Status This log conveys various status parameters of the SPAN SE receiver system These include the SPAN SE Receiver Status and Error words which contain several flags specifying status and error conditions Receiver errors are handled differently based on where the error occurs If an error occurs on the SPAN system shown in the Receiver Error word the receiver will continue to operate as best as possible If an error occurs on either the internal OEMV 3 or OEMV 2 card shown by the Error Flag field in the corresponding status word that card will idle all channels turn off its antenna and disable the RF hardware as these conditions are considered to be fatal errors Shut down of either the OEMV 3 or OEMV 2 in this way will result in some loss of functionality for the SPAN SE The receiver gives the user the ability to determine the importance of the status bits In the case of the Receiver Status setting a bit in the priority mask causes the condition to trigger an error This causes the receiver to idle all channels turn off the antenna and disable the RF hardware the same as if a bit in the Receiver Error word is set Receiver errors automatically generate event messages These event messages are output in RXSTATUSEVENT logs It is also possible to have status conditions trigger event messages to be generated by the receiver
368. ter Log Position INSPOS or INSPOSS INSPVA or INSPVAS Velocity INSVEL or INSVELS INSSPD or INSSPDS INSPVA or INSPVAS Attitude INSATT or INSATTS INSPVA or INSPVAS Solution Uncertainty INSCOV or INSCOVS The position velocity and attitude are available together in the INSPVA and INSPVAS logs lt The BESTPOS GNSS only position log can be logged at rates up to 20 Hz directly from the OEMV port A BESTPOS GNSS INS position log is available at 1Hz 1Hz 2Hz and 5Hz from any SPAN SE port Other GNSS logs RANGE PSRPOS and so on can be logged up to 20 Hz from the SPAN ports The BESTGPSPOS log is available from SPAN SE only at 1Hz 1Hz 2Hz 4Hz and 5Hz WARNING Ensure that all windows other than the Console are closed in CDU and then use the A 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 6 Data Collection for Post Processing on page 66 To store data directly to the internal SD Card see Section 3 8 SD Card starting on page 71 3 4 6 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
369. tes up to 20 Hz directly from the port A BESTPOS GNSS INS position log is available at lt 1 Hz 1 Hz 2 Hz 4 Hz and 5Hz from any SPAN SE port All BEST filter related logs such as BESTPOS BESTVEL BESTXYZ and BESTGPSPOS can only be output from SPAN SE ports at lt 1 Hz 1 Hz 2 Hz 4 Hz and 5Hz Other GNSS logs RANGE PSRPOS and so on can be logged at rates up to 20 Hz from SPAN SE ports 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 A logging occurs and may overload your system B 3 DOS Commands The SPAN SE receiver accepts many traditional DOS commands for accessing the SD Card DOS commands that produce output logs do not conform to traditional NovAtel command log formats The resulting logs are output as simple ASCII as with normal DOS commands To display the results to another COM port the port must be passed as a parameter The default device and currently the only option for these commands is the internal SD Card see Table 21 below WARNING You cannot use this method to view acknowledgement messages that the receiver sends when it receives a command If the receiver rejects a command you will not see a notification Most commands are acknowledged with an OK or an Error message However due to the length of time the FORMAT command can take it always responds with OK When the format is
370. 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 port on the SPAN SE 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 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 2 What types of IMUs are supported a SPAN currently supports the HG1700 HG1900 and HG1930 IMU family from Honeywell the LN 200 from Litton the iIMU FSAS from iMAR the IMU CPT from and the Litef from Northrop Grumman Use the SETIMUTYUPE command to specify the type of IMU used see page 191 3 Why don t I have any INS logs a Onstart up the INS logs are not available until the system has solved for time This requires that an antenna is attached and satellites are visible to the system You can verify that time is solved by checking the time status in the header of any standard header SPAN log such as BESTPOS When the time status reaches FINESTEERING the inertial filter starts and INS messages are available b Check that the system has been configured properly See qu
371. the defective product in the original packaging to avoid ESD and shipping damage SPAN SE User Manual Hev 7 Customer Support NovAtel Knowledge Base If you have a technical issue browse to the NovAtel website at www novatel com Support Helpdesk and Solutions Search Knowledge and Forums 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 30 minutes RXSTATUSB once RAWEPHEMB onchanged RANGECMPB ontime 1 BESTPOSB ontime 1 GLOEPHEMERISB onchanged RXCONFIGA once VERSIONB once R I I I AWIMUSB onnew NSPVASB ontime 0 1 NSCOVSB onchanged NSUPDATEB onchanged BESTGPSPOSB ontime 1 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 website 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 all user settings You should know your configuration and be able to reconfigure the receiver before you send the FRESET comman
372. the exact time of the mark Synchronous and asynchronous logs output the most recently available data MARKICOUNT Message ID MARK2COUNT Message ID MARK3COUNT Message ID MARK4COUNT Message ID Recommended Input log mark1counta onnew 1093 1094 1095 1096 Log Type Asynch Field Field type Data Description Format Byte s cud 1 MARKxCOUNT Log header H 0 header 2 Period Delta time Ulong 4 H 3 Count Tick count Ushort 2 H 4 ASCII Example MARK1COUNTA COM1 0 98 5 FINESTEERING 1520 515353 000 00000000 0000 137 1000000 1 1786750b SPAN SE User Manual Rev 7 315 0 3 48 MARK1PVA MARK2PVA MARK3PVA Position 316 Velocity and Attitude at Mark This log outputs position velocity and attitude information received on a Mark input By default the logs contain the solution at the IMU center in the SPAN computation frame If the SETMARKXxOFFSET command has been entered the MARKxPVA log will contain the solution translated and then rotated by the values provided in the command See also the SETMARKXxOFFSET commands valid at the time on page 198 MARKIPVA Message ID 1067 MARK2PVA Message ID 1068 MARK3PVA Message ID 1118 MARKAPVA Message ID 1119 Log Type Synch Binary Binary Field Field Type Description Format Bytes Offset 1 Log Header Log header H 0 2 Week GPS Week at Mark1 2 3 or 4
373. the minimum logging period For example if the receiver supports 20 Hz logging the minimum logging period is 1 20 Hz or 0 05 s The following are valid examples for a synchronous or asynchronous log on a receiver that can log at rates up to 20 Hz LOG PSRPOS ONTIME 0 05 20 Hz LOG PSRPOS ONTIME 0 1 10 Hz LOG PSRPOS ONTIME 0 1 0 05 LOG PSRPOS ONTIME 1 1 Hz LOG PSRPOS ONTIME 1 0 1 LOG PSRPOS ONTIME 1 0 90 LOG AVEPOS ONTIME 1 0 95 LOG AVEPOS ONTIME 2 0 5 Hz LOG AVEPOS ONTIME 2 1 35 LOG AVEPOS ONTIME 2 1 75 For synchronous and asynchronous logs the following examples are invalid LOG PSRPOS 1 0 08 offset is not a multiple of the minimum logging period LOG PSRPOS ONTIME 1 1 05 offset is larger than the logging period 232 SPAN SE User Manual Hev 7 D 2 NMEA Standard Logs The National Marine Electronic Association NMEA logs in this manual are listed below GPALM ALMANAC DATA GPGGA GLOBAL POSITION SYSTEM FIX DATA AND UNDULATION GPGLL GEOGRAPHIC POSITION GPGRS GPS RANGE RESIDUALS FOR EACH SATELLITE GPGSA GPS DOP AND ACTIVE SATELLITES GPGST PSEUDORANGE MEASUREMENT NOISE STATISTICS GPGSV GPS SATELLITES IN VIEW GPZDA UTC TIME AND DATE PASHR PITCH ROLL AND HEADING INFORMATION The NMEA log structures follow format standards as adopted by the National Marine Electronics Association The reference document used is Standard For Interfacing Marine Electronic Devices NMEA 0183 Version 3 0
374. 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 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 Ib in 28 35 oz in Size M4 1 36 1 58 12 0 14 0 Ib in Size 8 32 1 55 1 70 N m 13 7 15 0 Ib in 362 SPAN SE User Manual Rev 7 E 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 40 Ensure the O rings come with the base when it is removed and that they are not damaged Figure 40 Remove Base SPAN SE User Manual Rev 7 363 2 Using 30 mm socket remove the jam nut and free the wiring harness connector from the body as shown in Figure 2 Retain the O ring and the jam nut for reassembly Figure 41 Disconnect Wiring Harness from Enclosure Body 364 SPAN SE User Manual Hev 7 3 Using a 2 5 mm hex bit unscrew the M4 screws and remove the IMU mounting plate bracket and cable h
375. the scale factor in Table 73 by the count in this field for the velocity increments See Table 1 on page 34 for a list of IMU 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 73 on page 339 Multiply the appropriate scale factor in Table 73 by the count in this field for the angle increments in radians SPAN SE User Manual Rev 7 Table 68 ilMU FSAS Status Nibblez Bit Mask Description Range Value 0 0x00000001 NO 1 0x00000002 2 0 00000004 3 0 00000008 4 0 00000010 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 TRE 14 0x00004000 15 0x00008000 Initiated built in test IBIT Passed 0 Failed 1 16 0x00010000 Reseed N4 17 0x00020000 18 0x00040000 Accelerometer Passed 0 Failed 1 19 0x00080000 Accelerometer time out Passed 0
376. to IMU offset However your only confirmation that the command was actually accepted is the return of the COM2 prompt If a command is incorrectly entered the receiver responds with Invalid Command Name or a more detailed error message followed by the port prompt SPAN SE User Manual Rev 7 217 C 1 218 DOS One way to initiate multiple commands and logging from the receiver is to create DOS command files relating to specific functions This minimizes the time required to set up duplicate test situations Any convenient text editor can be used to create command text files Example For this example consider a situation where a laptop computer s appropriately configured COMI serial port is connected to the receiver s COMI serial port and where a rover terminal is connected to the receiver s COM serial port If you wish to monitor the SPAN system activity the following command file could be used to do this 1 Open a text editor 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 1 psrdopa ontime 15 2 Save this with a convenient file name e g C GPS BOOT1 TXT and exit the text editor 3 Use the DOS copy command to direct the contents of the BOOT1 TXT file to the PC s COMI serial port C GPS gt copy bootl txt coml 1 files s copied C NGPS 4 The SPAN system is
377. ton on the SPAN SE once to start the logging into an auto named logging file in the current working directory Press the button a second time to stop the logging and close the file Press the button a third time to re start the logging to a new file and so on The LOGFILE command lets you start and stop logging and specify the file name to use If no file name is entered in the command a new auto generated file name is created every time you open a file to write to it For example LOGFILE OPEN SD FIRSTFILE GPS Open a file in the current working directory called FIRSTFILE GPS and start logging If the file name entered already exists on the card the command returns an error When logging is enabled the SD LED flashes green When logging is stopped the SD LED is solid green When the card has 10 capacity remaining the SD LED turns orange When the card has less than 196 capacity remaining the SD LED turns red 3 9 5 Log a Pre Defined List of Logs To log a pre defined list of logs needed for post processing follow these steps Insert the SD Card SPAN SE User Manual Rev 7 73 Chapter 3 3SPAN SE Operation e Prepare the SD Card by letting it complete its mounting or format the card if necessary When the card is ready for logging the SD LED turns solid green if the card is empty or orange if the card has 10 of free space remaining e Press the SD Logging button located behind the SD Card access door
378. ts IMU COM port event inputs and output strobes 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 insert a cable make certain you are using the appropriate cable for the port the I O 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 and pull A WARNING DO NOT PULL DIRECTLY ON THE CABLE Review this section s hardware set up subsections and follow the numbered steps in bold to install your SPAN system The example graphics in the sections that follow show the connections on the back of a SPAN SE receiver 2 2 SPAN SE Hardware Installation 2 2 1 Mount Antenna For the best possible positioning precision and accuracy as well as to minimize the risk of damage ensure that the antenna is securely mounted on a stable structure that will not sway or topple Where possible select a location with a clear view of the sky to the horizon so that each satellite above the horizon can be tracked without obstruction The location should also be one that minimizes the effect of multipath interference SPAN SE User Manual Rev 7 39 Chapter 2 SPAN SE Installation 222 Mount IMU
379. u to control the receiver s log ging to files and serial ports Refer to CDU s on line Help for more information 13 Use the Console window to enter commands See also Section 3 6 Data Collection for Post Processing on page 66 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 SPAN SE User Manual Rev 7 49 Chapter 3 3 2 1 3SPAN SE Operation 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 50 aw 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 whether a ZUPT has been applied 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 Wheel Sens field shows the status of the wheel sen sor as specified by the INSUPDATE log The ALIGN Head fie
380. udinal DOUBLE 8 H 44 Acceleration along Y axis 9 VerticalAcc INS Vertical Acceleration DOUBLE 8 H 52 along Z axis 10 XXXX 32 bit CRC Hex 4 H 56 11 CR LF Sentence Terminator ASCII only Recommended Input log direnta ontime 30 ASCII Example DIRENTA USB1 5 98 5 FINESTEERING 1635 320403 182 00000001 0000 394 SDLOG GP 2019951634 1972610 20110323 220136 66b5b93c DIRENTA USB1 4 98 5 FINESTEERING 1635 320403 182 00000001 0000 394 SPAN 0 1 G 52700 52 20110324 220806 03fda3c9 DIRENTA USB1 3 98 5 FINESTEERING 1635 320403 182 00000001 0000 394 SPAN_1 L G 28570 28 20110324 220954 fb3e911le DIRENTA USB1 2 98 5 FINESTEERING 1635 320403 182 00000001 0000 394 SPAN 2 1 G 200454 196 20110510 213028 a9795169 DIRENTA USB1 1 98 5 FINESTEERING 1635 320403 182 00000001 0000 394 SPAN_3 L G 134452 132 20110510 213902 89e77dd0 DIRENTA USB1 0 98 5 FINESTEERING 1635 320403 182 00000001 0000 394 SPAN 4 L OG 15008 15 20110510 214156 49d 871 c 250 SPAN SE User Manual Rev 7 0 3 8 DIRENT SD Card File List The DIRENT log contains the current file contents of the receiver s SD Card Up to 1024 files can be listed using this message Note that the file size information in this log will only update once per second The date and time for the DIRENT log is i
381. ugh the SPAN MPPC COM port is selectable the port you choose must be connected to 2 of the external ALIGN receiver Abbreviated ASCII Syntax Message ID 1356 DUALANTENNAPORTCONFIG port Field ASCII Binary Binary Binary Binary Format Bytes Offset 1 header This field contains the H 0 command name or the message header depending on whether the command is abbreviated ASCII ASCII Field Description Type Value Value or binary 2 NOPORT 0 The port that is used to Enum 4 H mark COMI 1 communicate with an external ALIGN receiver Xe 2 Selecting NOPORT default disables dual antenna COM3 3 functionality COM4 19 Abbreviated ASCII Example DUALANTENNAPORTCONFIG COM4 SPAN SE User Manual Rev 7 145 B 4 9 EVENTINCONTROL_ Control mark input properties 146 This command controls up to four Event In input triggers See also Section 3 11 Synchronizing External Equipment starting on page 76 Abbreviated ASCII Syntax Message ID 614 EVENTINCONTROL mark polarity t_bias t_guard 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 Field Description 2 mark 1 MARK2 MARK3 MARK4 Choose the Event In to use Enum 4 H 3 event DISABLE EVENT Disables Event input E
382. um of 60999 when leap second is applied 354 SPAN SE User Manual Rev 7 0 3 63 TIMEDWHEELDATA Timed Wheel Data This log contains time stamped wheel sensor data The time stamp in the header is the time of validity for the wheel data not the time the TIMEDWHEELDATA log was output This is a short header log see also Section D 1 4 ASCII and Binary Logs with Short Headers on page 229 This log contains the wheel sensor information received from any of the three sources SPAN SE supports See also Section 3 5 SPAN Wheel Sensor Configuration on page 64 54 If you using an iMAR iMWS Magnetic Wheel Speed Sensor and Convertor connected directly to the iIMU FSAS Field 4 the float wheel velocity is filled instead of Field 3 the unsigned short wheel velocity When you send a WHEELVELOCITY command described Section B 4 55 WHEELVELOCITY Wheel velocity for INS augmentation on page 215 from an external wheel sensor the TIMEDWHEELDATA 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 H 0 2 Ticks Per Rev N
383. umber of ticks per revolution Ushort 2 H 3 Wheel Vel Wheel velocity in counts per second Ushort 2 H 2 4 fWheel Vel Float wheel velocity in counts per Float 4 H 4 second 5 Reserved Ulong 4 8 6 Ulong 4 H 12 7 Cumulative Ticks Cumulative number of ticks Ulong 4 H 16 8 XXXX 32 bit CRC 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 SE User Manual Rev 7 355 0 3 64 VARIABLELEVERARM Display variable lever arm details Use this log to redisplay the re calculated variable lever arm whenever a new INPUTBALANGLE command is received This log is not output until the INS alignment is complete Structure Message ID 1320 variableleverarm onnew Log Type Asynch Field Field Type Data Description Format Byes AY 1 Log Header Log header H 0 2 XOffset SPAN body frame X axis offet Double 8 H 3 Y Offset SPAN body frame Y axis offset Double 8 H 8 4 ZOffset SPAN body frame Z axis offset Double 8 H 16 5 XUncert X axis uncertainty in degrees Double 8424 H 6 YUncert Y axis uncertainty in degrees Double 8432 H 7 ZUncert Z axis uncertainty in degrees Double 8440 H 8 XXXX 32 bit CRC ASCII Binary and Short Hex 4 H 24 Binary only 9 CR LF Senten
384. unted with the X axis pointing UP and a mapping of is specified then this transformation of the raw IMU data is done gt 7 gt 7Z Y where the default is XX gt 7 gt 7 Notice that the X axis observations are transformed into the Z axis resulting in Z being aligned with gravity and a5 mapping The SPAN frame is defined so that Z is always pointing up along the gravity vector If the IMU mapping is set to 1 the X axis of the IMU enclosure is mapped to the SPAN frame Z axis pointing up its Y axis to SPAN frame X and its Z axis to SPAN frame Y The X pitch Y roll and Z azimuth directions of the inertial enclosure frame are clearly marked on the IMU see the IMU choices and their technical specifications starting on page 92 The example of the Litef is shown in Figure 39 Figure 39 IMU Center of Navigation example SPAN SE User Manual Rev 7 185 D4 1 Azimuth is positive in a clock wise direction while yaw is positive in a counter clockwise direction when looking toward the axis origin 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 Abbreviated ASCII Example SETIMUORIENTATION 1 186 SPAN SE User Manual Hev 7 Binary Binary
385. us see Table 5 on page 55 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 290 Recommended Input log insposa ontime 1 ASCII Example INSPOSA COM1 0 94 5 FINESTEERING 1635 490452 000 00000000 0000 406 1635 4904 51 997500000 51 116352320 114 038192411 1047 501906280 INS SOLUTION GOOD 2ce15199 SPAN SE User Manual Hev 7 D 3 32 INSPOSS Short INS Position This is a short header version of the IVSPOS log on page 290 Structure Message ID 321 Log Type Synch Binary Binary Field Field Type Data Description Format Bytes Offset 1 Log Header Log header H 0 2 Week GPS Week Ulong 4 H 3 Seconds into Week Seconds from week start Double 8 4 4 Latitude Latitude WGS84 Double 8 H 12 5 Longitude Longitude WGS84 Double 8 H 20 6 Height Ellipsoidal Height WGS84 Double 8 H 28 7 Status INS status see Table 5 on page 55 Enum 4 H 36 8 XXXX 32 bit CRC ASCII Binary and Hex 4 H 40 Short Binary only 9 CR LF Sentence terminator ASCII only Recommended Input log inspossa ontime 1 ASCII Example SINSPOSSA 1541 487916 000 1541 487916 000549050 51 115797277 114 037811065 1039 030700122 INS_SOLUTION_GOOD 5ca30894 SPAN SE User Manual Rev 7 291 D 3 33 INSPOSSYNC Time Synchronized INS Position This log contains the time synchronized INS position
386. ut the x axis and azimuth yaw is about the z axis The body frame IMU axes are nominally assumed to have Y pointing in the direction of travel X to the right perpendicular to the direction of travel and Z up That means that azimuth references from north to the IMU y axis and roll is about y and pitch is about x Refer to Section 3 4 7 1 on page 60 for instructions on what to do if you are not able to mount your IMU with Z approximately up Using the angles in the INSPVA log you can form the body frame to local level frame rotation matrix is roll rotation around the Y axis Q is pitch rotation around the X axis y is yaw rotation around the Z axis cosycosg sinysin sing siny cos cosysing siny sin coso R sinycosg cosysinOsing cosycos siny sing cosy sin cos 9 o sin cos 0cos o SPAN SE User Manual Hev 7 3SPAN SE Operation Chapter 3 3 4 7 4 Relating the Vehicle Frame to the Local Level Frame Knowing the attitude of the body frame with respect to the local level frame from the INSPVA or INSATT log and the rotational relationship between the body frame and the vehicle frame you can solve for the vehicle attitude with respect to local level Given the two previous matrices a new DCM can form relating the vehicle frame to the local level frame RIR b where R R We can solve the individual angles from the local level to vehicle frame using the numerical values of sin
387. utput ICOMSTATUS ICOMI 0 98 5 UNKNOWN 0 87 125 404c0020 0000 411 lt 4 lt ICOMI TCP 3000 0 0 0 0 ETHA 2 TCP 3001 0 0 0 0 lt 3002 0 0 0 0 lt 3003 0 0 0 0 SPAN SE User Manual Rev 7 281 0 3 26 IMUTOANTOFFSETS IMU to Antenna s Lever Arm 282 This log contains the distance between the IMU and the GNSS antenna s in the IMU enclosure frame and its associated uncertainties The number of lever arms supported will equal the number of antennas supported in the model For example one for single antenna two for dual antenna This log contains the same information as the BESTLEVERARM or BESTLEVERARM2 logs for each lever arm but is intended as a single source for all antenna lever arm information available on the system Abbreviated ASCII Syntax Message ID 1270 log imutoantoffsets Log Type Asynch Example log lt OK COM1 lt IMUTOANTOFFSETS COM1 0 98 5 FINESTEERING 1581 339209 733 60000041 0000 265 lt 0 2 lt LEVER ARM PRIMARY 0 326000000 0 126000000 1 285000000 0 032600000 0 012600000 0 128500000 LEVER ARM FROM COMMAND lt LEVER ARM SECONDARY 0 325000000 1 155000000 1 287000000 0 032500000 0 115500000 0 128700000 LEVER ARM FROM COMMAND COMI ASCII Example IMUTOANTOFFSETSA COM1 0 98 5 FINESTEERING 1581 339209 733 60000041 0000 265 0 2 LEVER_ARM_PRIMARY 0 326000000 0 126000000 1 285000000 0 032600000 0 012600000 0 128500000
388. versions on our website at www novatel com through Support Knowledge and Learning 324 SPAN SE User Manual Hev 7 Table 66 Channel Tracking Status Nibble Bit Mask Description Range Value 0 0x00000001 Tracking state 0 11 see Table 63 Tracking State on page 324 NO 1 0x00000002 2 0x00000004 3 0x00000008 4 0x00000010 1 5 0x00000020 SV channel number 0 0 first last n depends on the receiver 6 0x00000040 7 0 00000080 8 0 00000100 N2 9 0x00000200 10 0x00000400 Phase lock flag 0 Not locked 1 Locked 11 0x00000800 Parity known flag 0 Not known 1 Known 12 0x00001000 Code locked flag 0 Not locked 1 Locked N3 13 0x00002000 Correlator type 0 7 see Table 64 Correlator Type on page 324 14 0x00004000 15 0x00008000 16 0x00010000 Satellite system 0 GPS 1 GLONASS N4 17 0x00020000 2 WAAS 3 6 Reserved 18 0 00040000 T Other 19 0x00080000 Reserved 20 0x00100000 Grouping 0 Not grouped 1 Grouped N5 21 0x00200000 Signal type Dependant on satellite system above GPS GLONASS 22 0x00400000 0 L1 C A 0 L1 C A 5 L2 P 5 L2 P 23 0x00800000 9 L2 P codeless 17 L2C 24 0x01000000 SBAS Other N6 25 0x02000000 0 LI C A 19 OmniSTAR 26 0x04000000 Forward Error Correction 0 Not FEC 1 FEC 27 0x08000000 Primary L1 channel 0 Not primary 1 Primary Continued on page 326 SPAN SE User Manual Rev 7 325 Nibble Bit Ma
389. vigation 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 2 3 The first satellites are tracked and coarse time is solved Enough satellites are tracked to compute a position Receiver fine time is solved meaning the time on board the receiver is accurate enough to begin timing IMU measurements 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 330 and page 338 The INS Status field reports INS_INACTIVE The inertial alignment routine starts and the INS Status field reports INS_ALIGNING Alignment is complete and the INS Status field changes to INS_ALIGNMENT_COMPLETE The system transitions to navigation mode Depending on the alignment method the INS Status field may go directly to INS_SOLUTION_GOOD SPAN SE User Manual Rev 7 3SPAN SE Operation Chapter 3 7 solution is refined using updates from GNSS Once the system is operating within specifica tions 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 4 3 1 Coarse Alignment The coarse alignment is the default alignmen
390. 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 website 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 SE User Manual Rev 7 Software License 5 Term and Termination This Agreement and the rights and licences hereby granted shall continue in force in perpetuity unless terminated by NovAtel or Licensee in accordance herewith In the event that the Licensee shall at any time during the term of this Agreement i be in breach of its obligations hereunder where such breach is irremediable or if capable of remedy is not remedied within 30 days of notice from NovAtel requiring its remedy then and in any event NovAtel may forthwith by notice in writ ing terminate this Agreement together with the rights and licences hereby granted by NovAtel Licensee may terminate this Agreement by providing written notice to NovAtel Upon termination for any reasons the Licensee shall promptly on NovAtel s request return to NovAtel or at the election of NovAtel destroy all copies of any documents and extracts comprising or containing the Software The Licensee shall also erase any copies of the Software residing on Licensee s computer equipment Ter minati
391. wed by a line termination using the carriage return and line feed characters for example 1224ABCD CR LF This value is a 32 bit CRC of all bytes in the log excluding the identifier and the asterisk preceding the four checksum digits An ASCII string is one field and is surrounded by double quotation marks for example ASCII string If separators are surrounded by quotation marks then the string is still one field and the separator will be ignored for example is one field Double quotation marks within a string are not allowed If the receiver detects an error parsing an input message it will return an error response message Please refer to the OEMV Firmware Reference Manual available on our website at www novatel com through Support Firmware Software and Manuals Manuals and Documentation Updates OEMV Family for a list of response messages from the receiver Message Structure header data field data field data field xxxxxxxx The ASCII message header is formatted as follows Field Table 38 ASCII Message Header Structure Ignored on Input Field Name Field Type Description Sync Char Sync character The ASCII message is always N preceded by a single symbol Message Char This is the ASCII name of the log or command N Port Char This is the name of the port from which the log was Y generated See Table
392. with asynchronous logs the time stamp in the header does not necessarily represent the time the data was generated but rather the time when the log is being transmitted If the log contains a time parameter in the message itself this time will be the time of validity of the data Abbreviated ASCII Syntax Message ID 1 LOG port message trigger period offset hold Factory Default log com1 rxstatuseventa onnew 0 0 hold log com2 rxstatuseventa onnew 0 0 hold log com3 rxstatuseventa onnew 0 0 hold log com4 rxstatuseventa onnew 0 0 hold SPAN SE User Manual Rev 7 163 log usb rxstatuseventa onnew 0 0 hold Abbreviated ASCII Example 1 LOG COMI PSRPOS ONTIME 1 0 5 HOLD The above example shows BESTPOS logging to COM port 1 at 1 second intervals and offset by 0 5 seconds output at 0 5 1 5 2 5 seconds and so on The hold parameter is set so that logging is not disrupted by the UNLOGALL command To send a log only one time the trigger option can be ignored Abbreviated ASCII Example 2 LOG COMI PSRPOS ONCE NOHOLD See Section Section B 1 Command Formats on page 129 for additional examples 164 SPAN SE User Manual Hev 7 Description Binary Offset 1 LOG See Table 39 Binary This field contains the message 0 binary Message Header Structure on header header page 225 2 port See Table 23 COM Serial Output port Enum H Port Identifiers on page 140 3 message Any valid messag
393. x 4 variable variable CR LF Sentence terminator ASCH only 1 In the binary log case additional bytes of padding are added to maintain 4 byte alignment SPAN SE User Manual Rev 7 261 D 3 14 GPALM Almanac Data 262 This National Marine Electronics Association NMEA log see also Section D 2 NMEA Standard Logs on page 233 outputs raw almanac data for each satellite PRN contained in the broadcast message A separate record is logged for each PRN up to a maximum of 32 records GPALM outputs these messages with contents without waiting for a valid almanac Instead it uses a UTC time calculated with default parameters In this case the UTC time status is set to WARNING since it may not be 100 accurate When a valid almanac is available the receiver uses the real parameters Then UTC time is then set to VALID It takes a minimum of 12 5 minutes to collect a complete almanac following receiver boot up If an almanac was stored in NVM the stored values are reported in the GPALM log once time is set on the receiver lt To obtain copies of ICD GPS 200 seen in the GPALM table footnotes refer to ARINC in the Standards and References section of the GNSS Reference Book available on our website Refer also to NMEA contact information there Message ID 217 Log Type Asynch Recommended Input log gpalm onchanged Example SGPALM 28 01 01 1337 00 305a 90 1b9d fd5b a10ce9 ba0a5e 2 48 1 cccb76 006 001 27 SGPALM 28
394. your vehicle is not stationary during the alignment such as on a ship the Aided Transfer Alignment is the alignment routine to use This is the default alignment for SPAN SE D so the configuration is relatively simple This alignment method uses the ALIGN baseline solution to perform an instantaneous alignment of the vehicle attitude No additional configuration is required for this alignment routine The alignment will happen instantaneously once the receiver establishes communication with the IMU and computes a fixed integer verified ALIGN solution The INS status will remain in INS ALIGNING mode until the aided transfer is complete 45 2 Alignment on a Stationary Vehicle Aided Static Alignment An alternative to the instant transfer alignment the ALIGN heading can be used as a seed for a coarse static alignment In this mode the standard coarse alignment routine will run given the initial azimuth value As with the transfer alignment the first verified fixed RTK solution will be used to provide the alignment seed after which the 60s coarse alignment will begin lt NovAtel recommends the transfer alignment for the dual antenna solution To use this alignment mode the configuration command ALIGNMENTMODE must be sent to the receiver ALIGNMENTMODE AIDED_STATIC SPAN SE User Manual Rev 7 83 Chapter 4 Dual Antenna Functionality 4 5 3 Unaided Alignment 4 6 84 This returns the SPAN system to its default alignment options
395. ype 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 Abbreviated ASCII Example NMEATALKER AUTO lt This command only affects NMEA logs that are capable of an INS position and or velocity output For example GPGSV is for information on GNSS satellites and its output always uses the GP or GN ID Table 30 shows the NMEA logs and whether they use GP or GP IN IDs with nmeatalker auto Table 30 NMEA Messages NMEA Message NMEA Talker Options GLMLA GL GPALM GP GPGGA GP GPGLL GP or IN GPGRS GP or GN GPGSA GP or GN GPGST GP or GN GPGSV GP and GL GPRMB GP or GN GPRMC GP or GN GPVTG GP or IN GPZDA GP GPHDT GP PASHR N A always PASHR SPAN SE User Manual Rev 7 169 Field Field ASCII Binary Description Binary Binary Binary Type Value Value 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 2 ID GP 0 GPS GP only Enum 4 1 GNSS GP GL GN and or Inertial IN 170 SPAN SE User Manual Rev 7 B 4 26 PSRDIFFSOURCE Set the pseudorange correction source This command lets you identify from whi
396. ze bytes 4 Ulong bytes H 12 4 Size packets 4 Ulong packets H 16 5 Date of Last Change 4 Ulong yyyymmdd H 20 6 Time of Last Change 4 Ulong hhmmss H 24 Recommended Input log direnta ontime 30 ASCII Example DIRENTA USB1 5 98 5 FINESTEERING 1635 320403 182 00000001 0000 394 SDLOG GP 2019951634 1972610 20110323 220136 66b5b93c DIRENTA USB1 4 98 5 FINESTEERING 1635 320403 182 00000001 0000 394 SPAN 0 1 G 52700 52 20110324 220806 03 da3c9 DIRENTA USB1 3 98 5 FINESTEERING 1635 320403 182 00000001 0000 394 SPAN 1 1 G 28570 28 20110324 220954 fb3e911le DIRENTA USB1 2 98 5 FINESTEERING 1635 320403 182 00000001 0000 394 SPAN 2 1 G 200454 196 20110510 213028 a9795169 DIRENTA USB1 1 98 5 FINESTEERING 1635 320403 182 00000001 0000 394 SPAN 3 1 G 134452 132 20110510 213902 89e77dd0 DIRENTA USB1 0 98 5 FINESTEERING 1635 320403 182 00000001 0000 394 SPAN 4 1 0G 15008 15 20110510 214156 49d 871 c ES 252 SPAN SE User Manual Rev 7 0 3 9 EXTHDGOFFSET Log the Angular Offset The EXTHDGOFFSET message will be available on the system after you enter both lever arms refer to Section 4 5 on page 82 The angular offsets between the dual antenna baseline and the SPAN computation frame will be computed internally and be available for output via the EXTHDGOFFSET

SPAN-SE User Manual - Borealis Precision

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