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SPAN™ Technology for OEMV

1. Binar Binar Field Field Type Data Description Format y y Offset Bytes 1 Log Header Log header H 0 2 Week GPS Week Ulong 4 H 3 Seconds into Week Seconds from week start Double 8 H 4 4 IMU Status The status of the IMU This field is given in a fixed Long 4 H 12 length n array of bytes in binary but in ASCII or Abbreviated ASCII is converted into 2 character hexadecimal pairs For the raw IMU status of the iIMU FSAS see Table 23 For the raw IMU status of the HG1700 and the LN 200 IMUs see Table 24 Also refer to the Interface Control Documentation as provided by Honeywell and Northorp Grumman respectively 5 Z Accel Output Change in velocity count along z axis Long 4 H 16 6 Y Accel Output Change in velocity count along y axis gt gt Long 4 H 20 7 X Accel Output Change in velocity count along x axis Long 4 H 24 8 Z Gyro Output Change in angle count around z axis Right handed Long 4 H 28 9 Y Gyro Output Change in angle count around y axis Long 4 H 32 Right handed 10 X Gyro Output Change in angle count around x axis Right handed Long 4 H 36 11 XXXX 32 bit CRC Hex 4 H 40 ASCII Binary and Short Binary only 12 CR LF Sentence terminator ASCII only a The change in velocity acceleration scale factor for each IMU type can be found in Table 25 on page 128 Multiply the scale factor in Table 25 by the count in this field for the velocity increments See al
2. a The change in velocity acceleration scale factor for each IMU type can be found in Table 25 on page 128 Multiply the scale factor in Table 25 by the count in this field for the velocity increments in m s See also Table I on page 21 for a list of IMU enclosures b A negative value implies that the output is along the positive Y axis marked on the IMU A positive value implies that the change is in the direction opposite to that of the Y axis marked on the IMU c The change in angle gyro scale factor can be found in Table 25 on page 128 Multiply the appropriate scale factor in Table 25 by the count in this field for the angle increments in radians SPAN Technology for OEMV User Manual Rev 7 127 Recommended Input log rawimusa onnew ASCII Example SRAWIMUSA 1105 425384 180 1105 425384 156166800 111607 43088060 430312 3033352 132863 186983 823 5aa97065 Table 25 Raw IMU Scale Factors i 1700 AG17 l le E 1700 AG62 IMU FSAS Gyroscope 2 08 rad LSB 2 07 rad LSB 219 rad LSB 0 1x 2 arcsec LSB Scale Factor SEU 2 027 ft s LSB 2 02 ft s LSB 214 m s LSB 0 05 x 215 m s LSB Scale Factor 128 SPAN Technology for OEMV User Manual Rev 7 C 2 23 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 log contains information fro
3. Recommended Input log mark1pva onnew Abbreviated ASCII Example MARK1PVA USB1 0 51 5 EXACT 1481 251850 001 00040000 46f4 3388 1481 251850 001000000 51 116573435 114 037237211 1040 805671970 0 000257666 0 003030102 0 000089758 3 082229474 1 019023628 89 253955744 INS_SOLUTION_GOOD SPAN Technology for OEMV User Manual Rev 7 C 2 19 MARK2PVA Position Velocity and Attitude at Mark2 This log outputs position velocity and attitude information with respect to the SPAN frame when an event was received on the Mark2 input lt This log and the SETMARK20FFSET command are not immediately available to iIMU FSAS users If you are an iIMU FSAS user and wish to use the Mark2 event trigger contact NovAtel Customer Service Contact information is on page 15 Structure Message ID 1068 Log Type Synch Field Field Type Description Format Bytes pee 1 Log Header Log header H 0 2 Week GPS Week at Mark request Ulong 4 H 3 Seconds Seconds from week at Mark2 Double 8 H 4 4 Latitude Latitude WGS84 at Mark2 Double 8 H 12 5 Longitude Longitude WGS84 at Mark2 Double 8 H 20 6 Height Height WGS84 at Mark2 Double 8 H 28 7 North Velocity Velocity in a northerly direction a ve value Double 8 H 36 implies a southerly direction at Mark2 8 East Velocity Velocity in an easterly direction a ve value Double 8 H 44 implies a westerly direction at Mark2 9 Up Velocity V
4. Structure Message ID 1177 Log TypeSynch Field Structure Feild Description Symbol Example 1 PASHR Log Header a PASHR 2 Time UTC Time hhmmss ss 195124 00 3 Heading Heading value in decimal degrees HHH HH 305 30 4 True Heading T displayed if heading is relative to true T T north 5 Roll Roll in decimal degrees The sign will RRR RR 0 05 always be displayed 6 Pitch Pitch in decimal degrees The sign PPP PP 0 13 will always be displayed 7 Reserved gt gt s sass 8 Roll Accuracy Roll standard deviation in decimal rr rrr 0 180 degrees 9 Pitch Accuracy Pitch standard deviation in decimal PP PPP 0 185 degrees 10 Heading Accuracy Heading standard deviation in decimal hh hhh 4 986 degrees 11 GPS Update 0 No position 1 1 1 All non RTK fixed integer positions Quality Flag 2 RTK fixed integer positon 12 Checksum Checksum XX 2B 13 CR LF Sentence terminator CR LF Recommended Input log pashr ontime 1 Example SPASHBR 1 rrrrrrr0 68 empty SPASHR 195124 00 305 30 T 0 05 0 13 0 180 0 185 4 986 1 2B SPAN Technology for OEMV User Manual Rev 7 C 2 21 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 127 Structure Message ID 268 Log Type Asynch
5. ___ _ _ _ _ 186 7 _1 Figure 21 HG1700 Enclosure Side Dimensions Scale 0 600 Note The Center of Navigation shown on the HG1700 label for the internal IMU is the same as the enclosure s center The enclosure center measurements are labelled as IMU Enclosure Center in this figure 61 SPAN Technology for OEMV User Manual Rev 7 A 3 1 HG1700 IMU Interface Cable The IMU interface cable supplied provides power to the IMU from an external power source and enables input and output between the receiver and IMU It is the same as the cable supplied with the A 3 2 PERFORMANCE IMU 62 LN 200 see Figure 10 on page 49 IMU Performance Gyro Rate Bias IMU H58 Gyro Input Range 1000 degrees s Gyro Rate Bias 1 0 degree hr Gyro Rate Scale Factor 150 ppm Angular Random Walk 0 125 degrees rt hr Accelerometer Range 50g Accelerometer Linearity 500 ppm Accelerometer Scale Factor 300 ppm Accelerometer Bias 1 0 mg IMU H62 Gyro Input Range 1000 degrees s 5 0 degrees hr 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 SPAN Technology for OEMV User Manual Rev 7 A 3 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 R
6. i Deutsch 13 Pin to IMU DB 9 Female to Receiver S1 N C e PAIRED Sa 3 S7 S4 N C S5 S5 S6 N C a PAIRED 5 S8 S2 59 2 WIRES al S9 S6 10 N C S11 PAIRED N C S12 N C S13 N C Figure 11 IMU Interface Cable Pin Out ProPak V3 SPAN Technology for OEMV User Manual Rev 7 49 A 1 2 LN 200 IMU Power Adapter Cable The power adapter cable NovAtel part number 01017821 supplied with the LN 200 provides a convenient means for supplying 12 VDC while operating from a 12V source Figure 12 shows the cable and Figure 13 the wiring diagram of the 12V adapter The output of the power adapter uses a 3 pin Deutsch socket Deutsch part number 59064 09 98SN This cable plugs directly into the 3 pin port on the front of the LN 200 enclosure Figure 12 LN 200 Power Cable l P at jeer mt Ge 100010 100 2000 o 2 6 3 AAA ne A 4 B _ had C J roan er A x Reference Description Reference Description 1 3 pin Deutsch connector A Black 12V adapter B Red Outer contact C White Natural 3 amp slow blow fuse Center contact Foil shield Figure 13 IMU Power Cable Pin Out ook WwW PP 50 SPAN Technology for OEMV User Manual Rev 7 A 1 3 IMU Performance PERFORMANCE IMU IMU LN200 Gyro Input
7. SPAN Technology for OEMV USER MANUAL OM 20000104 Rev 7 Proprietary Notice SPAN Technology for OEMV User Manual Publication Number OM 20000104 Revision Level 7 Revision Date 2009 09 03 This manual reflects SPAN for OEMV firmware version SPAN3 620 Proprietary Notice Information in this document is subject to change without notice and does not represent a commitment on the part of NovAtel Inc The software described in this document is furnished under a licence agreement or non disclosure agreement The software may be used or copied only in accordance with the terms of the agreement It is against the law to copy the software on any medium except as specifically allowed in the license or non disclosure agreement No part of this manual may be reproduced or transmitted in any form or by any means electronic or mechanical including photocopying and recording for any purpose without the express written permission of a duly authorized representative of NovAtel Inc The information contained within this manual is believed to be true and correct at the time of publication NovAtel OEMV CDU ProPak RT 20 and RT 2 are registered trademarks of NovAtel Inc SPAN DL V3 ProPak V3 and PAC are trademarks of NovAtel Inc All other product or brand names are trademarks of their respective holders Manufactured and protected under U S Patent Narrow Correlator 5 101 416 5 390 207 5 495 499 5 809 064 PAC Corre
8. WARNING Ensure the Control Panel s Power Settings on your PC are not set to go into Hibernate or Standby modes Data will be lost if one of these modes occurs during a logging session 3 1 Definition of Reference Frames Within SPAN The reference frames that are most frequently used throughout this manual are the following The Local Level Frame e The SPAN Body Frame The Enclosure Frame The Vehicle Frame 3 1 1 The Local Level Frame ENU The definition of the local level coordinate frame is as follows e z axis pointing up aligned with gravity e y axis pointing north e X axis pointing east North N Figure 5 Local Level Frame ENU SPAN Technology for OEMV User Manual Rev 7 33 Chapter 3 SPAN Operation 3 1 2 The SPAN Body Frame The definition of the SPAN body frame is as follows e z axis pointing up aligned with gravity e y axis defined by how user has mounted the IMU e x axis defined by how user has mounted the IMU To determine your SPAN x axis and y axis see Table 16 on page 79 This frame is also known as the computation frame and is the frame where all the mechanization equations are computed 3 1 3 The Enclosure Frame The definition of the enclosure frame is defined on the IMU and represents how the sensors are mounted in the enclosure If the IMU is mounted with the z axis as marked on the IMU enclosure pointing up the IMU enclosure frame is the same as the SPAN frame
9. This origin of this frame is not the enclosure center but the Center of Navigation sensor center Figure 6 The Enclosure Frame 3 1 4 The Vehicle Frame The definition of the vehicle frame is as follows e z axis points up through the roof of the vehicle perpendicular to the ground e y axis points out the front of the vehicle in the direction of travel e x axis completes the right handed system out the right hand side of the vehicle when facing forward See the VEHICLEBODYROTATION Vehicle to SPAN frame Rotation on page 91 for information on entering the rotation into the system and see the RVBCALIBRATE Vehicle to Body Rotation Control on page 76 for information on calculating this rotation 34 SPAN Technology for OEMV User Manual Rev 7 SPAN Operation Chapter 3 i e e gt Figure 7 Vehicle Frame 3 2 Communicating with the SPAN System Once the receiver is connected to the PC antenna and power supply install NovAtel s OEMV PC Utilities CDU and Convert You can find installation instructions in your receiver s Quick Start Guide Alternatively you can use a terminal emulator program such as HyperTerminal to communicate with the receiver Refer also to 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 defaul
10. 0 NONE No solution 1 FIXEDPOS Position has been fixed by the FIX POSITION command or by position averaging 2 FIXEDHEIGHT Position has been fixed by the FIX HEIGHT or FIX AUTO command or by position averaging 3 Reserved 4 FLOATCONV Solution from floating point carrier phase ambiguities 5 WIDELANE Solution from wide lane ambiguities 6 NARROWLANE Solution from narrow lane ambiguities T Reserved 8 DOPPLER_VELOCITY Velocity computed using instantaneous Doppler 9 15 Reserved 16 SINGLE Single point position 17 PSRDIFF Pseudorange differential solution 18 WAAS Solution calculated using corrections from an SBAS 19 PROPOGATED Propagated by a Kalman filter without new observations 20 OMNISTAR OmniSTAR VBS position L1 sub meter 21 31 Reserved 32 L1_FLOAT Floating L1 ambiguity solution 33 IONOFREE_FLOAT Floating ionospheric free ambiguity solution 34 NARROW_FLOAT Floating narrow lane ambiguity solution 48 L1_INT Integer L1 ambiguity solution 49 WIDE_INT Integer wide lane ambiguity solution 50 NARROW_INT Integer narrow lane ambiguity solution Continued on page 100 SPAN Technology for OEMV User Manual Rev 7 99 100 Position Type Position Type binary ASCII Description 51 RTK_DIRECT_INS RTK status where the RTK filter is directly initialized from the INS filter P 52 INS INS calculated position corrected for the antenna p 53 INS_PSRSP INS pseudorange single point solution no DGPS
11. 9 CR LF Sentence terminator ASCII only Recommended Input log timedwheeldataa onnew ASCII Example This example is from the iMAR iMWS wheel sensor TIMEDWHEELDATAA 1393 411345 001 58 0 215 814910889 0 0 1942255 3b5fa236 SPAN Technology for OEMV User Manual Rev 7 129 C 2 24 VEHICLEBODYROTATION Vehicle to SPAN frame Rotation The VEHICLEBODYROTATION log reports the angular offset from the vehicle frame to the SPAN frame The SPAN frame is defined by the transformed IMU enclosure axis with Z pointing up see the SETIMUORIENTATION command on page 77 If your IMU is mounted with the Z axis as marked on the IMU enclosure pointing up the IMU enclosure frame is the same as the SPAN frame See the syntax table in Section B 2 19 VEHICLEBODYROTATION Vehicle to SPAN frame Rotation starting on page 91 for more information Recommended Input log vehiclebodyrotationa onchanged ASCII Example VEHICLEBODYROTATIONA COM1 0 36 5 FINESTEERING 1264 144170 094 00000000 bcf2 1541 1 5869999997474209 2 6639999995760122 77 6649999876392343 2 000000000000 0000 2 0000000000000000 5 0000000000000000 25 886cc 130 SPAN Technology for OEMV User Manual Rev 7 C 2 25 WHEELSIZE Wheel Size This log contains wheel sensor information The inertial Kalman filter models the size of the wheel to compensate for changes in wheel circumference due to hardware or environmental changes The default wheel size is 1
12. CA 91367 iMar iMAR GmbH Im Reihersbruch 3 D 66386 St Ingbert Germany Honeywell Honeywell International Inc 2600 Ridgway Parkway Ridgway is really not spelled with an e Minneapolis MN 55413 When returning a Litton or Honeywell IMU from outside the U S follow these steps a Include a copy of the original U S export permit with it b Send the unit to Litton or Honeywell with the following wording on the documentation Shipped in accordance with 22 CFR 123 4 a 1 using air transport and not a carrier service The repaired or replaced device will be returned to you under this same CFR exemption c Identify the paperwork with the value of the hardware the country of origin as U S and the Incoterms if applicable for example FOB FAS CIF Ex Works d Lastly please clearly note on the paperwork to notify upon receipt Honeywell s customs broker EXPIDITORS or for Litton FOR CUSTOMS CLEARANCE BY FedEx Trade Networks 19601 Hamilton Ave Torrance CA 90502 1309 U S A SPAN Technology for OEMV User Manual Rev 7 13 14 Warranty Policy NovAtel warrants that during the Warranty Period that a the Product will be free from defects in material and workmanship and conform to NovAtel specifications and b the software will be free from error which materially affect performance THESE WARRANTIES ARE EXPRESSLY IN LIEU OF ALL OTHER WARRANTIES EXPRESS OR IMPLIED INCLUDING WITHOUT LIMITATION ALL IM
13. SPAN Technology for OEMV User Manual Rev 7 C 2 12 INSPVAS Short INS Position Velocity and Attitude This log allows INS position velocity and attitude with respect to the SPAN frame to be collected in one log instead of using three separate logs See the INSATT log on page 105 for an explanation of how the SPAN frame may differ from the IMU enclosure frame Structure Message ID 508 Log Type Synch Field Field Type Description Format Bytes Binary 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 ve Double 8 H 36 value implies a southerly direction 8 East Velocity Velocity in an easterly direction a ve Double 8 H 44 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 38 Enum 4 H 84 14 XXXX 32 bit CRC Hex 4 H 88 15 CR LF Sentence Terminator ASCII only Recommended Inp
14. User supplied NovAtel GPS antenna LN 200 HG1700 or iIMU FSAS IMU and IMU interface cable to the port labelled AUX on the Propak V3 With the iIMU you must also plug in the interface cable to the ProPak s I O port and to power User supplied power supply ProPak V3 SPAN 1 9 to 18 V DC ProPak V3 base 6 9 to 18 VDC Separate supply for IMU 3 see Table 3 on page 27 User supplied radio device to COM2 User supplied base station OEMV Family receiver User supplied PC for setting up and monitoring to COM1 Figure 3 Basic Set Up SPAN Technology for OEMV User Manual Rev 7 23 Chapter 2 SPAN Installation The sections that follows outline how to set up the system s parts and cables See Appendix A Technical Specifications starting on page 47 and refer to the OEMV Family Installation and Operation User Manual for the NovAtel part numbers of ProPak V3 cables and their pinouts lt Use a USB cable to log raw data Serial communication is fine for configuring and monitoring the SPAN through Hyperterminal or CDU USB is required if you have a post processing application requiring 200 Hz IMU data We also recommend you use CDU to collect the data 2 1 1 SPAN System Receivers Data storage when using a ProPak V3 is done using a laptop computer connected to the receiver through either the serial or USB ports The back panel of the ProPak V3 is shown in Figure 4 The ProPak V3 uses DB9 COM connectors Figure 4 Receiver
15. are defined with an S RAWIMUSB rather than RAWIMUB We recommend you use these logs instead of the standard header logs to save throughput on the COM port Status of the inertial solution can be monitored using the inertial status field in the INS logs Table 5 below Table 5 Inertial Solution Status Binary ASCII Description 0 INS_INACTIVE IMU logs are present but the alignment routine has not started INS is inactive 1 INS_ ALIGNING INS is in alignment mode 2 INS_SOLUTION_NOTGOOD The INS solution is still being computed but the azimuth solution uncertainty has exceed 2 degrees The solution is still valid but you should monitor the solution uncertainty in the INSCOV log You may encounter this state during times when the GPS used to aid the INS is absent 2 3 INS_SOLUTION_GOOD The INS filter is in navigation mode and the INS solution is good 6 INS_BAD_GPS_AGREEMENT The INS filter is in navigation mode and the GPS solution is suspected to be in error This may be due to multipath or limited satellite visibility The inertial filter has rejected the GPS position and is waiting for the solution quality to improve 7 INS_ALIGNMENT_COMPLETE The INS filter is in navigation mode but not enough vehicle dynamics have been experienced for the system to be within specifications a See also the Frequently Asked Question appendix question 8 on page 146 38 SPAN Technology for OEMV User M
16. 97 R RAWIMU 123 RAWIMUS 127 real time kinematic RTK 97 149 Index 150 receiver interface 69 replacement parts 147 reset hardware 66 response 69 revision manual 2 152 roll 77 80 104 105 rotation 65 76 RTCA 69 70 RTCM 70 RTCMV3 70 RVB see vehicle to body rotation RVBCALIBRATE 76 S scope 17 serial port 69 70 set up hardware 23 SETIMUORIENTATION 77 SETIMUTOANTOFFSET 80 SETIMUTYPE 81 SETINSOFFSET 87 90 93 SETMARKI1OFFSET 88 SETMARK20FFSET 89 SETWHEELPARAMETERS 90 short binary header 94 95 SPAN frame 77 speed 103 115 status 97 102 support 15 synchronise INS with GPS 112 T technical specifications 47 51 59 62 63 time synchronised 112 TIMEDWHEELDATA 129 track over ground 103 transmit 69 troubleshooting 145 true north 103 U undulation 97 up 117 118 update or upgrade firmware 15 USB port 71 using a command as a log 64 Vv vector values 118 vehicle to body rotation RVB 65 76 VEHICLEBODYROTATION 91 130 velocity 87 113 best 102 computation 118 INS 67 107 limit 101 mark 120 121 W warranty 13 Web site 15 wheel sensor data 93 129 messages 44 odometer 56 set 90 wheel size 131 WHEELSIZE 131 WHEELVELOCITY 93 Z Zero Velocity Update ZUPT 72 SPAN Technology for OEMV User Manual Rev 7 Index SPAN Technology for OEMV User Manual Rev 7 151 amp amp NovAtel Recyclable Printed in Canada on recycled paper OM 200001
17. GPS velocity vector and injecting it into the SPAN filter as the initial system attitude See also Section 3 3 1 System Start Up and Alignment Techniques starting on page 39 for more details on coarse and fast alignments SPAN Technology for OEMV User Manual Rev 7 31 Chapter 2 SPAN Installation 23 3 Configuration Command Summary This section gives a brief recap of the commands necessary to get the SPAN system running 1 Issue the INTERFACEMODE command to specify the receiver port connected to the IMU see Table 4 on page 28 and the INTERFACEMODE command on page 69 interfacemode com3 imu imu off 2 Issue the SETIMUTYPE command to specify the type of IMU being used see Table 4 on page 28 and the SETIMUTYPE command on page 81 setimutype imu_1n200 3 Issue the SETIMUTOANTOFFSET command to enter the distance from the IMU to the GPS antenna see page 80 setimutoantoffset 0 1 0 1 0 1 0 01 0 01 0 01 32 SPAN Technology for OEMV User Manual Rev 7 Chapter 3 SPAN Operation Before operating your SPAN system ensure that you have followed the installation and setup instructions in Chapter 2 SPAN Installation starting on page 23 You can use NovAtel s CDU software to configure receiver settings and to monitor data in real time between a rover SPAN system and base station SPAN system output is compatible with post processing software from NovAtel s Waypoint Products Group Visit our Web site at www novatel com for details
18. Offset 1 header This field contains the command H 0 name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 port See Table 14 COM Serial port identifier Enum 4 H Serial Port Identifiers default THISPORT on page 71 3 rxtype See Table 13 Serial Receive interface mode Enum 4 H 4 _ Port Interface Modes 4 txtype on page 70 Transmit interface mode Enum 4 H 8 5 responses OFF 0 Turn response generation off Enum 4 H 12 ON 1 Turn response generation on default ASCII Example INTERFACEMODE COM1 RTCA NOVATEL ON SPAN Technology for OEMV User Manual Rev 7 69 70 Table 13 Serial Port Interface Modes Binary Value ASCII Mode Name Description 0 NONE The port accepts generates nothing 1 NOVATEL The port accepts generates NovAtel commands and logs 2 RTCM The port accepts generates RTCM corrections 3 RTCA The port accepts generates RTCA corrections 4 CMR The port accepts generates CMR corrections 5 6 Reserved 7 IMU This port supports communication with a NovAtel supported IMU 8 RTCMNOCR RTCM with no CR LF appended 9 CDGPS The port accepts GPS C data p 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
19. Range 1000 degrees s Gyro Rate Bias 1 hr Gyro Rate Scale Factor 100 ppm Angular Random Walk 0 07 degrees rt hr Accelerometer Range 40g Accelerometer Linearity Accelerometer Scale Factor 300 ppm Accelerometer Bias 0 3 mg A 1 4 Electrical and Environmental ELECTRICAL IMU Power Consumption 16 W max IMU Input Voltage 12 to 28 V DC Receiver Power Consumption ProPak V3 2 8 W typical System Power Consumption ProPak V3 14 8 W typical Data Connector on Enclosure 13 pin Deutsch P N 59065 11 35PF Power Connector on Enclosure 3 pin Deutsch P N 59065 09 98PN 2 6 to 18 VDC IMU Interface RS 232 or RS 422 ENVIRONMENTAL LN 200 IMU Temperature Operating 30 C to 60 C 22 F to 140 F Storage 45 C to 80 C 49 F to 176 F Humidity 95 non condensing a For replacement connectors on the interface or power cables see Section H 3 Manufacturer s Part Numbers on page 147 SPAN Technology for OEMV User Manual Rev 7 A 2 ilIMU FSAS Table 8 IMU 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 as M6x1 6H 12deep 4x Figure 14 IMU FSAS Top Bottom Dimensions a See Figure 16 on page 54 for the centre of navigation dimensions b Dimensions are in mm 52 SPAN Technology for OEMV User Manual Rev 7 HULL IUUUUUU UUUUUD PAULL 1001 l gt SUUUUUU UU
20. SHALL NOT APPLY TO PRODUCTS DESIGNATED BY NOVATEL AS BETA SITE TEST SAMPLES EXPERIMENTAL DEVELOPMENTAL PREPRODUCTION SAMPLE INCOMPLETE OR OUT OF SPECIFICATION PRODUCTS OR TO RETURNED PRODUCTS IF THE ORIGINAL IDENTIFICATION MARKS HAVE BEEN REMOVED OR ALTERED THE WARRANTIES AND REMEDIES ARE EXCLUSIVE AND ALL OTHER WARRANTIES EXPRESS OR IMPLIED WRITTEN OR ORAL INCLUDING THE IMPLIED WARRANTIES OF MERCHANTABILITY OR FITNESS FOR ANY PARTICULAR PURPOSE ARE EXCLUDED NOVATEL SHALL NOT BE LIABLE FOR ANY LOSS DAMAGE EXPENSE OR INJURY ARISING DIRECTLY OR INDIRECTLY OUT OF THE PURCHASE INSTALLATION OPERATION USE OR LICENSING OR PRODUCTS OR SERVICES IN NO EVENT SHALL NOVATEL BE LIABLE FOR SPECIAL INDIRECT INCIDENTAL OR CONSEQUENTIAL DAMAGES OF ANY KIND OR NATURE DUE TO ANY CAUSE There are no user serviceable parts in the GPS receiver and no maintenance is required When the status code indicates that a unit is faulty replace with another unit and return the faulty unit to NovAtel Inc Before shipping any material to NovAtel or Dealer please obtain a Return Material Authorization RMA number from the point of purchase Once you have obtained an RMA number you will be advised of proper shipping procedures to return any defective product When returning any product to NovAtel please return the defective product in the original packaging to avoid ESD and shipping damage SPAN Technology for OEMV User M
21. Table 20 Position or Velocity Enum 4 H 4 Type on page 99 4 Latency A measure of the latency in the velocity time tagin Float 4 H 8 seconds It should be subtracted from the time to give improved results 5 Age Differential age Float 4 H 12 6 Hor Spd Horizontal speed over ground in metres per second Double 8 H 16 7 Trk Gnd Actual direction of motion over ground track over Double 8 H 24 ground with respect to True North in degrees 8 Vert Spd Vertical speed in metres per second where Double 8 H 32 positive values indicate increasing altitude up and negative values indicate decreasing altitude down 9 Reserved Float 4 H 40 10 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 44 11 CR LF Sentence terminator ASCII only Recommended Input log bestgpsvela ontime 1 ASCII Example BESTGPSVELA COM1 0 62 5 FINESTEERING 1049 247755 000 00000128 7e3 0 SOL_COMPUTED SINGLE 0 250 0 000 0 1744 333 002126 0 3070 6 0082 dfdc635c SPAN Technology for OEMV User Manual Rev 7 103 C 23 BESTLEVERARM IMU to Antenna Lever Arm This log contains the distance between the IMU and the GPS antenna in the IMU enclosure frame and its associated uncertainties If the you enter the lever arm through the SETIMUTOANTOFFSET command see page 80 these values are reflected in this log When the lever arm calibration is complete see the LEVERARMCALIBRATE command on page 73 the solved values are also output in this
22. UU Figure 15 il MU FSAS Enclosure Side Dimensions 53 SPAN Technology for OEMV User Manual Rev 7 accelerometer intersection point Figure 16 il MU FSAS Centre of Navigation accelerometer intersec 4 05 1 accelerometer inter SPAN Technology for OEMV User Manual Rev 7 54 A 2 1 iIMU FSAS Interface Cable The NovAtel part number for the 1 m i MU FSAS interface cable is 60723086 for the ProPak V3 see Table 9 below and Figure 19 iIMU FSAS Interface Cable on page 58 See also Section A 2 2 IMU FSAS Odometer Cabling on page 56 if applicable The IMU interface cable supplied provides power to the IMU from an external power source and enables input and output between the receiver and IMU Table 9 IMU Interface Cable Pin Out MIL C Female Male Male 38999 III Function DB9to DBY9 DB9to Comments Connector Pin com3 tol0O ODO 1 PGND Color black Power ground Label PGND 2 ODO_AN 7 Odometer input A opto coupler 2 to 6 V RS 422 compatible 3 Vin Color red 10 to 34 VDC Label 10 34 VDC 4 ODO_A 6 Odometer input A opto coupler 2 to 6 V RS 422 compatible 5 6 Reserved 7 DAS land6 Shielded data acquisition signal LVTTL to VARF 8 Reserved 9 DAS_GND 9 Shielded ground reference for data acquisition and control signals 10 Reserved 11 DON 8 Twisted pair serial data output signal RS 422 12 DO 2 Twisted pair serial data output signal RS 422
23. application note on Using a Wheel Sensor with SPAN NovAtel part number APN 036 available on our Web site at http www novatel com support applicationnotes htm Abbreviated ASCII Example WHEELVELOCITY 123 8 10000040 WHEELVELOCITY 123 8 10000080 WHEELVELOCITY 123 8 100000 120 The above are for a vehicle traveling at a constant velocity with these wheel sensor characteristics Wheel Circumference 2m Vehicle Velocity assumed constant for this example 10 m s Ticks Per Revolution 8 Cumulative Ticks Per Second 10 m s 8 ticks rev 2 m rev 40 Latency between 1PPS and measurement from wheel sensor hardware 123 ms 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 wish to use wheel velocities in post processing fill Fields 4 and 6 with meaningful values otherwise leave as zeroes SPAN Technology for OEMV User Manual Rev 7 93 Noo e EINS Logs The INS specific logs follow the same general logging scheme as normal OEMV Family logs They are available in ASCII or binary formats and are defined as being either synchronous or asynchronous All the logs in this chapter can be used only with the SPAN system For information on
24. be onward delivered except as incorporated in the Purchaser s end product 4 COPYRIGHT AND CONFIDENTIALITY Copyright in any specification drawing computer software technical description and other document supplied by NovAtel under or in connection with the Order and all intellectual property rights in the design of any part of the Equipment or provision of services whether such design be registered or not shall vest in NovAtel absolutely The Buyer shall keep confidential any information expressed or confirmed by NovAtel in writing to be confidential and shall not disclose it without NovAtel s prior consent in SPAN Technology for OEMV User Manual Rev 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
25. into the SPAN filter as the initial system attitude Currently this alignment routine is meant only for ground based vehicles The assumptions used for the alignment may not hold for marine or airborne applications For the kinematic alignment routine to work optimally the course over ground s azimuth and pitch must match the IMU enclosure s SPAN Technology for OEMV User Manual Rev 7 39 Chapter 3 SPAN Operation azimuth and pitch For example a plane being blown in the wind has a a large crab angle and the course over ground trajectory will not match the direction the IMU is pointing Additional configuration parameters are necessary to enable the kinematic alignment In order to simplify this configuration it is strongly suggested that you mount the IMU in parallel to the vehicle frame The Y axis marked on the IMU enclosure should point in the direction of travel Specify which IMU axes are most closely aligned with gravity using the SETIMUORIENTATION command If the IMU is mounted with the Z axis up and the Y axis pointing in the direction of travel then the command would be SETIMUORIENTATION 5 Specify the angular offsets between the SPAN frame and the vehicle frame known as vehicle body rotation or RVB using the VEHICLEBODYROTATION command see page 91 If the IMU is mounted coincidentally with the vehicle frame defined as z up and y pointing in the direction of travel then the command would be VEHICLEBODYROTATI
26. log BESTLEVERARM see page 104 using the ONCHANGED trigger 8 Remain stationary long enough for the coarse alignment to finish The alignment is complete when the INS status changes to INS_ALIGNMENT_COMPLETE See also Table 5 on page 38 9 Start to move the system The lever arm is not observable while the system is stationary Immediately drive a series of manoeuvres such as figure eights The turns should alternate between directions and you should make an equal number of turns in each direction Some height variation in the route is also useful for providing observability in the Z axis When the calibration is complete either because the specified time has passed or the accuracy requirement has been met the BESTLEVERARM log outputs the solved lever arm The lever arm is saved automatically in non volatile memory If the IMU or GPS antenna are re mounted the calibration routine should be re run to compute an accurate lever arm 3 3 5 Vehicle to SPAN frame Angular Offsets Calibration Routine Kinematic fast alignment requires that the angular offset between the 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 91 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 t
27. non transferable license not a sale to where the Software will be used on NovAtel supplied hardware or in conjunction with other NovAtel supplied software use the Software with the product s as supplied by NovAtel You agree not to use the Software for any purpose other than the due exercise of the rights and licences hereby agreed to be granted to you 2 Copyright NovAtel owns or has the right to sublicense all copyright trade secret patent and other proprietary rights in the Software and the Software is protected by national copyright laws international treaty provisions and all other applicable national laws You must treat the Software like any other copy righted material except that you may make one copy of the Software solely for backup or archival pur poses one copy may be made for each piece of NovAtel hardware on which it is installed or where used in conjunction with other NovAtel supplied software the media of said copy shall bear labels showing all trademark and copyright notices that appear on the original copy You may not copy the product manual or written materials accompanying the Software No right is conveyed by this Agree ment for the use directly indirectly by implication or otherwise by Licensee of the name of NovAtel or of any trade names or 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 NovAte
28. not correspond to other definitions of the terms pitch roll and azimuth If your IMU s z axis as marked on the enclosure is not pointing up the output attitude will be with respect to the SPAN computational frame and not the frame marked on the enclosure See the SETIMUORIENTATION command to determine what the SPAN computation frame will be given how your IMU is mounted Structure Message ID 263 Log Type Synch Binary Binary Field Field Type Data Description Format Bytes Offset 1 Log Header Log header H 0 2 Week GPS Week Ulong 4 H 3 Seconds into Week Seconds from week start Double 8 H 4 4 Roll Right handed rotation from local level Double 8 H 12 around y axis in degrees 5 Pitch Right handed rotation from local level Double 8 H 20 around x axis in degrees 6 Azimuth Left handed rotation around z axis Double 8 H 28 Degrees clockwise from North 7 Status INS status see Table 5 on page 38 Enum 4 H 36 8 XXXX 32 bit CRC ASCII Binary and Short Hex 4 H 40 Binary only 9 CR LF Sentence terminator ASCII only Recommended Input log insatta ontime 1 ASCII Example INSATTA COM3 0 0 0 EXACT 1105 425385 000 00040000 0638 0 1105 425384 996167250 4 822147742 0 035766158 123 262113519 INSSolutionGood 3563a760 lt The structure of the INSATT log is different in this firmware version 1 3 than in any earlier beta versions This is because the
29. order of the roll and pitch fields have been reversed SPAN Technology for OEMV User Manual Rev 7 105 C 2 5 INSATTS Short INS Attitude 106 This is a short header version of the INSATT log on page 105 Structure Message ID 319 Log Type Synch Binary Binary Field Field Type Data Description Format Bytes Offset 1 Log Header Log header H 0 2 Week GPS Week Ulong 4 H 3 Seconds into Seconds from week start Double 8 H 4 Week 4 Roll Right handed rotation from local Double 8 H 12 level around y axis in degrees 5 Pitch Right handed rotation from local Double 8 H 20 level around x axis in degrees 6 Azimuth Left handed rotation around z axis Double 8 H 28 Degrees clockwise from North 7 Status INS status see Table 5 on page 38 Enum 4 H 36 8 XXXX 32 bit CRC ASCII Binary and Short Hex 4 H 40 Binary only 9 CR LF Sentence terminator ASCII only Recommended Input log insattsa ontime 1 ASCII Example INSATTSA 1105 425385 000 1105 425384 996167250 4 822147742 0 035766158 123 262113519 INSSolutionGood 3563a760 lt The structure of the INSATTS log is different in this firmware version 1 3 than in any earlier beta versions This is because the order of the roll and pitch fields have been reversed SPAN Technology for OEMV User Manual Rev 7 C 2 6 INSCOV INS Covariance Matrices The position attitude and velocity matrices in this log each contai
30. other available logs and output logging please refer to the OEMV Family Firmware Reference Manual One difference from the standard OEMV Family logs is that there are two possible headers for the ASCII and binary versions of the logs Which header is used for a given log is described in the log definitions in this chapter The reason for having the alternate short headers is that the normal OEMV 3 binary header is quite long at 28 bytes This is nearly as long as the data portion of many of the INS logs and creates excess storage and baud rate requirements Note that the INS related logs contain a time tag within the data block in addition to the time tag in the header The time tag in the data block should be considered the exact time of applicability of the data All the described INS logs except the INSCOV INSPOSSYNC and INSUPDATE can be obtained at rates up to 100 or 200 Hz depending on your IMU subject to the limits of the output baud rate The covariance log is available once per second lt 1 Each log ends with a hexadecimal number preceded by an asterisk and followed by a line termination using the carriage return and line feed characters for example 1234ABCD CR LF This value is a 32 bit CRC of all bytes in the log excluding the or identifier and the asterisk preceding the four checksum digits See also Section C 1 Description of ASCII and Binary Logs with Short Headers on page 95 2 The highest rate that you should r
31. positioning requires line of site view to at least four satellites simultaneously If these criteria are met differential GPS positioning can be accurate to within a few centimetres If however some or all of the satellite signals are blocked the accuracy of the position reported by GPS degrades substantially or may not be available at all In general an INS uses forces and rotations measured by an IMU to calculate position velocity and attitude This capability is embedded in the firmware of OEMV 3 series of receivers Forces are measured by accelerometers in three perpendicular axes within the IMU and the gyros measure angular rotation rates around those axes Over short periods of time inertial navigation gives very accurate acceleration velocity and attitude output The INS must have prior knowledge of its initial position initial velocity initial attitude Earth rotation rate and gravity field Since the IMU measures changes in orientation and acceleration the INS determines changes in position and attitude but initial values for these parameters must be provided from an external source Once these parameters are known an INS is capable of providing an autonomous solution with no external inputs However because of errors in the IMU measurements that accumulate over time an inertial only solution degrades with time unless external updates such as position velocity or attitude are supplied The SPAN system s combined GPS INS solution
32. rate of 5 Hz when running SPAN Only INS specific logs documented in Appendix C INS Logs starting on page 94 should be logged at rates higher than 5 Hz when running SPAN What will happen to the INS solution when I lose GPS satellite visibility When GPS tracking is interrupted the INS GPS solution bridges through the gaps with what is referred to as free inertial navigation The IMU measurements are used to propagate the solution Errors in the IMU measurements accumulate over time to degrade the solution accuracy For example after one minute of GPS outage the horizontal position accuracy is approximately 2 5 m when using an HG1700 AGS58 The SPAN solution continues to be computed for as long as the GPS outage lasts but the solution uncertainty increases with time This uncertainty can be monitored using the INSCOV log see page 107 SPAN Technology for OEMV User Manual Rev 7 NT DAM Replacement Parts The following are a list of the replacement parts available Should you require assistance or need to order additional components please contact your local NovAtel dealer or Customer Service H 1 SPAN System IMUs see Table 1 SPAN Compatible Receiver and IMU Models on page 21 for details IMU H58 IMU H62 IMU LN200 IMU FSAS El Receivers see Table 1 SPAN Compatible Receiver and IMU Models on page 21 for details ProPak V3 ProPak V3 to LN 200 IMU interface cable see Figure 10 on page 49 0101737
33. responded to and the response is a binary message 19 IMARIMU This port supports communication with an iMAR IMU a An output interfacemode of RTCMNOCR is identical to RTCM but with the CR LF appended An input interfacemode of RTCMNOCR is identical to RTCM and functions with or without the CR LF b CDGPS has three options for output of differential corrections NMEA RTCM and GPS C If you have a ProPak V3 receiver you do not need to use the INTERFACEMODE command with CDGPS as the argument The CDGPS argument is for use with obsolete external non NovAtel CDGPS receivers These receivers use GPS C NavCanada s proprietary format differential corrections from the CDGPS service SPAN Technology for OEMV User Manual Rev 7 Table 14 COM Serial Port Identifiers Binary ASCII Description 1 COMI COM port 1 2 COM2 COM port 2 3 COM3 COM port 3 6 THISPORT The current COM port 8 ALL All COM ports 9 XCOM1 Virtual COM1 port 10 XCOM2 Virtual COM2 port 13 USB1 USB port 1 14 USB2 USB port 2 15 USB3 gt USB port 3 16 AUX AUX port a The XCOM1 and XCOM2 identifiers are not available with the COM command but may be used with other commands For example INTERFACEMODE and LOG b The only other field that applies when a USB port is selected is the echo field Place holders must be inserted for all other fields to use the echo field in this case SPAN Technolo
34. satellite reacquisition and faster RTK initialization after outages NovAtel s OEMV receivers are the processing engines of the SPAN Technology system Separate GPS and IMU enclosures provide a simple modular system This allows the IMU mounting at the most suitable location while the GPS receiver is mounted where it is most convenient System modularity also allows GPS only users to upgrade to GPS INS In conditions where GPS alone is desired the SPAN receiver can be operated independently As a result SPAN Technology provides a robust GPS and Inertial solution as well as a portable high performance GPS receiver in one system Scope This manual contains sufficient information on the installation and operation of the SPAN system It is beyond the scope of this manual to provide details on service or repair Contact your local NovAtel dealer for any customer service related inquiries see Customer Service on page 15 After the addition of accessories an antenna and a power supply the SPAN system is ready to go The OEMV 3 in the receiver utilizes a comprehensive user interface command structure which requires communications through its communications COM ports This manual also describes the INS specific commands and logs Other supplementary manuals are included to aid you in using the other commands and logs available with OEMV family products It is recommended that these documents be kept together for easy reference SPAN system ou
35. the log Week Number Ushort GPS week number Rhj uojn Milliseconds Ulong Milliseconds from the beginning of the GPS week Table 19 Short Binary Message Header Structure Field Field Type Type Description Bytes onay 1 Sync Char Hex OxAA 1 0 2 Sync Char Hex 0x44 1 1 3 Sync Char Hex 0x13 1 2 4 Message Length Uchar Message length not including header or 1 3 CRC 5 Message ID Ushort Message ID number 2 4 6 Week Number Ushort GPS week number 2 6 7 Milliseconds Ulong Milliseconds from the beginning of the 4 8 GPS week SPAN Technology for OEMV User Manual Rev 7 95 C 2 96 INS Specific Logs The receivers are capable of generating many NovAtel format output logs in either Abbreviated ASCII ASCII or binary format Please refer to the OEMV Family Firmware Reference Manual for a complete list of logs categorized by function and then detailed in alphabetical order INS specific commands and logs provide attitude data such as roll pitch and azimuth Logging Restriction Important Notice High rate data logging is regulated in SPAN to prevent logging of unusable data or overloading the system Please note these 3 rules when configuring your SPAN system 1 Only one high rate INS log can be configured for output at a time Once a log is selected for output at a rate faster than or equal to 100 Hz all other log requests are limited to a maximum rate of 50 Hz Below a
36. to accept on the specified port The transmit type tells the receiver what kind of data it can generate For INS operation please see Section 2 3 2 SPAN IMU Configuration starting on page 28 As another example you could set the receive type on a port to RTCA in order to accept RTCA differential corrections It is also possible to disable or enable the generation or transmission of command responses for a particular port Disabling of responses is important for applications where data is required in a specific form and the introduction of extra bytes may cause problems for example RTCA RTCM RTCMV3 or CMR Disabling a port prompt is also useful when the port is connected to a modem or other device that will respond with data the receiver does not recognize When INTERFACEMODE port NONE NONE OFF is set the specified port is disabled from interpreting any input or output data Therefore no commands or differential corrections are decoded by the specified port Data can be passed through the disabled port and be output from an alternative port using the pass through logs PASSCOM PASSXCOM PASSAUX and PASSUSB Refer to the OEMV Family Firmware Reference Manual for information on pass through logging and the COMCONFIG log Abbreviated ASCII Syntax Message ID 3 INTERFACEMODE port rxtype txtype responses Field Field ASCII Binary Description Binary Binary Binary Type Value Value p Format Bytes
37. transformed axis See SETIMUORIENTATION for a description of the axes mapping that occurs when the IMU is mounted differently from z up lt 1 Azimuth is positive in a clockwise direction when looking towards the z axis origin 2 You do not have to use the SETIMUORIENTATION command see page 77 unless you have your IMU mounted with the z axis not pointing up Then use the tables in the SETIMURIENTATION command on pages 78 79 to determine the azimuth axis that SPAN is using Abbreviated ASCII Syntax Message ID 862 SETINITATTITUDE pitch roll azimuth pitchSTD rollSTD azSTD SPAN Technology for OEMV User Manual Rev 7 83 ASCII Binary Binary Binary Binary Description Format Bytes Offset Value Value 1 header This field contains the H 0 command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 pitch 360 to 360 Input pitch angle about the ile 8 H axis in degrees 3 roll 360 to 360 Input roll aigle about the y Double 8 H 8 axis in degrees 4 azimuth 360 to 360 O ble 8 H 16 z axis in degrees 5 pitchSTD 0 000278 to 180 Input pitch standard deviation Double 8 H 24 STD angle in degrees 6 rollSTD Input roll STD angle in degrees Double 8 H 32 7 azSTD Input azimuth STD angle in Double 8 H 40 degrees a 0 000278 is equal to 1 arc second Abbreviated ASCII Exam
38. with a convenient file name e g CAGPSIBOOT1 TXT and exit the text editor 3 Use the DOS copy command to direct the contents of the BOOT1 TXT file to the PC s COM1 serial port C GPS gt copy boot1 txt coml 1 files s copied C GPS gt 4 The SPAN system is now initialized with the contents of the BOOT1 TXT command file and logging is directed from the receiver s COM2 serial port to the rover terminal SPAN Technology for OEMV User Manual Rev 7 133 D 2 WINDOWS As any text editor or communications program can be used for these purposes the use of Windows 98 is described only as an illustration The following example shows how Windows 98 accessory programs Notepad and HyperTerminal can be used to create a hypothetical waypoint navigation file on a laptop computer and send it to the receiver It is assumed that the laptop computer s COM 1 serial port is connected to the receiver s COM1 serial port and that a rover terminal is connected to the receiver s COM2 serial port Example l Open Notepad and type in the following command text setnav 51 111 114 039 51 555 114 666 0 start stop magvar 21 log coml bestposa ontime 15 log coml psrvela ontime 15 log coml navigatea ontime 15 log com2 gpvtg ontime 15 5 1 1 log com2 gprmb ontime 15 5 2 2 log com2 rxconfiga ontime 60 2 Save this with a convenient file name e g CAGPSIBOOTNAV1 TXT and exit Notepad 3 Ensure that the HyperTerminal settings ar
39. 04 Rev 7 2009 09 03
40. 1 20 filter IMU Enclosure The Inertial Measurement Unit IMU is housed in the IMU enclosure that provides a steady power supply to the IMU and decodes and times the IMU output data The IMU itself consists of three accelerometers and 3 gyroscopes gyros so that accelerations along specific axis and angular rotations can be measured Several IMU types are supported and are listed in Table 1 SPAN Compatible Receiver and IMU Models on page 21 and Table 17 IMU Type on page 82 e PC Software Real time data collection status monitoring and receiver configuration is possible through NovAtel s Control and Display Unit CDU software utility see Section 3 1 on page 33 The GPS receiver is connected to the IMU enclosure with an RS 232 or RS 422 serial link A NovAtel GPS antenna must also be connected to the receiver to track GPS signals Once the IMU enclosure GPS antenna and appropriate power supplies are attached and a few simple configuration commands are entered the SPAN system will be up and running and ready to navigate Fundamentals of GPS INS GPS positioning observes range measurements from orbiting Global Positioning System Satellites From these observations the receiver can compute position and velocity with high accuracy NovAtel GPS positioning systems have been established as highly accurate positioning tools however GPS in general has some significant restrictions which limit its usefulness in some situations GPS
41. 1 F 2 Install the LN 200 Sensor Unit cccccccccncnnnnnonanonananononononononononononononcnanananann oran nonnnnnnnnnnns 142 F 3 Make the Electrical CONNECTIONS cccccccccnnnonononanannnnnonononononononononanananannnn ono ncornnnnnnnnnnns 143 F 4 Re Assemble the SPAN IMU ENncloSure ccccscsccccccssecccecececececessesesesessesssnsaeeeseeeeeeess 144 G Frequently Asked Questions 145 H Replacement Parts 147 HiSPANO Yste Miarroba en 147 H 2 Accessories and Options iii A een nee 147 H 3 Manufacturers Part Numbers s sssseccceceeccecesseessseseeceeseceseceeaaeeasseseeeeeeeeeeeesuaeeaes 147 SPAN Technology for OEMV User Manual Rev 7 Figures 1 SPAN System Receiver sionistas pd 19 2 SPAN System IMUS iii a 19 3 Basic Set Upeti daen eo tice de tdt lali dete 23 4 Receiver Enclosure Back Panel c onnconccccnoncccnoncncnananonannnnnnonononnn ono nnno nana n nn nan rre nannnrnn nn 24 5 Local Level Frame ENU oi c cccocesvsscecnsahcenscdessactavsasnasibecdeesacesensneabstceezanethiaeancehescstagtens 33 6 The Enclosure Frame icons ain 34 7 Vehicle Fraime ic ath saatdsnaczahaetcastied 35 8 LN 200 IMU Enclosure Top Bottom Dimensions and Centre of Navigation 47 9 LN 200 Enclosure Side Dimensions cecceceeeeeeeceeeeeeeeeeeeeeseeeeeaeeseeseaeeeieeeeaeeeneetaas 48 10 EN 200 Interface Gable ns acids neste inosine cent tek dette alae 49 11 IMU Interface Cable Pin Out ProPak V3 oo eeeeeeceeee
42. 13 Reserved 14 DGND 5 Digital ground 15 DGND 5 Digital ground 16 ODO_B 3 Odometer input B opto coupler 2 to 6 V RS 422 compatible 17 ODO_BN 1 Odometer input B opto coupler 2 to 6 V RS 422 compatible Continued on page 56 SPAN Technology for OEMV User Manual Rev 7 55 MIL C Female Male Male 38999 III Function DB9 to DB9 DB9to Comments Connector Pin com3 tolO ODO 18 Reserved 19 DI 3 Twisted pair serial data in RS 422 20 DIN 7 Twisted pair serial data in RS 422 21 SW_ON_SIG Connected to Pin 3 switch IMU signal ON OFF voltage applied ON 4 to 34 V 22 SWON_GND Connected to Pin 1 ground for IMU signal ON A 2 2 IMU FSAS Odometer Cabling The IMU FSAS with the O wheel sensor option provides wheel sensor input from the Distance Measurement Instrument DMI through the DB 9 connector labelled ODO on the IMU interface cable The IMU data goes through the IMU and then into the SPAN receiver through the serial communication line There are two DMI products that are compatible with the iIMU FSAS system e MWS V2 Magnetic Wheel Sensor from MAR A magnetic strip and detector are installed inside the wheel The signal then goes through a box that translates the magnetic readings into pulses that are then passed through the cable into the ODO connector on the IMU cable See also Figure 18 below e WPT Wheel
43. 200 power cable MIL 22 pin connector on the iIMU FSAS D38999 26WC35SA interface cable SPAN Technology for OEMV User Manual Rev 7 147 148 A accelerometers 94 123 accuracy 80 97 AG11 AGS58 AG17 AG62 82 age solution 97 alignment 67 80 almanac 66 antenna 80 147 APPLY VEHICLEBODYROTATION 65 attitude 67 105 107 113 120 121 axes enclosure frame 78 80 87 104 123 local level frame 107 109 118 SPAN frame 77 78 80 83 86 91 105 109 113 130 azimuth 77 80 104 105 B BESTGPSPOS 97 BESTGPSVEL 102 BESTLEVERARM 104 binary 70 C cables 24 antenna 147 T O 26 IMU interface 49 55 62 power 27 warranty 13 calibration 76 104 CMR 70 command prompt interface 132 134 configuration non volatile memory 66 connector power 50 Controller Area Network Bus CAN Bus 21 copyright 2 correction RTCA 70 D datum 97 dealer 15 differential 69 97 distance exceeded 101 driving 44 E east 117 118 e mail 15 enclosure 21 F features 21 firmware updates or upgrades 15 21 Frame 77 frame see axes vehicle 40 76 91 92 frequently asked questions 145 FRESET 66 G GPSAntenna 13 graphical user interface 37 H hardware setup 23 headers 94 95 height 97 101 help 35 I TO see input output identifier serial port 69 iIMU FSAS basic set up 23 cables 55 commands 28 82 dimensions 52 FAQ 145 models 21 performance 59 replacement par
44. 5 126 SPAN Technology for OEMV User Manual Rev 7 C 2 22 RAWIMUS Short Raw IMU Data This is a short header version of the RAWIMU log on page 123 Structure Message ID 325 Log Type Asynch Binary Binary Field Field Type Data Description Format Bytes Offset 1 Log Header Log header H 0 2 Week GPS Week Ulong 4 H 3 Seconds into Week Seconds from week start Double 8 H 4 4 IMU Status The status of the IMU This field is given ina Long 4 H 12 fixed length n array of bytes in binary but in ASCII or Abbreviated ASCII is converted into 2 character hexadecimal pairs For the raw IMU status of the iIMU FSAS see Table 23 For the raw IMU status of the HG1700 and the LN 200 IMUs see Table 24 Also refer to the Interface Control Documentation as provided by Honeywell and Northorp Grumman respectively 5 Z Accel Output Change in velocity count along z axis Long 4 H 16 6 Y Accel Output Change in velocity count along y axis Long 4 H 20 7 X Accel Output Change in velocity count along x axis Long 4 H 24 8 Z Gyro Output Change in angle count around z axis Long 4 H 28 Right handed 9 Y Gyro Output Change in angle count around y axis Long 4 H 32 Right handed 10 X Gyro Output Change in angle count around x axis Long 4 H 36 Right handed 11 XXXX 32 bit CRC ASCII Binary and Short Binary Hex 4 H 40 only 12 CR LF Sentence terminator ASCII only
45. 5 LN 200 power adapter cable see Figure 12 on page 50 01017821 ProPak V3 to MU FAS IMU interface cable see Table 9 on page 55 60723086 ProPak V3 to HG1700 IMU interface cable identical to LN 200 cable see Figure 10 on page 49 01017384 OEMV CDU and Convert disk see page 33 of this manual and refer to the OEMV Family 01017827 Installation and Operation User Manual SPAN Technology For OEMV User Manual OM 20000104 OEMV Family Installation and Operation User Manual OM 20000093 OEMV Family Firmware Reference Manual OM 20000094 H 2 Accessories and Options Part Description NovAtel Part Optional NovAtel GPSAntennas Model 532 for aerodynamic applications GPS 532 Model 702 for high accuracy applications GPS 702 Model 702L for L band applications GPS 702L Model 533 for high performance base station applications GPS 533 Optional RF Antenna Cable 5 meters C006 15 meters C016 H 3 Manufacturer s Part Numbers The following original manufacturer s part numbers and equivalents for the IMU interface cables are provided for information only and are not available from NovAtel as separate parts Part Description LEMO Part Deutsch Part MIL Part 10 pin LEMO plug connector on the FGG 1K 310 CLAC60Z HG1700 interface cables Deutsch or MIL equivalent 13 pin 59064 11 35SF D38999 26B35SF connector on the LN 200 interface cable Deutsch or MIL equivalent 3 pin 59064 09 98SN D38999 26A98SN connector on the LN
46. 9 0 013675287 0 024795257 INSSolutionGood 2f3fe011 SPAN Technology for OEMV User Manual Rev 7 119 C 2 18 MARK1PVA_ Position Velocity and Attitude at Mark1 120 This log outputs position velocity and attitude information with respect to the SPAN frame when an event was received on the Mark input Structure Message ID 1067 Log Type Synch Field Field Type Description Format Bytes parte 1 Log Header Log header H 0 2 Week GPS Week at Mark request Ulong 4 H 3 Seconds Seconds from week at Mark1 Double 8 H 4 4 Latitude Latitude WGS84 at Mark1 Double 8 H 12 5 Longitude Longitude WGS84 at Mark1 Double 8 H 20 6 Height Height WGS84 at Mark1 Double 8 H 28 7 North Velocity Velocity in a northerly direction a ve value Double 8 H 36 implies a southerly direction at Mark1 8 East Velocity Velocity in an easterly direction a ve value Double 8 H 44 implies a westerly direction at Mark1 9 Up Velocity Velocity in an up direction at Mark1 Double 8 H 52 10 Roll Right handed rotation from local level around Double 8 H 60 y axis in degrees at Mark1 11 Pitch Right handed rotation from local level around Double 8 H 68 x axis in degrees at Mark1 12 Azimuth Left handed rotation around z axis Degrees Double 8 H 76 clockwise from North at Mark1 13 Status INS Status see Table 5 on page 38 at Mark1 Enum 4 H 84 14 XXXX 32 bit CRC Hex 4 H 88 15 CR LF Sentence Terminator ASCII only
47. 96 m A scale factor to this default size is modeled in the filter and this log contains the current estimate of the wheel size Structure Message ID 646 Log Type Asynch Field Field Type Data Description Format tl analy 1 Log Header Log header H 0 2 Scale Wheel sensor scale factor Double 8 H 3 Circum Wheel circumference m Double 8 H 8 4 Var Variance of circumference m2 Double 8 H 16 5 XXXX 32 bit CRC ASCII Binary and Short Hex 4 H 24 Binary only 6 CR LF Sentence terminator ASCII only Recommended Input log wheelsizea onnew ASCII Example WHEELSIZEA COM3 0 44 0 EXACT 0 0 000 00000000 85 8 33738 1 025108123 2 009211922 0 000453791 157 d50b SPAN Technology for OEMV User Manual Rev 7 131 pV o eD A CCOMmand Prompt Interface When the SPAN system turns on no activity information is transmitted from the serial ports except for the port prompt A terminal connected to the receiver display a messages on its monitor For example COM2 if connected to COM2 port The COM port can be COM1 COM2 COM3 USB1 USB2 USB3 or AUX Commands are typed at the interfacing terminal s keyboard and sent after pressing the terminal s lt gt or lt Enter gt key lt Most valid commands do produce a visible response on the screen The indication that they have been accepted is a return of the port prompt from the receiver Example An example of no echo response
48. B onnew INSPVASB ontime 0 1 INSCOVSB onchanged INSUPDATEB _ onchanged BESTGPSPOSB ontime 1 4 Send the file containing the logs to NovAtel Customer Service using the support novatel com e mail address SPAN Technology for OEMV User Manual Rev 7 15 A CAUTION 1 This device incorporates circuitry to absorb most static discharges However severe static shock may cause inaccurate operation of the unit Use anti static precautions where possible 2 This device is a precision instrument It performs best when handled with care 16 SPAN Technology for OEMV User Manual Rev 7 Foreword Congratulations Congratulations on purchasing your Synchronized Position Attitude Navigation SPAN Technology system SPAN features a tight integration of a NovAtel GPS receiver and an Inertial Measurement Unit IMU SPAN provides continuous navigation information using an Inertial Navigation System INS to bridge short Global Position System GPS outages Designed for dynamic applications SPAN provides precise position velocity and attitude information By complementing GPS with inertial measurements SPAN Technology provides robust positioning in challenging conditions where GPS alone is less reliable During short periods of GPS outage or when less than four satellites are received SPAN Technology offers uninterrupted position and attitude output The tight coupling of inertial technology with GPS also provides the benefits of faster
49. BIT Passed 0 Failed 1 22 0x00400000 Gyro self test Passed 0 Failed 1 23 0x00800000 Gyro time out Passed 0 Failed 1 24 0x01000000 Analog to Digital AD Passed 0 Failed 1 N6 25 0x02000000 Testmode Passed 0 Failed 1 26 0x04000000 Software Passed 0 Failed 1 27 0x08000000 RAM ROM Passed 0 Failed 1 28 0x 10000000 Reserved N7 29 0x20000000 Operational Passed 0 Failed 1 30 0x40000000 Interface Passed 0 Failed 1 31 0x80000000 Interface time out Passed 0 Failed 1 124 SPAN Technology for OEMV User Manual Rev 7 Table 24 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 N1 4 0x00000010 IMU Passed 0 IMU Passed 0 Status Failed 1 Status Failed 1 5 0x00000020 IMU Passed 0 IMU Passed 0 Status Failed 2 Status Failed 1 6 0x00000040 IMU Passed 0 IMU Passed 0 Status Failed 3 Status Failed 1 7 0x00000080 IMU Passed 0 IMU Passed 0 Status Failed 4 Status Failed 1 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 Re
50. Double 8 H 32 default 0 7 Z Uncertainty Uncertainty of Z rotation degrees Double 8 H 40 default 0 8 XXXX 32 bit CRC Hex 4 H 48 9 CR LF Sentence Terminator ASCII only Refer also to our application note on Vehicle to Body Rotations NovAtel part number APN 037 available on our Web site at http www novatel com support applicationnotes htm Abbreviated ASCII Example VEHICLEBODYROTATION 0090005 SPAN Technology for OEMV User Manual Rev 7 B 2 20 WHEELVELOCITY Wheel Velocity for INS Augmentation The WHEELVELOCITY command is used to input wheel sensor data into the OEMV receiver Abbreviated ASCII Syntax Message ID 504 WHEELVELOCITY latency ticks rev wheel vel Rsrvd fwheel vel Rsrvd Rsrvd ticks s 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 respectively 2 latency A measure of the latency in the Ushort 2 H velocity time tag in ms 3 ticks rev Number of ticks per revolution Ushort 2 H 2 4 wheel vel Short wheel velocity in ticks s Ushort 2 H 4 5 Reserved Ushort 2 H 6 6 fwheel vel Float wheel velocity in ticks s Float 4 H 8 7 Reserved Ulong 4 H 12 8 Ulong 4 H 16 9 ticks s Cumulative number of ticks s Ulong 4 H 20 Refer also to our
51. Enclosure Back Panel Table 2 shows a summary of the receiver s back panel port names lt When you input a command that requires a port name referencing the third port you must type in COM3 for the ProPak V3 This is true even if the port is labelled AUX Table 2 Receiver Enclosure Back Panel Labels SPAN Enclosure Port Label Description ProPak V3 9 18 VDC Supply Voltage COM1 COM1 COM2 COM2 AUX COM3 1 0 1 0 GPS Antenna EXT OSC External Oscillator 2 1 2 Cables and Ports Refer to your receiver s hardware manual for more information on its ports and cables the OEMV Family Installation and Operation User Manual 24 SPAN Technology for OEMV User Manual Rev 7 SPAN Installation Chapter 2 Each connector can be inserted in only one way to prevent damage to both the receiver and the cables Furthermore the connectors that are used to mate the cables to the receiver require careful insertion and removal Observe the following when handling the cables e To insert a cable make certain you are using the appropriate cable for the port the serial cable has a different connector number of pins than the power cable e Insert the connector until it is straight on and secure e To remove a cable grasp it by the connector WARNING DO NOT PULL DIRECTLY ON THE CABLE 2 2 Hardware Set Up Review this section s hardware set up subsections and follow the numbered steps in bold to install your
52. FSET 0 15 0 15 0 25 SPAN Technology for OEMV User Manual Rev 7 87 B 2 16 SETMARK1OFFSET Set Mark Offset Set the offset to the Mark trigger event Abbreviated ASCII Syntax Message ID 1069 SETMARKIOFFSET xoffset yoffset zoffset aoffset Boffset yoffset Field ASCII Binary Type Value Value Binary Binary Binary Description Format Bytes Offset Field This field contains the command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 x offset 360 Offset along the IMU enclosure Double 8 H frame X axis m for Mark 3 y offset 360 Offset along the IMU enclosure Double 8 H 8 frame Y axis m for Mark 4 z offset 360 Offset along the IMU enclosure Double 8 H 16 frame Z axis m for Mark1 5 aoffset 360 Roll offset for Mark1 degrees Double 8 H 24 6 Boffset 360 Pitch offset for Mark1 degrees Double 8 H 32 7 yoffset 360 Azimuth offset for Mark1 degrees Double 8 H 40 Abbreviated ASCII Example SETMARKIOFFSET 0 324 0 106 1 325 000 88 SPAN Technology for OEMV User Manual Rev 7 B 2 17 SETMARK2OFFSET Set Mark2 Offset Set the offset to the Mark2 trigger event lt This command is not immediately available to MU FSAS users If you are an iIMU FSAS user and wish to use the Mark2 event trigger contact NovAtel Customer Service Contact information is on page 15 Abbreviated ASCII Synta
53. G Ensure that all windows other than the Console are closed in CDU and then use the SAVECONFIG command to save settings in NVM Otherwise unnecessary data logging occurs and may overload your system This orientation command serves to transform the incoming IMU signals in such a way that a 5 mapping is achieved see Table 16 on page 79 For example if the IMU is mounted with the X axis pointing UP and a mapping of 1 is specified then this transformation of the raw IMU data is done X gt Z Y gt X Z gt Y where the default is X gt X Y gt Y Z gt 2 Notice that the X axis observations are transformed into the Z axis resulting in Z being aligned with gravity and a 5 mapping The 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 47 The example from the LN 200 is shown in Figure 22 AYI CENTER OF NAVIGATION S Figure 22 Frame of Reference SPAN Technology for OEMV User Manual Rev 7 77 lt 1 Azimuth is positive in a clockwise direction while yaw is positive in a counter clockwise direction when looking down the axis centre Yaw follows th
54. HEELPARAMETERS command can be used to override the number of ticks per revolution given in the WHEELVELOCITY command In addition this command supplies the resolution of the wheel sensor which allows the filter to weight the wheel sensor data appropriately 2 Ifyou are using the MAR iMWS Magnetic Wheel Speed Sensor and Convertor the SETWHEELPARAMETERS command allows you to set the number of ticks per revolution that is correct for your wheel installation the default is 58 The tick spacing of the MAR iMWS was 0 025 m as of September 2006 testing however refer to the iMAR iMWS documentation for its specifications Abbreviated ASCII Syntax Message ID 847 SETWHEELPARAMETERS ticks circ spacing Field 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 ASCII ASCII or binary respectively 2 ticks 1 10 000 Number of ticks per revolution Ushort 42 H 3 circ 0 1 100 Wheel circumference m Double 8 H 4 default 1 96 m 4 spacing 0 001 1000 Spacing of ticks or resolution of Double 8 H 12 the wheel sensor m a In the binary log case an additional 2 bytes of padding are added to maintain 4 byte alignment Abbreviated ASCII Example SETWHEELPARAMETERS 58 1 96 0 025 lt Fields 2 3 and 4 do not have to add up Field 4 is u
55. Height WGS84 Double 8 H 28 7 Status INS status see Table 5 on page 38 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 110 Recommended Input log insposa ontime 1 ASCII Example INSPOSA COM3 0 0 0 EXACT 1105 425385 000 00040000 323a 0 1105 425384 996167250 51 058410364 114 065465722 1067 791685696 INSSolutionGood 9 bfd5al2 SPAN Technology for OEMV User Manual Rev 7 C 2 9 INSPOSS Short INS Position This is a short header version of the INSPOS log on page 110 Structure Message ID 321 Log Type Synch p edt Binary Binary Field Field Type Data Description Format Bytes Offset 1 Log Header Log header H 0 2 Week GPS Week Ulong 4 H 3 Seconds into Week Seconds from week start Double 8 H 4 4 Latitude Latitude WGS84 Double 8 H 12 5 Longitude Longitude WGS84 Double 8 H 20 6 Height Ellipsoidal Height WGS84 Double 8 H 28 7 Status INS status see Table 5 on page 38 Enum 4 H 36 8 XXXX 32 bit CRC ASCII Binary and Hex 4 H 40 Short Binary only 9 CR LF Sentence terminator ASCII only Recommended Input log inspossa ontime 1 ASCII Example SINSPOSSA 1105 425385 000 1105 425384 996167250 51 058410364 114 065465722 1067 791685696 INSSolutionGood 9bfd5al12 SPAN Technology for OEMV User Manual Rev 7 111 C 2 10 INSPOSSYNC Time Synchronised INS Posit
56. ICES All prices are Firm Fixed Price FCA 1120 68th Avenue N E Calgary Alberta All prices include standard commercial packing for domestic shipment All transportation insurance special packing costs and expenses and all Federal provincial and local excise duties sales and other similar taxes are the responsibility of the Purchaser 2 PAYMENT Terms are prepayment unless otherwise agreed in writing Interest shall be charged on overdue accounts at the rate of 18 per annum 1 5 per month from due date To expedite payment by wire transfer to NovAtel Inc Bank HSBC Bank of Canada Bank HSBC Bank of Canada US Account 788889 002 407 8 Avenue S W CDN Account 788889 001 Calgary AB Canada T2P 1E5 EURO Account 788889 270 Transit 10029 016 Swift HKBCCATTCAL 3 DELI VERY Purchaser shall supply shipping instructions with each order Ship to and bill to address NovAtel Quotation Preferred carrier and account Custom broker freight forwarder including name and contact In the absence of specific instructions NovAtel may select a carrier and insure Products in transit and charge Purchaser accordingly NovAtel shall not be 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
57. Install the HG1700 Sensor Unit on page 137 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 27 Figure 27 Attach Flex Cable 2 Tighten the screws to 4 in pounds 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 Figure 27 4 Check that the flex cable is locked in place Important Figure 28 shows an incorrect installation of the flex cable where it is bowed in the middle It will not operate properly in this position Figure 29 shows the proper installation of the flex cable Notice how the flex cable sits flush against the IMU surface Figure 28 Incorrect Bowed Flex Cable Installation Figure 29 Correct Flat Flex Cable Installation 138 SPAN Technology for OEMV User Manual Rev 7 E 4 Re Assemble the SPAN IMU Enclosure Use an allan key to align the long bolts with the threaded holes in the base see Figure 24 on page 136 Apply threadlock to threads Finger tighten all bolts and torque them in a cross pattern to 12 in lops The fully assembled IMU enclosure is shown in Figure 30 below Figure 30 HG1700 SPAN IMU SPAN Technology for OEMV User Manual Rev 7 139 No oled gm L N 200 IMU Inst
58. LIBRATE command 20 SBASALMANAC Resets the stored SBAS almanac 21 LAST_POSITION Resets the position using the last stored position 22 VEHICLE_BODY_R Resets stored vehicle to body rotations 24 INS_LEVER_ARM Resets the GPS antenna to IMU lever arm 66 SPAN Technology for OEMV User Manual Rev 7 B 2 3 INSCOMMAND INS Control Command This command allows you to enable or disable INS positioning When INS positioning is disabled no INS position velocity or attitude is output Also INS aiding of RTK initialization and tracking reacquisition is disabled If the command is used to disable INS and then re enable it the INS system has to go through its alignment procedure equivalent to issuing a RESET command See also Section 3 3 1 System Start Up and Alignment Techniques starting on page 39 Abbreviated ASCII Syntax INSCOMMAND action Field Field Type 1 header 2 action ASCII Value Description This field contains the command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively RESET Resets the GPS INS alignment and restarts the alignment initialization DISABLE Disables INS positioning ENABLE Enables INS positioning where alignment initialization starts again default Message ID 379 Binary Binary Binary Format Enum Bytes Offset Abbreviated ASCII Example INSCOMMAND ENABLE SPAN Techno
59. ON 0 0 0 Alternatively solve the vehicle to IMU frame angular offsets using the RVBCALIBRATE routine See also Section 3 3 5 Vehicle to SPAN frame Angular Offsets Calibration Routine on page 43 The kinematic alignment begins when the receiver has a good GPS position fine time is solved the configuration parameters have been set and a GPS velocity of at least 1 15 4 km h m s is observed During kinematic alignment keep the vehicle roll at less then 10 Straight line driving is best The accuracy of the initial attitude of the system following the kinematic alignment varies and depends on the dynamics of the vehicle and the accuracy of the RVB estimates The attitude accuracy will converge to within specifications once some motion is observed by the system This transition can be observed by monitoring the INS Status field in the INS logs 3 3 1 3 Manual Alignment Manually enter the attitude information using the SETINITATTITUDE or SETINITAZIMUTH commands Details of these commands start on page 83 3 3 2 Navigation Mode 40 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 GPS solution phase observations and automatic zero velocity updates ZUPTs provide updates to the Kalman filter When a sensor is conne
60. PDA COM3 0 0 0 EXACT 1105 425385 000 00040000 efce 0 1105 425384 996167250 223 766800423 0 019769837 0 024795257 INSSolutionGood 15b864f4 SPAN Technology for OEMV User Manual Rev 7 115 C 2 14 INSSPDS Short INS Speed This is a short header version of the INSSPD log on page 115 Structure Message ID 323 Log Type Synch Binary Binary Field Field Type Data Description Format Bytes Offset 1 Log Header Log header H 0 2 Week GPS Week Ulong 4 H 3 Seconds into Week Seconds from week start Double 8 H 4 4 Trk gnd Track over ground Double 8 H 12 5 Horizontal Speed Horizontal speed in m s Double 8 H 20 6 Vertical Speed Vertical speed in m s Double 8 H 28 7 Status INS status see Table 5 on page 38 Enum 4 H 36 8 XXXX 32 bit CRC ASCII Binary and Hex 4 H 40 Short Binary only 9 CR LF Sentence terminator ASCII only Recommended Input log insspdsa ontime 1 ASCII Example SINSSPDSA 1105 425385 000 1105 425384 996167250 223 766800423 0 019769837 0 024795257 INSSolutionGood 15b864f4 116 SPAN Technology for OEMV User Manual Rev 7 C 2 15 INSUPDATE INS Update This log contains the most recent INS update information It gives you information about what updates were performed in the INS filter at the last update epoch and a wheel sensor status indicator Structure Message ID 757 Log Type Asynch Binary Binary Field Fiel
61. PLIED 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 ID 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 IIT NORMAL WEAR AND TEAR IV DAMAGE CAUSED BY FORCE OF NATURE OR ACT OF ANY THIRD PERSON V SHIPPING DAMAGE OR VI SERVICE OR REPAIR OF PRODUCT BY THE DEALER WITHOUT PRIOR WRITTEN CONSENT FROM NOVATEL IN ADDITION THE FOREGOING WARRANTIES
62. Pulse Transducer from Corrsys Datron A transducer traditionally fits to the outside of a non drive wheel A pulse is then generated from the transducer which is fed directly to the ODO connector on the IMU cable See also Figure 17 on page 57 56 SPAN Technology for OEMV User Manual Rev 7 The MAR iMWS V2 sensor is on the inside of the wheel so that all you can see in the vehicle is the grey signal converter box Figure 17 Corrsys Datron WPT Figure 18 MAR MWS Pre Installed The WPT mounts to the wheel lug nuts via MAR provides a sensor that operates with a adjustable mounting collets The torsion magnetic strip glued inside the rim of a non drive protection rod which maintains rotation wheel and a special detector IRS mounted on around the wheel axis affixes to the vehicle the inside of the wheel the disk of the wheel body with suction cups Refer to the Corrsys suspension brake cover or brake caliper holder Datron WPT user manual for mounting Details are shown in the installation hints instructions delivered with the system The NovAtel IMU interface cable with ODO is the same as that in Section A 2 1 but with some of the reserved pins having odometer uses It still provides power to the IMU from an external source and enables input and output between the receiver and IMU Once installed see also SPAN Wheel Sensor Messages on page 44 lt 1 The DMI runs only one output line A 2 SPAN specifie
63. Reference Frames Within SPAN ococnccnncccnnccnonnconcnnnncnonnananorancnonnanancnnn nin 3 1 1 The Local Level Frame ENU cc ccceseceeescceeeeeceeeseeeeeeseeeeeseeeseneeeseseeeesenseessees 3 1 2 The SPAN Body Frame cuisine tdt 3 13 The Enclosure Frame oia 3 14 The Vehicle Frame EE hi tion aislvececsd A E darts 3 2 Communicating with the SPAN SyStem cecceeeceseeeeeeeeeeeeeeeeeeeeeeeseeeeeaeeeneeseeeenaeetaeee 3 2 1 INS Window if G DU ais 5c faces da tddi nas 3 3 Real Time Operations tdi 3 3 1 System Start Up and Alignment TeChniques eccceeeeeeeeeeeeeeeeeeeeeeneetieeeeeeenaees 3 3 2 Navigation Mode 24 ici ra rete dagen aa 3 3 3 Data Collection iii ad iia 3 3 4 Lever Arm Calibration Routine 0 ccceecceeeeeeeeeceneeeeeeseaeeseeeeeeeeaeeseeeteaeeteeteeeenaees 3 3 5 Vehicle to SPAN frame Angular Offsets Calibration Routine ccceseeeee 3 3 6 SPAN Wheel Sensor Me SSQQ S cccceeceeeeeeeeeeeeeecneeeeaeeeaeeseaeeseeesneeeeeeeneeeeaeens 3 4 Data Collection for Post Processing oooccccccoconoccconcnoncncnnccnonnnano non nn nan ca nn cnn cnn nn nanccnncn A Technical Specifications PE WIEN 200 IMU coi toni A 1 1 LN 200 IMU Interface Cable ooooocccoccciocccoccccocnnoncconccnonnnancnnnn cnn n conc nrancn nn ncnnccanncns A 1 2 LN 200 IMU Power Adapter Cable ooonoccncccnccinccccoccnonnconccnnnncnncannn crac conc ncanccan cnn SPAN Technology for OEMV User Manual Rev 7 AMS MU PeO
64. SPAN system The example graphics show the connections on the back of a ProPak V3 receiver 2 2 1 Mount Antenna For maximum positioning precision and accuracy as well as to minimize the risk of damage ensure that the antenna is securely mounted on a stable structure that will not sway or topple Where possible select a location with a clear view of the sky to the horizon so that each satellite above the horizon can be tracked without obstruction The location should also be one that minimizes the effect of multipath interference For a discussion on multipath please refer to the GNSS Reference Book 1 Mount the IMU and antenna securely to a vehicle Ensure they cannot move due to dynamics and that the distance and relative direction between them is fixed See also Section 2 3 2 SPAN IMU Configuration starting on page 28 2 2 2 Mount IMU Mount the IMU in a fixed location where the distance from the IMU to the GPS antenna phase center is constant Ensure that the orientation with respect to the vehicle and antenna is also constant For attitude output to be meaningful the IMU should be mounted such that the positive Z axis marked on the IMU enclosure points up and the Y axis points forward through the front of the vehicle in the direction of track Also it is important to measure the distance from the IMU to the antenna the Antenna Lever Arm on the first usage on the axis defined on the IMU enclosure See Section 3 3 4 Lever Arm Cali
65. WARRANTIES OF MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE NovAtel DISCLAIMS AND EXCLUDES ALL OTHER WARRANTIES IN NO EVENT WILL NovAtel s LIABILITY OF ANY KIND INCLUDE ANY SPECIAL INCIDENTAL OR CONSEQUENTIAL DAMAGES INCLUDING LOST PROFITS EVEN IF NovAtel HAS KNOWLEDGE OF THE POTENTIAL LOSS OR DAMAGE b NovAtel will not be liable for any loss or damage caused by delay in furnishing the Software or any other performance under this Agreement c NovAtel s entire liability and your exclusive remedies for our liability of any kind including lia bility for negligence for the Software covered by this Agreement and all other performance or non performance by NovAtel under or related to this Agreement are to the remedies specified by this Agreement 9 Governing Law This Agreement is governed by the laws of the Province of Alberta Canada Each of the parties hereto irrevocably attorns to the jurisdiction of the courts of the Province of Alberta 10 Customer Support For Software UPDATES and UPGRADES and regular customer support contact the NovAtel GPS Hotline at 1 800 NOVATEL U S or Canada only or 403 295 4900 Fax 403 295 4901 e mail to support novatel ca Web site http www novatel com or write to NovAtel Inc Customer Service Dept 1120 68 Avenue NE Calgary Alberta Canada T2E 8S5 SPAN Technology for OEMV User Manual Rev 7 9 Terms and Conditions 10 Standard Terms and Conditions of Sales 1 PR
66. X ZY ZZ 7 XXXX 32 bit CRC ASCII Binary and Short Hex 4 H 228 Binary only 8 CR LF Sentence terminator ASCII only Recommended Input log inscovsa onchanged ASCII Example INSCOVSA 1105 425385 020 1105 425385 000000000 0 0997319969301073 0 0240959791179416 0 0133921499963209 0 0240959791179416 0 1538605784734939 0 0440068023663888 0 0133921499963210 0 0440068023663887 0 4392033415009359 0 0034190251365443 0 0000759398593357 0 1362852812808768 0 0000759398593363 0 0032413999569636 0 0468473344270137 0 1362852812808786 0 0468473344270131 117 5206493841025100 0 0004024901765302 0 0000194916086028 0 0000036582459112 0 0000194916086028 0 0004518869575566 0 0000204616202028 0 0000036582459112 0 0000204616202028 0 0005095575483948 1fc92787 SPAN Technology for OEMV User Manual Rev 7 109 C 2 8 INSPOS INS Position This log contains the most recent position measurements in WGS84 coordinates and includes an INS status indicator The log reports the position at the IMU centre unless you issue the SETINSOFFSET command see page 87 Structure Message ID 265 Log Type Synch Field Field Type Data Description Format Bea Binary 1 Log Header Log header H 0 2 Week GPS Week Ulong 4 H 3 Seconds into Week Seconds from week start Double 8 H 4 4 Latitude Latitude WGS84 Double 8 H 12 5 Longitude Longitude WGS84 Double 8 H 20 6 Height Ellipsoidal
67. a E a suaincesard codes a a a 51 A 1 4 Electrical and Environmental 2 cccecceceeceeeeeeeceeeeeeeeeeeeeeeeeeeeneeeeeeseenaeeeeetees 51 ASZiIIMUPESAS cui eines erect atk areca te taeda abia 52 A 2 1 iIMU FSAS Interface Cable oocoocccincccinccocononnconcccnnccnnncnanc cnn nro cnn nn cnc ran nana 55 A 2 2 iIMU FSAS Odometer Cabling coooccncconnconocccincccncccnnccnoncnoncco nn nano nonnnran cana n cnn 56 A 2 3 IMU Performance timido 59 A 2 4 Electrical and Environmental ooooconnccc nococonocicinoccnnnonccnnnnon non nn nano nc nano non arn carnero 59 AS HG 1700 Y E A A Lore et 60 A 3 1 HG1700 IMU Interface Cable ooocooncccinncnnccinccnocnnanccnnccnonanoncnnnn crac cnn cnn cnn cnnnnnin 62 A 3 2 IMU Performance aa ed 62 A 3 3 Electrical and Environmental ooooocnnnccconccccnnonncnnncnnnnonccnnnrnnnnnrn nn nano nr nano nn nnrn nara nnnnnns 63 B INS Commands 64 Bal Using a Command asa Lumina ted teles de 64 B 2 INS Specific Commands io bd 64 B 2 1 APPLYVEHICLEBODYROTATION Enable Vehicle to Body Rotation 65 B 2 2 PRESET Factory Reset sc litoral ini cierta pia 66 B 2 3 INSCOMMAND INS Control COMManNd cocncconocccocccincnononcnnnononanona conc cnn nn nnncnncnns 67 B 2 4 INSPHASEUPDATE INS Phase Update ContrOl oooncocinccniccnnnccnnccconccnccncnnccnnnnnn 68 B 2 5 INTERFACEMODE Set Interface Type for a Port eeeeeceseeeeeeeeeeeeeeteeeeeeeeeees 69 B 2 6 INSZUPT Request Zero Velocity Update ooooocconcc
68. ables The ProPak V3 receiver incorporates an I O port This port may be part of an interconnected system composed of devices that need to be synchronized with each other For example you could connect the SPAN system to an aerial camera in such a way that the SPAN system recorded its position whenever the shutter button was pressed The receivers have transistor transistor logic TTL compatible I O strobe lines Typically the I O strobe lines can be accessed by inserting the connector of an I O strobe port cable into the I O port The other end of the cable is provided without a connector so that you can provide an application specific one The jacket insulation is cut away slightly from the end but the insulation on each wire is intact Refer to the hardware manual for your receiver for more information on signals wiring and pin out information of the I O port and its cable the OEMV Family Installation and Operation User Manual 3 Connect COM1 of the receiver to a computer COM port using a null modem cable IMU S LN 200 or i HG 1700 msomo 11 00 4 Connect the antenna to the antenna port on the receiver using an appropriate coaxial cable 26 SPAN Technology for OEMV User Manual Rev 7 SPAN Installation Chapter 2 2 2 4 Connect Power The SPAN system receiver requires an input supply voltage between 12 VDC and 18 VDC An automotive adapter is supplied but power can come from a wall ou
69. ainty values are optional Follow these steps 1 Start with IMU enclosure in the vehicle frame as described above 2 Rotate about the vehicle Z axis This angle is the gamma angle in the command and follows the right hand rule for sign correction 3 Rotate about the new X axis to complete the transformation into the SPAN frame This angle is the alpha angle in the command 4 Finally rotate about the new Y axis to align the X Y plane with the SPAN frame This angle is the beta angle in the command lt Enter rotation angles in degrees To apply the vehicle to body rotation angles the APPLY VEHICLEBODYROTATION command needs to be enabled please refer to Section B 2 1 APPLYVEHICLEBODYROTATION Enable Vehicle to Body Rotation starting on page 65 SPAN Technology for OEMV User Manual Rev 7 91 Abbreviated ASCII Syntax Message ID 642 VEHICLEBODYROTATION alpha beta gamma Salpha beta gamma Structure Message ID 642 Log Type Asynch Binary Binary Field Field Type Description Format Bytes Offset 1 Log Header Log header H 0 2 X Angle Right hand rotation about vehicle Double 8 H frame X axis degrees 3 Y Angle Right hand rotation about vehicle Double 8 H 8 frame Y axis degrees 4 Z Angle Right hand rotation about vehicle Double 8 H 16 frame Z axis degrees 5 X Uncertainty Uncertainty of X rotation degrees Double 8 H 24 default 0 6 Y Uncertainty Uncertainty of Y rotation degrees
70. ale Factor 400 ppm Accelerometer Bias 1 0 mg A 2 4 Electrical and Environmental ELECTRICAL IMU Power Consumption 16 W max IMU Input Voltage 10 to 34 V DC Receiver Power Consumption ProPak V3 2 8 W typical System Power Consumption ProPak V3 14 8 W typical Data Connector MIL C 38999 III Power Connector MIL C 38999 III same as data connector IMU Interface RS 422 ENVIRONMENTAL iIMU FSAS Temperature Operating 40 C to 71 C 40 F to 160 F Storage 40 C to 85 C 40 F to 185 F Humidity 95 non condensing SPAN Technology for OEMV User Manual Rev 7 A 3 HG1700 IMU IMU Enclosure Size Table 11 HG1700 IMU Specifications PHYSICAL 193 mm x 167mm x 100 mm 7 6 x 6 6 x 3 9 IMU Size 160 mm x 160mm x 100 mm 6 3 x 6 3 x 3 9 IMU Weight 74 8 3 4 kg 7 49 Ib MECHANICAL DRAWINGS 93 3 IMU Enclosure Center Figure 20 HG1700 Top Bottom Dimensions y E D8 1 WWF 4 PLCS ADA Ty mae oN CENTER OF ON IiE a NAVIGATION gt gt IMU Enclosure OFFSETS AN Center Note The Center of SCALE 0 600 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 60 SPAN Technology for OEMV User Manual Rev 7 37 IMU Enclosure Center
71. allation The following procedure detailed in this appendix provides the necessary information to install the LN 200 sensor NovAtel part number 80023515 into the SPAN IMU enclosure NovAtel part number 01017656 using the LN 200 wiring harness NovAtel part number 01017655 see also Figure 31 below The steps required for this procedure are Disassemble the SPAN IMU Enclosure e Install the LN 200 Sensor Unit Make Electrical Connections 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 31 Required Parts Reference Description 1 SPAN IMU Enclosure 2 LN 200 Wiring Harness LN 200 Sensor Unit 140 SPAN Technology for OEMV User Manual Rev 7 F 1 Disassemble the SPAN IMU Enclosure The SPAN IMU disassembly steps are as follows 1 Remove the top cover s six bolts using an allan key see Figure 32 C amp D Figure 32 Bolts and Allan 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 see Figure 33 on page 142 SPAN Technology for OEMV User Manual Rev 7 141 Figure 33 Lift Top Cover and Tube Body F 2 Install the LN 200 Sensor Unit To re assemble the SPAN IMU with the LN 200 sensor see Figure 34 and follow these steps 1 Mount the LN 200 sensor with the a
72. and conform to NovAtel specifications b the software will be free from error which materially affect performance and c if applicable as defined in the User s Manual be eligible for access to post contract support and software updates when available THESE WARRANTIES ARE EXPRESSLY IN LIEU OF ALL OTHER WARRANTIES EXPRESS OR IMPLIED INCLUDING WITHOUT LIMITATION ALL IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE NOVATEL SHALL IN NO EVENT BE LIABLE FOR SPECIAL INDIRECT INCIDENTAL OR CONSEQUENTIAL DAMAGES OF ANY KIND OR NATURE DUE TO ANY CAUSE Purchaser s exclusive remedy for a claim under this warranty shall be limited to the repair or replacement at NovAtel s option and at NovAtel s facility of defective or nonconforming materials parts or components or in the case of software provision of a software revision for implementation by the Buyer All material returned under warranty shall be returned to NovAtel prepaid by the Buyer and returned to the Buyer prepaid by NovAtel The foregoing warranties do not extend to i nonconformities defects or errors in the Products due to accident abuse misuse or negligent use of 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 modificati
73. anual Rev 7 Customer Service Firmware Upgrades Firmware upgrades are firmware releases which increase basic functionality of the receiver from one model to a higher level model type When available upgrades may be purchased at a price which is the difference between the two model types on the current NovAtel GPS Price List plus a nominal service charge Please refer to the PC Software and Firmware chapter in the OEMV Installation and Operation User Manual Contact Information Firmware upgrades are accomplished through NovAtel authorized dealers Contact your local NovAtel dealer first for more information To locate a dealer in your area or if the problem is not resolved contact NovAtel Inc directly using one of the following methods Call the NovAtel GPS Hotline at 1 800 NOVATEL North America or 403 295 4900 international Fax 403 295 4901 E mail support novatel ca Web site http www novatel com Write NovAtel Inc Customer Service Dept 1120 68 Avenue NE Calgary AB Canada T2E 8S5 lt Before contacting NovAtel Customer Service regarding software concerns please do the following 1 Issue a FRESET command 2 Send the INTERFACEMODE and SETIMUTYPE commands to re establish communication with the IMU see Table 4 on Page 28 3 Log the following data to a file on your PC for 30 minutes RXSTATUSB once RAWEPHEMB onchanged RANGEB ontime 1 BESTPOSB ontime 1 RXCONFIGA once VERSIONB once RAWIMUS
74. anual Rev 7 SPAN Operation Chapter 3 3 3 1 System Start Up and Alignment Techniques The system requires an initial attitude estimate to start the navigation filter This is called system alignment On start up the system has no position velocity or attitude information When the system is first powered up the following sequence of events happens 1 The first satellites are tracked and coarse time is solved 2 Enough satellites are tracked to compute a position 3 Receiver fine time is solved meaning the time on board the receiver is accurate enough to begin timing IMU measurements 4 Raw IMU measurements begin to be timed by the receiver and are available to the INS filter They are also available to you in the RAWIMU or RAWIMUS log see page 123 The INS Status field reports INS_INACTIVE 5 The inertial alignment routine starts and the INS Status field reports INS_ALIGNING 6 Alignment is complete and the INS Status field changes to INS_ALIGNMENT_COMPLETE The system transitions to navigation mode 7 The solution is refined using updates from GPS Once the system is operating within specifications and after some vehicle movement the INS Status field changes to INS_SOLUTION_GOOD This indicates that the estimated azimuth standard deviation is below 2 If it increases above 2 the status changes to INS_SOLUTION_NOTGOOD 3 3 1 1 Coarse Alignment The coarse alignment is the default alignment routine for SPAN The align
75. at Flex Cable Installation c ccceeeceeeseeeeeeeeeeeeneeseeeeeeeeseeseeeeeneeeseeseeeeeaeess 138 30 AG1700 SPAN IMU ws cocoa apa 139 31 Requited Pants cc diria indi 140 32 Bolts and Allan Key cein ai 141 33 Lift Top Cover and Tube Body ocooccciocccocccnncconncconcnonnncnncnonancnncnonc conan cnn cn nan nnn cn nn nena cnn 142 34 SPAN IMU Re AsSemblY coococoncccnnccconcconcconnonnccnnncnono nena nnnn cnn ana nana nr Ka enana nen narra nana aR nenas 142 35 Attach Wiring Harness iii nae ene eee nee 143 36 Attach Samtec COMO imitan it cea eae 143 37 EN 200 SPAN IMU nissin ne ee Ani adenda 144 6 SPAN Technology for OEMV User Manual Rev 7 Tables OANDAARWN SPAN Compatible Receiver and IMU Models ccescceeseeeeeeeeeeeeeeeteaeeereteaeeeeeeeneeens 21 Receiver Enclosure Back Panel LabelS ooooconcccnnocicinoncccnoncncnannnonannnnnnrrnnnnon cnn nar nnnnn nc 24 IMU Power SUPplV lt a cid aiii repo 27 Enable INS Commands as e e hi ie E a a eaea 28 Inertial Solution StatuS oooooocinnccconococonooccnnoncnnononcnonnncnonnnnnnonnnnnnnn A E 38 Solution Parameters a anisi a 41 LN 200 IMU Specifications ocoooconccnoninnccnncccnoncrncnnnnncrnrnnnnnnnnn coronan cane rra cnn 47 IMU FSAS Specifications cion ic e dl dal 52 IMU Interface Cable Pin OUut ccccccccecssececeneeeeeneeeeseececeeeeeseeeseneeeseaeeesseeessnneeeseeess 55 Cable Modification for Corrsys Datron WPT ccecceeeceeeceeeeeeteeeeeaeeee
76. ates up to 20 Hz The GPS only solution is still available through the GPS only logs such as RTKPOS PSRPOS and OMNIHPPOS When running SPAN rates of non INS logs should be limited to a maximum rate of 5 Hz Refer to the OEMV Family Firmware Reference Manual for more details on these logs INS only data logging and output can be at rates of up to the rate of the IMU data lt The highest rate that you should request GPS logs RANGE BESTPOS RTKPOS PSRPOS and so on while in INS operation is 5 Hz If the receiver is not running INS no IMU is attached GPS logs can be requested at rates up to 20 Hz WARNING Ensure that all windows other than the Console are closed in CDU and then use the SAVECONFIG command to save settings in NVM Otherwise unnecessary data logging occurs and may overload your system Specific logs need to be collected for post processing See Section 3 4 Data Collection for Post Processing on page 45 To store data with a ProPak V3 connect a laptop computer to it The laptop computer should be equipped with a data storage device such as a Compact Flash Card CD or MP3 disc A Logging Restriction Important Notice High rate data logging is regulated in SPAN to prevent logging of unusable data or overloading the system Please note these 3 rules when configuring your SPAN system 1 Only one high rate INS log can be configured for output at a time Once a log is selected for output at a rate faster than or equal t
77. before installing the internal circuit boards Do NOT scratch any surfaces of the unit Figure 23 Required Parts Reference Description 1 SPAN IMU Enclosure 2 HG1700 Flex Cable 3 HG1700 Sensor Unit SPAN Technology for OEMV User Manual Rev 7 135 E 1 Disassemble the SPAN IMU Enclosure The SPAN IMU disassembly steps are as follows 1 Remove the top cover s six bolts using an allan key see Figure 24 CD Figure 24 Bolts and Allan Key 2 Set aside the bolts with their sealing washers 3 Lift the top cover off the tube body and set it aside see Figure 25 on page 137 4 Lift the tube body away from its base plate and set it aside see Figure 25 5 Remove the 3 ring spacer screws and set aside see Figure 25 136 SPAN Technology for OEMV User Manual Rev 7 Figure 25 Lift Top Cover Tube Body and 3 Ring Spacer Screws E 2 Install the HG1700 Sensor Unit To re assemble the SPAN IMU with the HG1700 sensor see Figure 26 and follow these steps 1 Mount the HG1700 sensor with the attached 8 screws Apply threadlock to the screw threads Use an allan key to torque each screw to 10 in lbs 2 Fit the tube body over the HG1700 sensor and onto the base plate Figure 26 SPAN IMU Re Assembly SPAN Technology for OEMV User Manual Rev 7 137 E 3 Make the Electrical Connections To make the electrical connections you will need a 3 32 allan key the flex cable and the partially assembled SPAN IMU from Section E 2
78. bration Routine starting on page 42 See also Appendix A Technical Specifications starting on page 47 gives dimensional drawings of the IMU enclosures 2 Connect the IMU to the receiver using the IMU cable provided For the ProPak V3 receiver the IMU plugs into the port labelled AUX See also Steps 1 and 2 in the SPAN IMU Configuration section on page 28 The HG1700 and LN 200 plug directly from the ProPak V3 to the IMU and have a separate connector and cable for power The iIMU FSAS has a single connector whose cable connects to the COM3 labelled AUX and I O port of the ProPak V3 and to power See also Step 3 s graphic on page 26 SPAN Technology for OEMV User Manual Rev 7 25 Chapter 2 SPAN Installation lt 1 The closer the antenna is to the IMU the more accurate the position solution Also your measurements when using the SETIMUTOANTOFFSET command must be as accurate as possible or at least more accurate than the GPS positions being used For example a 10 cm error in recording the antenna offset will result in at least a 10 cm error in the output Millimeter accuracy is preferred 2 The offset from the IMU to the antenna and or a user point device must remain constant especially for RTK or DGPS data Ensure the IMU antenna and user point device are bolted in one position perhaps by using a custom bracket 3 The iIMU FSAS IMU requires that COM3 labelled as AUX on the ProPak V3 be in RS 422 mode 2 2 3 Connect COM C
79. c45c 0 1105 425385 000000000 0 0997319969301073 0 0240959791179416 0 0133921499963209 0 0240959791179416 0 1538605784734939 0 0440068023663888 0 0133921499963210 0 0440068023663887 0 4392033415009359 0 0034190251365443 0 0000759398593357 0 1362852812808768 0 0000759398593363 0 0032413999569636 0 0468473344270137 0 1362852812808786 0 0468473344270131 117 5206493841025100 0 0004024901765302 0 0000194916086028 0 0000036582459112 0 0000194916086028 0 0004518869575566 0 0000204616202028 0 0000036582459112 0 0000204616202028 0 0005095575483948 1fc92787 108 SPAN Technology for OEMV User Manual Rev 7 C 2 7 INSCOVS Short INS Covariance Log This is a short header version of the INCOV log on page 107 These values are also computed once per second Structure Message ID 320 Log Type Asynch Field Field Type Data Description inary Oe 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 second squared Doubles XX XY XZ YX YY YZ Z
80. conds into Week Seconds from week start Double 8 H 4 4 North Velocity Velocity North in m s Double 8 H 12 5 East Velocity Velocity East in m s Double 8 H 20 6 Up Velocity Velocity Up in m s Double 8 H 28 7 Status INS status see Table 5 on page 38 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 insvela ontime 1 ASCII Example INSVELA COM3 0 0 0 EXACT 1105 425385 000 00040000 7d4a 0 1105 425384 996167250 0 014277009 0 013675287 0 024795257 INSSolutionGood 2f3fe011 118 SPAN Technology for OEMV User Manual Rev 7 C 2 17 INSVELS Short INS Velocity This is a short header version of the INSVEL log on page 118 Structure Message ID 324 Log Type Synch Field Field Type Data Description Format Bytes Pinay 1 Log Header Log header H 0 2 Week GPS Week Ulong 4 H 3 Seconds into Week Seconds from week start Double 8 H 4 4 North Velocity Velocity North m s Double 8 H 12 5 East Velocity Velocity East m s Double 8 H 20 6 Up Velocity Velocity Up m s Double 8 H 28 T Status INS status see Table 5 on page 38 Enum 4 H 36 8 XXXX 32 bit CRC ASCII Binary and Short Hex 4 H 40 Binary only 9 CR LF Sentence terminator ASCII only Recommended Input log insvelsa ontime 1 ASCII Example SINSVELSA 1105 425385 000 1105 425384 996167250 0 01427700
81. corrections 54 INS_PSRDIFF INS pseudorange differential solution b 55 INS_RTKFLOAT INS RTK floating point ambiguities solution gt 56 INS_RTKFIXED INS RTK fixed ambiguities solution b 57 INS_OMNISTAR INS OmniSTAR VBS position L1 sub meter 58 INS_OMNISTAR_HP INS OmniSTAR high precision solution 59 INS_OMNISTAR_XP INS OmniSTAR extra precision solution 64 OMNISTAR_HP OmniSTAR high precision 65 OMNISTAR_XP OmniSTAR extra precision 66 CDGPS Position solution using CDGPS corrections a In addition to a NovAtel receiver with L band capability a subscription to the OmniSTAR or use of the free CDGPS service is required Contact NovAtel for details b These types appear in position logs such as BESTPOS Please refer to your OEMV Family Firmware Reference Manual SPAN Technology for OEMV User Manual Rev 7 Table 21 Solution Status Binary ASCII Description 0 SOL_COMPUTED Solution computed 1 INSUFFICIENT_OBS Insufficient observations 2 NO_CONVERGENCE No convergence 3 SINGULARITY Singularity at parameters matrix 4 COV_TRACE Covariance trace exceeds maximum trace gt 1000 m 5 TEST_DIST Test distance exceeded maximum of 3 rejections if distance gt 10 km 6 COLD_START Not yet converged from cold start 7 V_H_LIMIT Height or velocity limits exceeded in accordance with COCOM export licensing restrictions 8 VARIANCE Variance exce
82. cted to the system wheel displacement updates are also used in the filter Following the alignment the attitude is coarsely defined especially in heading Vehicle dynamics specifically turns stops and starts allow the system to observe the heading error and allows the heading accuracy to converge Three to five changes in heading should be sufficient to resolve the heading accuracy The INS Status field changes to INS_SOLUTION_GOOD once convergence is complete If the attitude accuracy decreases the INS Status field changes to INS_SOLUTION_NOTGOOD When the accuracy converges again the INS status continues as INS_SOLUTION_GOOD SPAN Technology for OEMV User Manual Rev 7 SPAN Operation Chapter 3 3 3 3 Data Collection The INS solution is available in the INS specific logs with either a standard or short header Other parameters are available in the logs shown in Table 6 on page 41 Table 6 Solution Parameters Parameter Log Position INSPOS or INSPOSS INSPVA or INSPVAS Velocity INSVEL or INSVELS INSSPD or INSSPDS INSPVA or INSPVAS Attitude INSATT or INSATTS INSPVA or INSPVAS Solution Uncertainty INSCOV or INSCOVS Note that the position velocity and attitude are available together in the INSPVA and INSPVAS logs The inertial solution is available up to the rate of the IMU data Data can be requested at a specific rate up to the maximum IMU output rate or can be triggered by the mark input trigger at r
83. d Type Data Description Format Bytes Offset 1 Log Header Log header H 0 2 Solution Type Type of GPS solution used for the last Enum 4 H update see Table 20 on page 99 3 Reserved Integer 4 H 4 4 Phase Number of raw phase observations used Integer 4 H 8 in the last INS filter update 5 Reserved Integer 4 H 12 6 Zupt Flag A zero velocity update was performed Boolean 4 H 16 during the last INS filter update 0 False 1 True 7 Wheel Status Wheel status see Table 22 below Ulong 4 H 18 8 Reserved Ulong 4 H 22 9 XXXX 32 bit CRC ASCII Binary and Short Hex 4 H 26 Binary only 10 CR LF Sentence terminator ASCII only Recommended Input log insupdate onchanged ASCII Example INSUPDATEA UNKNOWN 0 32 5 F INESTEERING 1379 339642 042 00040040 3670 2431 SINGLE 0 6 0 FALSE WHEEL_SENSOR_UNSYNCED 0 fb5d 08b Table 22 Wheel Status Binary ASCII WHEEL_SENSOR_INACTIVE WHEEL_SENSOR_ACTIVE WHEEL_SENSOR_USED WHEEL_SENSOR_BAD_MISC WHEEL_SENSOR_HIGH_ROTATION SPAN Technology for OEMV User Manual Rev 7 Lee 117 C 2 16 INSVEL INS Velocity This log contains the most recent North East and Up velocity vector values with respect to the local level frame and also includes an INS status indicator Structure Message ID 267 Log Type Synch Field Field Type Data Description Format red Ont 1 Log Header Log header H 0 2 Week GPS Week Ulong 4 H 3 Se
84. defined either through manual measurement or through calibration DX We recommend that you measure the lever arm using survey methodology and equipment for example a total station Only use calibrations when precise measurement of the lever arm is not possible The lever arm calibration routine should only be used when the receiver is operating in RTK mode Initial estimates and uncertainties for the lever arm are entered using the SETIMUTOANTOFFSET command see page 80 The calibration routine uses these values as the starting point for the lever arm computation The steps involved in the calibration are 1 Power the receiver and the IMU see the IMU choices and their technical specifications starting on page 47 2 Configure the RTK corrections and make sure that the BESTGPSPOS log see page 97 reports a good RTK solution 3 Configure the IMU see Section 2 3 2 SPAN IMU Configuration on page 28 42 SPAN Technology for OEMV User Manual Rev 7 SPAN Operation Chapter 3 4 Set the orientation of your installed IMU using the SETIMUORIENTATION command see page 77 5 Enter the initial estimate for the lever arm using the SETIMUTOANTOFFSET command see page 80 6 Specify the limits of the calibration through the LEVERARMCALIBRATE command see page 73 The calibration can be limited by time or accuracy of the lever arm It is recommended that the calibration is limited by a minimum of 300 seconds 7 To monitor the calibration
85. e the initial azimuth has been set to 90 degrees This means that the SPAN system y axis is pointing due East within a standard deviation of 5 degrees Note that if you have mounted your SPAN system with the positive z axis as marked on the enclosure not pointing up please refer to the SETIMUORIENTATION command to determine the SPAN frame axes mapping that SPAN automatically applies 86 SPAN Technology for OEMV User Manual Rev 7 B 2 15 SETINSOFFSET Set INS Offset The SETINSOFFSET command is used to specify an offset from the IMU for the output position and velocity of the INS solution This command shifts the position and velocity in the INSPOS INSPOSS INSVEL INSVELS INSSPD INSSPDS INSPVA and INSPVAS logs by the amount specified in metres with respect to the IMU enclosure frame axis Abbreviated ASCII Syntax Message ID 676 SETINSOFFSET xoffset yoffset zoffset Field ASCII Binary Binary Binary Binary Description Format Bytes Offset Type Value Value 1 header This field contains the command H 0 name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 X offset 100 Offset along the IMU enclosure Double 8 H frame X axis m 3 Y offset 100 Offset along the IMU enclosure Double 8 H 8 frame Y axis m 4 Z offset 100 Offset along the IMU enclosure Double 8 H 16 frame Z axis m Abbreviated ASCII Example SETINSOF
86. e SPAN computations SPAN Technology for OEMV User Manual Rev 7 B 2 8 NMEATALKER Set the NMEA talker ID V123 This command allows you to alter the behavior of the NMEA talker ID The talker is the first 2 characters after the sign in the log header of the GPGLL GPGST GPRMB GPRMC and GPVTG log outputs The other NMEA logs are not affected by the NMEATALKER command The default GPS NMEA message nmeatalker GP outputs GPas the talker ID regardless of the position type given in position logs such as BESTPOS The nmeatalker auto command switches the talker ID between GP and IN according to the position type given in position logs Abbreviated ASCII Syntax Message ID 861 NMEATALKER ID Factory Default nmeatalker gp ASCII Example nmeatalker auto lt This command only affects NMEA logs that are capable of a GPS position output For example GPGSV is for information on GPS satellites and its output always uses the GP ID Table 15 shows the NMEA logs and whether they use GP or GP IN IDs with nmeatalker auto Table 15 NMEA Talkers GPALM GPGGA GPGLL GPGRS GPGSA GPGST GPGSV GPRMB GPRMC GPVTG GPZDAI GP GP GP IN GP GP GP IN GP GP IN GP IN GP IN GP Field ASCII Binary ae Binary Binary Binary ren Type Value Value Description Format Bytes Offset 1 NMEA This field contains the command H 0 TALKER name or the message header header depending on whether the com
87. e correctly set up to agree with the receiver communications protocol these settings can be saved e g C GPS OEMSETUP HT for use in future sessions You may wish to use XON XOFF handshaking to prevent loss of data 4 Select Transfer Send Text File to locate the file that is to be sent to the receiver Once you double click on the file or select Open HyperTerminal sends the file to the receiver The above example initializes the SPAN system with origin and destination waypoint coordinates and sets the magnetic variation correction to 21 degrees The BESTPOSA PSRVELA and NAVIGATEA logs have been set to output from the receiver s COM serial port at intervals of once every 15 seconds whereas the GPRMB and GPVTG NMEA logs have been set to be logged out of the receiver s COM2 serial port at intervals of 15 seconds and offset by five seconds The RXCONFIGA log has been set to output every 60 seconds from its COM2 serial port 134 SPAN Technology for OEMV User Manual Rev 7 PAN o oJ yalo S HG1700 IMU Installation The following procedure detailed in this appendix provides the necessary information to install the HG1700 sensor into the SPAN HG Enclosure NovAtel part number 01017898 see also Figure 23 below The steps required for this procedure are Disassemble the SPAN HG Enclosure e Install the HG1700 Sensor Unit Make Electrical Connections e Reassemble the SPAN HG Enclosure Important Ensure you use a ground strap
88. e 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 ASCII Binary 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 respectively 2 Switch 0 0 IMU determines axis ENUM 4 H orientation automatically during coarse alignment default 1 1 IMU X axis is pointing UP 2 2 IMUX 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 78 Abbreviated ASCII Example SETIMUORIENTATION 1 SPAN Technology for OEMV User Manual Rev 7 Table 16 Full Mapping Definitions fee Bat ies SPAN Frame on a IMU Enclosure IMU Enclosure Mapping Axes SRAM Frame Frame Axes Frame Y z Y mez x Y 3 Y x z ja Y Y Z x Y dl X Z X Z default Y Y x ES z Y Z X Z SPAN Technology for OEMV User Manual Rev 7 B 2 11 SETIMUTOANTOFFSET Set IMU to Antenna Offset It is recommended that you mount the IMU as close as possible to the GPS antenna particularly
89. eceiver Power Consumption ProPak V3 2 8 W typical System Power Consumption ProPak V3 14 8 W typical Data Connector on Enclosure 13 pin Deutsch P N 59065 11 35PF Power Connector on Enclosure 3 pin Deutsch P N 59065 09 98PN 2 6 to 18 VDC IMU Interface RS 232 or RS 422 ENVIRONMENTAL IMU Temperature Operating 30 C to 60 C 22 F to 140 F Storage 45 C to 80 C 49 F to 176 F Humidity 95 non condensing a For replacement connectors on the interface and power cables see Section H 3 Manufacturer s Part Numbers on page 147 SPAN Technology for OEMV User Manual Rev 7 hie DAWNS Commands The INS specific commands are described further in this chapter For information on other available commands refer to the OEMV Family Firmware Reference Manual B 1 Using a Command as a Log All NovAtel commands may be used for data input as normal or used to request data output a unique OEMV Family feature INS specific commands may be in Abbreviated ASCII ASCII or Binary format Consider the lockout command refer to the OEMV Family Firmware Reference Manual with the syntax lockout prn You can put this command into the receiver to de weight an undesirable satellite in the solution or you can use the lockout command as a log to see if there is a satellite PRN that has already been locked out In ASCII this might be log com1 lockouta once Notice the a after lockout
90. eds limits 9 RESIDUALS Residuals are too large 10 DELTA_POS Delta position is too large 11 NEGATIVE_VAR Negative variance 12 Reserved 13 INTEGRITY_WARNING Large residuals make position unreliable 14 INS_INACTIVE INS has not started yet 15 INS_ALIGNING INS doing its coarse alignment 16 INS_BAD INS position is bad 17 IMU_UNPLUGGED No IMU detected 18 PENDING When a FIX POSITION command is entered the receiver computes its own position and determines if the fixed position is valid 19 INVALID_FIX The fixed position entered using the FIX POSITION command is not valid a PENDING implies there are not enough satellites being tracked to verify if the FIX POSITION entered into the receiver is valid The receiver needs to be tracking two or more GPS satellites to perform this check Under normal conditions you should only see PENDING for a few seconds on power up before the GPS receiver has locked onto its first few satellites If your antenna is obstructed or not plugged in and you have entered a FIX POSITION command then you may see PENDING indefinitely SPAN Technology for OEMV User Manual Rev 7 101 C 2 2 BESTGPSVEL Best Available GPS Velocity Data 102 This log contains the best available GPS velocity information without INS computed by the receiver In addition it reports a velocity status indicator which is useful in indicating whether or not the corresponding data is valid The velocity measurements somet
91. eeeeeeeeeeeeeeaeeeeeeseaeeseeeeeeeensees 97 C 2 2 BESTGPSVEL Best Available GPS Velocity Data ooooococnicnnninnconnncnnccccannnannos 102 C 2 3 BESTLEVERARM IMU to Antenna Lever Arm eceeeceeeeeeeeeeeeeeenteteeeeeneeeaees 104 6 24 INSATT INS Attittde e soii Ra iain 105 C 2 5 INSATTS Short INS Attitude oooonnonnnconcnnnccncccnnccnncnnnnnnrornnano crac crac cnn crac 106 C 2 6 INSCOV INS Covariance Matrices oooonnccnininncninnnnccnnccnncnnarnnnncnrnnnrnrnnnn nc rncan 107 C 2 7 INSCOVS Short INS Covariance LOQ cconncoinnicinccnocncocccnnccconccnnnccnnncnnnncnncnnnnnnnnos 109 C 2 8 INSPOS INS Position iisa aa eai rre cnc 110 C 2 9 INSPOSS Short INS Position ooooonncnnnncnnccnnccnnnccnocnnancconcc nora nancnnnnn nana nn nr nc 111 C 2 10 INSPOSSYNC Time Synchronised INS Position ooonoonnnnnninnconnnnnncnnncncnnos 112 C 2 11 INSPVA INS Position Velocity and Attitude ooooooonncccinncccnncccnnonccncnnancnnnoss 113 C 2 12 INSPVAS Short INS Position Velocity and Attitude oonnnncnnnnncninnonnnccinccnnnss 114 C213 INSSPD INS Speed cuco a 115 C 2 14 INSSPDS Short INS Speed eee ce eee cee testes teen nano no nrrnnnrn nr sneeeaeeeaeeneas 116 SPAN Technology for OEMV User Manual Rev 7 C 2 15 INSUPDATE INS Update oo eee cece cece eee a nro cnnnnnnnnn 117 C 2 16 INSVEL INS Velocity isisi diniinan datering itio 118 C 2 17 INSVELS Short INS Velocity ooooooccinncoconococonocccononcnononnncnnnnononnncnnnnnnn
92. eeeeeeseeeeeeeeeeeeseaeeseeeeeaeeseeeeaeeeaees 49 12 N 200 Power Cable ics oneh im lia tiie aerial al dea 50 13 IMU Power Cable Pin Out 2 checccs asad da 50 14 IMU FSAS Top Bottom Dimensions cccceeceeeeeeeeeeeeeeeeneeseeeeeeeeeeeeeaeseaeetaeeeeeeeneeees 52 15 IMU FSAS Enclosure Side Dimensions ceeccceeceeeceeeeeeeeeeeeeeeeeeeeaeeeaeeseneeeneeeeeeess 53 16 IMU FSAS Centre of Navigation ooooococcnocccnonococcconnconancnncconc cnn cnn nn non ccnnn non nn can nnrncrnccns 54 17 Corrsys Datron WPT cuicos r ib do ld 57 18 MAR MWS Pre Installed oooocccnccnnncnnncnnnconncconncnncnnncnncn rancio 57 19 IMU FSAS Interface Cable coooccococinnccncccconnconnconnccnnnnonnccnnnnrnn cnn cnn near aran n cnn rre n cena canncnns 58 20 HG1700 Top Bottom Dimensions ceeceeeeeeeeeeneeeeeeeeeeeeeeeeeeeeaeeeeeseaeenaeesieeseaeeeeete 60 21 HG1700 Enclosure Side Dimensions coocnccincccnccnonicaccconcconnncnnncnnn cnn cnc noc nr ncnnnncanncnnn 61 22 Frame of Reference cami aia 77 23 Reg ired PariS coctel 135 24 Bolts and Allan Key ronnan aaa 136 25 Lift Top Cover Tube Body and 3 Ring Spacer Screws eecceeseeseeeeeeeeeeeteeteeeeetees 137 26 SPAN IMU Re ASSEMDIy 0000 cc eeeceeceeeeeeeseetseeeeeeeeeeeseaeeeaeecaeeeaeeseaeeeseeseeseaeeseaeseaeeenateas 137 27 Attach Flex Gable citan ler 138 28 Incorrect Bowed Flex Cable Installation cceeecceeeeeeeeeeeeeeeeeeeeeeeseeeeeeeseaeeeeeeees 138 29 Correct Fl
93. eiver port connected to the IMU see Table 4 below and the INTERFACEMODE command on page 69 2 Issue the SETIMUTYPE command to specify the type of IMU being used see Table 4 below and the SETIMUTYPE command on page 81 Table 4 Enable INS Commands IMU Type INTERFACEMODE Command SETIMUTYPE Command LN 200 interfacemode com3 imu imu off setimutype imu_In200 iIMU FSAS interfacemode com3 imarimu imarimu off setimutype imu_imar_fsas HG1700 interfacemode com3 imu imu off setimutype imu_hg1700_ag11 or setimutype imu_hg1700_ag17 or setimutype imu_hg1700_ag58 or setimutype imu_hg1700_ag62 a The iIMU FSAS IMU requires that COM3 labelled as AUX on the ProPak V3 be in RS 422 mode COM3 is factory configurable for RS 232 or RS 422 mode 28 SPAN Technology for OEMV User Manual Rev 7 SPAN Installation Chapter 2 Basic configuration of the SPAN system is now complete The inertial filter starts once the GPS solution is solved and the IMU is connected lt 1 A GPS antenna must be connected and tracking satellites for operation 2 Enter the INTERFACEMODE command with COM3 as the port value even if the ProPak V3 port is labelled AUX 3 Issue the SETIMUTOANTOFFSET command to enter the distance from the IMU to the GPS antenna see page 80 The offset between the antenna phase centre and the IMU axis must remain constant and be known accurately m The X pitch Y roll and Z azimuth directions are clear
94. el SPAN wizard A This wizard will guide you through the alignment or calibration of your Nov tel SPAN system NovAtel SPAN is a powerfull Synchronized position attitude navigation system TON Precise thinkin g Your receiver D4B06210087 supports NovAtel SPAN INS SPAN wizard Cancel IMU_UNKNOWN coma 30 SPAN Technology for OEMV User Manual Rev 7 SPAN Installation Chapter 2 2 Optional SPAN calibration Select Tools SPAN Calibration Wizard from the main menu of CDU The wizard takes you through the steps to calibrate your lever arm and or vehicle to body rotation as well as select the type of IMU and configure the receiver port connected to the IMU and to accept data CONFIG SPAN Calibration Wizard Welcome to the NovAtel SPAN wizard This wizard will guide you through the alignment or calibration of your NovAtel SPAN system NovAtel SPAN is a powerfull Synchronized position attitude navigation system Your receiver D4B06210087 supports NovAtel SPAN lt You need only run the Calibration Wizard if you need to calibrate the lever arm or vehicle to frame angular offsets It is not required for the SPAN filter to run 2 3 2 3 Configuration for Alignment A coarse alignment routine requires the vehicle to remain stationary for at least 1 minute If that is not possible an alternate fast alignment routine is available The fast or moving alignment is performed by estimating the attitude from the
95. elocity in an up direction at Mark2 Double 8 H 52 10 Roll Right handed rotation from local level around Double 8 H 60 y axis in degrees at Mark2 11 Pitch Right handed rotation from local level around Double 8 H 68 X axis in degrees at Mark2 12 Azimuth Left handed rotation around z axis Degrees Double 8 H 76 clockwise from North at Mark2 13 Status INS Status see Table 5 on page 38 at Mark2 Enum 4 H 84 14 XXXX 32 bit CRC Hex 4 H 88 15 CR LF Sentence Terminator ASCII only Recommended Input log mark2pva onnew Abbreviated ASCII Example MARK2PVA USB1 0 51 5 EXACT 1481 251850 001 00040000 5b8a 3388 1481 251850 001000000 51 116573435 114 037237211 1040 805671970 0 000257666 0 003030102 0 000089758 3 082229474 1 019023628 89 253955744 INS_SOLUTION_GOOD SPAN Technology for OEMV User Manual Rev 7 121 C 2 20 PASHR NMEA Inertial Attitude Data 122 The PASHR log uses a UTC time calculated with default parameters to output NMEA messages without waiting for a valid almanac The UTC time status is set to WARNING since it may not be 100 accurate When a valid almanac is available the receiver uses the real parameters and sets the UTC time to VALID For more information about NMEA refer to the OEMV Firmware Reference Manual found on our Web site The PASHR log contains only INS derived attitude information and is only filled when an inertial solution is available
96. equest GPS logs RANGE BESTPOS RTKPOS PSRPOS and so on while in INS operation is 5 Hz If the receiver is not running INS no IMU is attached GPS logs can be requested at rates up to 20 Hz Please also refer to the OEMV Family Firmware Reference Manual for information on the supplied Convert4 program that lets you change binary to ASCII data or short binary to short ASCII data and vice versa Convert4 is also capable of RINEX conversions to and from ASCII or binary Table 5 Inertial Solution Status on page 38 shows the status values included in the INS position velocity and attitude output logs If you think you have an IMU unit hooked up properly and you are not getting a good status value something is wrong and the hardware setup must be checked out This situation can be recognized in the RAWIMU data by observing accelerometer and gyro values which are not changing with time 94 SPAN Technology for OEMV User Manual Rev 7 C 1 Description of ASCII and Binary Logs with Short Headers These logs are set up in the same way normal ASCII or binary logs are except that a normal ASCII or binary header is replaced with a short header see Tables 18 and 19 For the message header structure of OEMV 3 regular Binary and ASCII logs please refer to the OEMV Family Firmware Reference Manual Table 18 Short ASCII Message Header Structure Field sas Field Field Type Type Description 1 Char symbol Message Char This is the name of
97. eseneeeaeetsaeeeeeeeeees 58 HG1 700 IMU Specifications c ccccescceecees ie e eee 60 FRESET Targetes ares eenen du ah acest tata 66 Serial Port Interface MOUS ccoo ra 70 COM Serial Port depi ES a a e ara aa Aee e a a aAa a nn nan nnnnnnno 71 SASAE AE E E E as dd ia 75 Full Mapping Definitions c c 2 c casec lt cescageescpcce sie csnsdesdesscaseschcnaasceadeaceasscagaaauccentaaeedes 79 IMU Type ci a peta ceeds eee 82 Short ASCII Message Header Structure eecceecceeceeeeeeseeeeeeeeeeeseeeeeeeeeeeeeeeeeeeeeenersates 95 Short Binary Message Header Structure ceccececeeeceeeeeeeeeeeeeeseeeeeeeeeeeeeeeeseeeeeeeeaeens 95 Position or Velocity Type seinninn i ea a aaee a EIE N 99 Solution Status eeii ae raae e Bares e ea oN 101 Wheel Stat S irienn a E E N E A E E EEE E AEE ER anet 117 IIMU FSAS Status cisean alias dad ain hae alt 124 HG1700 and LN200 Status vannin tesc ike eee ada 125 EI esaides 128 SPAN Technology for OEMV User Manual Rev 7 Software License BY INSTALLING COPYING OR OTHERWISE USING THE SOFTWARE PRODUCT YOU AGREE TO BE BOUND BY THE TERMS OF THIS AGREEMENT IF YOU DO NOT AGREE WITH THESE TERMS OF USE DO NOT INSTALL COPY OR USE THIS ELECTRONIC PRODUCT SOFTWARE FIRMWARE SCRIPT FILES OR OTHER ELECTRONIC PRODUCT WHETHER EMBEDDED IN THE HARDWARE ON A CD OR AVAILABLE ON THE COMPANY WEB SITE hereinafter referred to as Software 1 License NovAtel Inc NovAtel grants you a non exclusive
98. ess of the calibration log VEHICLEBODYROTATION using the ONCHANGED trigger The rotation parameters are saved in NVM for use on start up in case a fast alignment is required Each time the IMU is re mounted this calibration should be performed again See also Sections 3 3 1 1 and 3 3 1 2 on page 39 for details on coarse and fast alignment WARNING After the RVBCALIBRATE ENABLE command is entered there are no vehicle body rotation parameters present and a kinematic alignment is NOT possible Therefore this command should only be entered after the system has performed either a static or kinematic alignment and has a valid INS solution Dx The solved rotation values are used only for a rough estimate of the angular offsets between the IMU and vehicle frames The offsets are used when aligning the system while in motion see Section 3 3 1 System Start Up and Alignment Techniques starting on page 39 The angular offset values are not applied to the attitude output unless the APPLY VEHICLEBODYROTATION command is enabled see page 65 3 3 6 SPAN Wheel Sensor Messages 44 The SPAN system supports wheel sensor inputs Wheel sensor information is input to the receiver through the WHEELVELOCITY message in either ASCII or binary format The message is sent with the port interface mode set to NovAtel See the INTERFACEMODE command examples in Section 2 3 2 SPAN IMU Configuration on page 28 For HG1700 and LN 200 users the wheel velocity commands m
99. fications PHYSICAL IMU Enclosure Size 135 mm x 153 mm x 130 mm 5 315 x 6 024 x 5 118 89 mm D x 85 mm H 3 504 D x 3 346 H 3 kg 6 6 lb MECHANICAL DRAWINGS IMU Size IMU Weight I 143 7 76 8 Enclosure Center 82 4 Navigation Center AULA ALT 11 AN ener OF NAVIGATION OFFSETS 2 76 2 O 134 6 5 6mm oo SCALE 0 800 Navigation Center 76 3 Figure 8 LN 200 IMU Enclosure Top Bottom Dimensions and Centre of Navigation 47 Enclosure Center SPAN Technology for OEMV User Manual Rev 7 36 8 IMU Enclosure Center Scale 0 800 ote The Center of Navigation offsets shown on the LN 200 label are for the Figure 9 LN 200 Enclosure Side Dimensions internal IMU and are different than for the enclosure center The measurements for the enclosure center are labelled as IMU Enclosure Center in this figure and Figure 5 SPAN Technology for OEMV User Manual Rev 7 48 A 1 1 LN 200 IMU Interface Cable The NovAtel part number for the LN 200 IMU interface cable is 01017375 Figures 10 and 11 below The IMU interface cable supplied enables input and output between the IMU and the receiver Figure 10 LN 200 Interface Cable y ULU AN
100. filter to perform the update The timed data is also available through the TIMEDWHEELDATA log see page 129 The TIMEDWHEELDATA log can be used for applying wheel sensor updates in post processing The SPAN Kalman filter uses sequential TIMEDWHEELDATA logs to compute a distance traveled between update intervals 1Hz This information can be used to constrain free inertial drift during times of poor GPS visibility The filter also contains a state for modeling the circumference of the wheel as it may change due to hardware changes or environmental conditions The modeled wheel circumference is available in the WHEELSIZE log see page 131 Information on how the wheel sensor updates are being used is available in the INSUPDATE log see page 117 3 3 6 3 iMAR Wheel Sensor Interface for iIMU FSAS users If you have the iMAR iMWS Magnetic Wheel Speed Sensor and Convertor the wheel sensor information is sent to the OEMV along with the raw IMU data You can integrate other wheel sensor hardware with the iIMU FSAS The Corrsys Datron wheel pulse transducer is used as an example see Section A 2 2 iIMU FSAS Odometer Cabling on page 56 The accumulated wheel sensor counts are available by logging the timed wheel data log with the onchanged trigger log timedwheeldatab onnew Set parameters for your installation using the SETWHEELPARAMETERS command see page 90 3 4 Data Collection for Post Processing Some operations such as aerial measurement sys
101. g on Licensee s computer equipment Ter mination shall be without prejudice to the accrued rights of either party including payments due to NovAtel This provision shall survive termination of this Agreement howsoever arising 6 Warranty NovAtel does not warrant the contents of the Software or that it will be error free The Software is furnished AS IS and without warranty as to the performance or results you may obtain by using the Software The entire risk as to the results and performance of the Software is assumed by you See product enclosure if any for any additional warranty 7 Indemnification NovAtel shall be under no obligation or liability of any kind in contract tort or oth erwise and whether directly or indirectly or by way of indemnity contribution or otherwise howsoever to the Licensee and the Licensee will indemnify and hold NovAtel harmless against all or any loss dam age actions costs claims demands and other liabilities or any kind whatsoever direct consequential special or otherwise arising directly or indirectly out of or by reason of the use by the Licensee of the Software whether the same shall arise in consequence of any such infringement deficiency inaccu racy error or other defect therein and whether or not involving negligence on the 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
102. gy for OEMV User Manual Rev 7 71 B 2 6 INSZUPT Request Zero Velocity Update This command allows you to manually perform a Zero Velocity Update ZUPT that is to update the receiver when the system has stopped NovAtel s SPAN Technology System does ZUPTs automatically It is not necessary to use this command under normal circumstances WARNING This command should only be used by advanced users of GPS INS Abbreviated ASCII Syntax Message ID 382 INSZUPT 72 SPAN Technology for OEMV User Manual Rev 7 B 2 7 LEVERARMCALIBRATE INS Calibration Command Use the LEVERARMCALIBRATE command to control the IMU to antenna lever arm calibration The IMU to antenna lever arm is the distance from the centre of each marked IMU side to the phase centre of the antenna See also Section B 2 11 SETIMUTOANTOFFSET Set IMU to Antenna Offset starting on page 80 and Section 3 3 4 Lever Arm Calibration Routine starting on page 42 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 104 Db If a SETIMUANTENNAOFFSET command is already entered or there is a previously saved lever arm in NVM before the LEVERARMCALIBRATE is sent the calibration starts using initial values from SETIMUTOANTOFFSET or NVM Ensure the initial standard deviations are representative of the initial lever arm values Abbreviated ASCII Syn
103. hall be liable to Buyer only for those damages which have been foreseen or might have reasonably been foreseen on the date of effectivity of the Order and which are solely an immediate and direct result of any act or omission of NovAtel in performing the work or any portion thereof under the Order and which are not in the aggregate in excess of ten 10 percent of the total Order price SPAN Technology for OEMV User Manual Rev 7 Warranty Policy NovAtel Inc warrants that its Global Positioning System GPS products are free from defects in materials and workmanship subject to the conditions set forth below for the following time periods OEMV 3 Receivers One 1 Year IMU Units return to manufacturer l One 1 Year GPSAntenna Series One 1 Year Cables and Accessories Ninety 90 Days Computer Discs Ninety 90 Days Software Warranty One 1 Year Date of sale shall mean the date of the invoice to the original customer for the product NovAtel s responsibility respecting this warranty is solely to product replacement or product repair at an authorized NovAtel location only Determination of replacement or repair will be made by NovAtel personnel or by technical personnel expressly authorized by NovAtel for this purpose continued on Page 14 WARNING Only return an IMU to its manufacturer and not to NovAtel 1 Litton Northrop Grumman Litton Systems Inc Navigation Systems Division NSD 21240 Burbank Blvd Woodland Hills
104. he lever arm calibration the vehicle to SPAN frame angular offset calibration requires RTK GPS The steps for the calibration routine are 1 Apply power to the receiver and IMU see the IMU choices and their technical specifications starting on page 47 2 Configure the IMU see Section 2 3 2 SPAN IMU Configuration on page 28 3 Ensure that an accurate lever arm has been entered into the system either manually or through a lever arm calibration see page 42 4 Allow the system to complete a coarse alignment see page 39 5 Enable the vehicle to body calibration using the RVBCALIBRATE ENABLE command see page 76 6 Start to move the system As with the lever arm calibration movement of the system is required for the observation of the angular offsets SPAN Technology for OEMV User Manual Rev 7 43 Chapter 3 SPAN Operation Drive a series of manoeuvres such as figure eights if the driving surface is not level or a straight course if on level ground remember that most roads have a crown resulting in a constant roll of a few degrees Avoid driving on a surface 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 7 When the uncertainties of the offsets are low enough to be used for a fast alignment the calibration stops and the VEHICLEBODYROTATION log see page 130 is overwritten with the solved values To monitor the progr
105. i IMU H62 HG1700 AG62 IMU LN200 200 Hz LN 200 V3RT3j 200 and 400 Hz models IMU FSAS El 200 Hz IMU FSAS V3RT2j Each model is capable of multiple positioning modes of operation For a discussion on GPS positioning and enclosure details please refer to the OEMV Family Installation and Operation User Manual Each model has the following standard features Rugged shock water and dust resistant enclosure NovAtel s advanced OEMV L1 L2 GPS and PAC technology Three bi directional COM ports which support data transfer rates of up to 921 600 bits s i A serial port capable of communication with an IMU See also Table 1 above A Controller Area Network Bus CAN Bus which is a rugged differential serial bus with a protocol that provides services for processes data and network management Refer to the Configure CAN for SPAN application note available on our Web site at http www novatel com support applicationnotes htm as APN 046 Field upgradeable firmware program software What makes one model different from another is software not hardware This unique feature means that the firmware can be updated any time anywhere without any mechanical procedures whatsoever For example a model with L1 L2 only capabilities can be upgraded to a model with L1 L2 RT 2 in only a few minutes in your office instead of the days or weeks that would be required if the receiver had to be sent to a service depot All that is required to u
106. imes have a latency associated with them The time of validity is the time tag in the log minus the latency value The velocity is typically computed from the average change in pseudorange over the time interval or the RTK Low Latency filter As such it is an average velocity based on the time difference between successive position computations and not an instantaneous velocity at the BESTGPSVEL time tag The velocity latency to be subtracted from the time tag is normally 1 2 the time between filter updates Under default operation the positioning filters are updated at a rate of 2 Hz This translates into a velocity latency of 0 25 second The latency can be reduced by increasing the update rate of the positioning filter being used by requesting the BESTGPSVEL or BESTGPSPOS messages at a rate higher than 2 Hz For example a logging rate of 10 Hz would reduce the velocity latency to 0 005 seconds For integration purposes the velocity latency should be applied to the record time tag A valid solution with a latency of 0 0 indicates that the instantaneous Doppler measurement was used to calculate velocity Structure Message ID 506 Log Type Synch SPAN Technology for OEMV User Manual Rev 7 Binary Binary Field Field type Data Description Format Bytes Offset 1 header Log header H 0 2 Sol Status Solution status see Table 21 Solution Status on Enum 4 H page 101 3 Vel Type Velocity type see
107. in the horizontal plane This command is used to enter the offset between the IMU and the GPS antenna The measurement should be done as accurately as possible preferably to within millimeters especially for RTK operation The x y and z fields represent the vector from the IMU to the antenna phase center in the IMU enclosure frame The a b and c fields allow you to enter any possible errors in your measurements If you think that your x offset measurement is out by a centimeter for example enter 0 01 in the a field The X pitch Y roll and Z azimuth directions of the inertial frame are clearly marked on the IMU This command must be entered before or during the INS alignment mode not after Abbreviated ASCII Syntax Message ID 383 SETIMUTOANTOFFSET x y z a b c Field ASCII Binary Type Value Value Binary Binary Binary Field Format Bytes Offset Description 1 header This field contains the H 0 command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 x 20 x offset m Double 8 H 3 y 20 y offset m Double 8 H 8 4 Z 20 z offset m Double 8 H 16 5 a Oto 1 Uncertainty in x m Double 8 H 24 Defaults to 10 of the x offset to a minimum of 0 01 m 6 b 0 to 1 Uncertainty in y m Double 8 H 32 Defaults to 10 of the y offset to a minimum of 0 01 m 7 c Oto 1 Uncertainty in z m Double 8 H 40 Defa
108. integrates the raw inertial measurements with all available GPS information to provide the optimum solution possible in any situation By using the high accuracy GPS solution the IMU errors can be modeled and mitigated Conversely the continuity and relative accuracy of the INS solution enables faster GPS signal reacquisition and RTK solution convergence The advantages of using SPAN technology are its ability to e Provide a full attitude solution roll pitch and azimuth e Provide continuous solution output in situations when a GPS only solution is impossible SPAN Technology for OEMV User Manual Rev 7 Introduction Chapter 1 Provide faster signal reacquisition and RTK solution resolution over stand alone GPS because of the tightly integrated GPS and INS filters Output high rate up to 100 or 200 Hz depending on your IMU model and other logging selections position velocity and attitude solutions for high dynamic applications see also Logging Restriction Important Notice on page 96 Use raw phase observation data to constrain INS solution drift even when too few satellites are available for a full GPS solution 1 2 Models and Features All SPAN system receivers are factory configurable for L1 L2 RTK capability and are compatible with an IMU See Table 1 for firmware model details Table 1 SPAN Compatible Receiver and IMU Models Model Name Max Output Rate Compatible IMUs SW Model IMU H58 100 Hz HG1700 AG58 V3RT2
109. ion This log contains the time synchonised INS position It is synchronised with GPS each second Structure Message ID 322 Log Type Asynch Binary Binary Field Field Type Data Description Format Bytes Offset 1 Log Header Log header H 0 2 Sec Age of synchronised INS solution s Double 8 H 3 x ECEF X coordinate Double 8 H 8 4 ECEF Y coordinate Double 8 H 16 5 Z ECEF Z coordinate Double 8 H 24 6 Cov ECEF covariance matrix a 3 x 3 Double 9 72 H 32 array of length 9 Refer also to the CLOCKMODEL log in the OEMV Family Firmware Reference Manual 7 XXXX 32 bit CRC ASCII Binary and Short Hex 4 H 104 Binary only 8 CR LF Sentence terminator ASCII only Recommended Input log inspossynca onchanged ASCII Example INSPOSSYNCA COM1 0 47 5 FINESTEERING 1332 484154 042 00000000 c98c 34492 484154 000000000 1634523 2463 3664620 7609 4942494 6795 1 8091616236414247 0 0452272887760925 0 7438098675219428 0 0452272887760925 2 9022554471257266 1 5254793710104819 0 7438098675219428 1 5254793710104819 4 3572293495804546 9fcd6cel 112 SPAN Technology for OEMV User Manual Rev 7 C 2 11 INSPVA INS Position Velocity and Attitude This log allows INS position velocity and attitude with respect to the SPAN frame to be collected in one log instead of using three separate logs See the INSATT log on page 105 for an explanation of how the SPAN frame may differ from
110. irmware Reference Manual 9 Lat o Latitude standard deviation Float 4 H 40 10 Lon o Longitude standard deviation Float 4 H 44 11 Hgto Height standard deviation Float 4 H 48 12 Stn ID Base station ID Char 4 4 H 52 13 Diff_age Differential age Float 4 H 56 14 Sol_age Solution age in seconds Float 4 H 60 15 obs Number of observations tracked Uchar 1 H 64 16 GPSL1 Number of GPS L1 ranges used in computation Uchar 1 H 65 17 L1 Number of GPS L1 ranges above the RTK mask angle Uchar 1 H 66 18 L2 Number of GPS L2 ranges above the RTK mask angle Uchar 1 H 67 Continued on page 98 SPAN Technology for OEMV User Manual Rev 7 97 Binary Binary Field Field type Data Description Format Bytes Offset 19 Reserved Uchar 1 H 68 20 Uchar 1 H 69 21 Uchar 1 H 70 22 Uchar 1 H 71 23 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 72 24 CR LF Sentence terminator ASCII only 98 SPAN Technology for OEMV User Manual Rev 7 Recommended Input log bestgpsposa ASCII Example ontime 1 BESTGPSPOSA COM1 0 62 5 FINESTEERING 1036 484878 000 00000028 63e2 0 SOL_COMPUTED SINGLE 51 11629893124 114 03820302746 1052 3434 16 271287293 61 19 6934 13 1515 23 8561 0 0 60 000 10 10 0 0 0 0 0 0 1051 Position Type ada9 Table 20 Position or Velocity Type Position Type binary ASCII Description
111. l 3 Patent Infringement NovAtel shall not be liable to indemnify the Licensee against any loss sus tained by it as the result of any claim made or action brought by any third party for infringement of any letters patent registered design or like instrument of privilege by reason of the use or application of the Software by the Licensee or any other information supplied or to be supplied to the Licensee pursuant to the terms of this Agreement NovAtel shall not be bound to take legal proceedings against any third party in respect of any infringement of letters patent registered design or like instrument of privilege which may now or at any future time be owned by it However should NovAtel elect to take such legal proceedings at NovAtel s request Licensee shall co operate reasonably with NovAtel in all legal actions concerning this license of the Software under this Agreement taken against any third party by NovAtel to protect its rights in the Software NovAtel shall bear all reasonable costs and expenses incurred by Licensee in the course of co operating with NovAtel in such legal action 4 Restrictions You may not a copy other than as provided for in paragraph 2 distribute transfer rent lease lend sell or sublicense all or any portion of the Software except in the 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 b
112. lator 6 243 409 B1 5 414 729 Dual Frequency GPS 5 736 961 Anti Jamming Technology 5 734 674 Position for Velocity Kalman Filter 6 664 923 B1 7 193 559 B2 SPAN Technology 6 721 657 B2 6 750 816 B1 7 346 452 10 932 497 pending ory Copyright 2006 2009 Novatel Inc All rights reserved Unpublished rights amp 9 amp reserved under International copyright laws Printed in Canada on recycled paper Recyclable 2 SPAN Technology for OEMV User Manual Rev 7 Table of Contents Proprietary Notice Software License Terms and Conditions Warranty Policy Customer Service Notices Foreword 1 Introduction 1 1 Fundamentals of GPSANS ui is dd a adan 1 2 M dels and FE atures iii di ae 2 SPAN Installation 2 1 Hardware Description ani ia 2 1 1 SPAN System RecelverS coocooccconccconcconncnnnncnnnnconcnnnenono cancer 21 2 Cables and Ports cocida A ea senile 2 2 Hardware Set Up wi miii id date tee cee ae ld 2 251 MOUNT ANNA iii niet aa iit a a a a 222 Mount MD ient gea ap aea a aaea Aa 2 2 3 Connect COM Cables iain EE EEEE E a 2 2A CONNECT POWER eoctrracal mantas irrita ltd 2 3SofiWare GonfiguratiON siseses a ti arab 23 GPS Configurations ect ir eA aE Ea aie 2 3 2 SPAN IMU Configuration eccceeceeeceeeeeeeeeeeeeecneeeeeeeeeeseeeeeaeeseaeeneesieeseaeeeeeetaees 2 3 3 Configuration Command Summary coccoccccccconccincnnnncnoncnnona nano noncn nn crac nana 3 SPAN Operation 3 1 Definition of
113. log The default X pitch Y roll and Z azimuth directions of the inertial frame are clearly marked on the IMU see Figure 22 on page 77 Structure Message ID 674 Log Type Asynch Binary Binary Field Type Description Bytes Offset 1 Log Header Log Header H 0 2 X Offset IMU Enclosure Frame m Double 8 H 3 Y Offset IMU Enclosure Frame m Double 8 H 8 4 Z Offset IMU Enclosure Frame m Double 8 H 16 5 X Uncertainty IMU Enclosure Frame m Double 8 H 24 6 Y Uncertainty IMU Enclosure Frame m Double 8 H 32 7 Z Uncertainty IMU Enclosure Frame m Double 8 H 40 8 iMapping See Table 16 Full Mapping Integer 4 H 48 Definitions on page 79 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 104 SPAN Technology for OEMV User Manual Rev 7 C 2 4 INSATT INS Attitude This log and the INSATTS log contains the most recent attitude measurements corresponding to the SPAN frame axis according to the installation instructions provided in Section 2 2 Hardware Set Up starting on page 25 and Section 2 3 2 SPAN IMU Configuration starting on page 28 of this manual The attitude measurements may
114. logy for OEMV User Manual Rev 7 67 B 2 4 INSPHASEUPDATE INS Phase Update Control 68 This command allows you to control the INS phase updates When enabled raw GPS phase measurements are used to control errors in the inertial filter In a typical INS GPS integration GPS positions are used to control inertial drifts Some features of phase updates include e updates can be performed even when too few satellites are available to compute a GPS solution e as few as 2 satellites must be in view to perform a precise update e system performance is significantly improved in conditions challenging to GPS such as urban canyons and foliage Abbreviated ASCII Syntax Message ID 639 INSPHASEUPDATE switch Field ASCII Binary Binary Binary Binary Field Format Bytes Offset Type Value Value Description 1 header This field contains the H 0 command name or the message header depending on whether the command is abbreviated ASCII ASCH or binary respectively 2 switch DISABLE 0 Disable INS delta phase Enum 4 H updates ENABLE 1 Enable INS delta phase updates default Abbreviated ASCII Example INSPHASEUPDATE ENABLE SPAN Technology for OEMV User Manual Rev 7 B 2 5 INTERFACEMODE Set Interface Type for a Port This command allows the user to specify what type of data a particular port on the receiver can transmit and receive The receive type tells the receiver what type of data
115. ly marked on the IMU enclosure The SETIMUTOANTOFFSET parameters are where the standard deviation fields are optional and the distances are measured from the IMU to the Antenna x_offset y_offset z_offset x_stdev y_stdev z_stdev A typical RTK GPS solution is accurate to a few centimeters For the integrated INS GPS system to have this level of accuracy the offset must be measured to within a centimeter Any offset error between the two systems shows up directly in the output position For example a 10 cm error in recording this offset will result in at least a 10 cm error in the output If it is impossible to measure the IMU to GPS antenna offset precisely the offset can be estimated by carrying out the Lever Arm Calibration Routine See Section 3 3 4 Lever Arm Calibration Routine on page 42 2 3 2 2 SPAN Configuration with CDU Follow these steps to enable INS as part of the SPAN system using the NovAtel CDU software utility lt The CDU screen shots in this manual are from CDU Version 3 3 0 3 and may differ from your CDU version SPAN Technology for OEMV User Manual Rev 7 29 Chapter 2 SPAN Installation 1 SPAN basic configuration Select Tools SPAN Alignment Wizard from the main menu of CDU This wizard takes you through the steps to complete a coarse or fast alignment select the type of IMU and configure the receiver port connected to the IMU to accept IMU data CONFIG SPAN Alignment Wizard Welcome to the NovAt
116. m the WHEELVELOCITY command but has the time of the wheel sensor measurement in the message header It is primarily used to support wheel sensor information to a post processing utility Time in the log header is the time of the last PPS pulse plus the latency from the WHEELVELOCITY log See also Section 3 3 6 SPAN Wheel Sensor Messages on page 44 gt If you are using an MAR iMWS Magnetic Wheel Speed Sensor and Convertor Field 4 the float wheel velocity is filled instead of Field 3 the unsigned short wheel velocity When you send a WHEELVELOCITY command see Page 69 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 Field Field Type Data Description Format Byes part 1 Log Header Log header short header H 0 2 Ticks Per Rev Number of ticks per revolution Ushort 2 H 3 Wheel Vel Wheel velocity in counts s Ushort 2 H 2 4 fWheel Vel Float wheel velocity in counts s Ulong 4 H 4 5 Reserved Ulong 4 H 8 6 Ulong 4 H 12 7 Ticks Per Second Cumulative number of ticks Ulong 4 H 16 8 XXXX 32 bit CRC ASCII Binary and Short Hex 4 H 20 Binary only
117. mand is abbreviated ASCII ASCII or binary respectively 2 ID GP 0 GPS GP only Enum 4 H AUTO 1 GPS and or Inertial IN SPAN Technology for OEMV User Manual Rev 7 75 B 2 9 RVBCALIBRATE Vehicle to Body Rotation Control The RVBCALIBRATE command is used to enable or disable the calculation of the vehicle to SPAN body angular offset This command should be entered when the IMU is re mounted in the vehicle or if the rotation angles available are known to be incorrect WARNING After the RVBCALIBRATE ENABLE command is entered there are no vehicle body rotation parameters present and a kinematic alignment is NOT possible Therefore this command should only be entered after the system has performed either a static or kinematic alignment and has a valid INS solution A good INS solution and vehicle movement are required for the SPAN system to solve the vehicle SPAN body offset The solved vehicle body rotation parameters are output in the VEHICLEBODYROTATION log when the calibration is complete see page 130 When the calibration is done the rotation values are fixed until the calibration is re run by entering the RVBCALIBRATE command again lt The solved rotation values are used only for a rough estimate of the angular offsets between the IMU and vehicle frames The offsets are used when aligning the system while in motion see Section 3 3 1 System Start Up and Alignment Techniques starting on page 39 The a
118. ment starts as soon as a GPS solution is available the receiver has computed fine time and the IMU is connected and configured The vehicle must remain stationary for the alignment to happen During the coarse alignment accelerometer and gyro measurements are averaged over a period of time to measure Earth rotation and gravity From these averaged measurements initial estimates of roll pitch and heading are computed Because the coarse alignment uses averaged sensor output the vehicle must remain stationary for the duration of the alignment which is approximately 1 minute The attitude estimates solved by the alignment are larger than the system specified attitude accuracy and vary upon the characteristics of the sensor and the geographic latitude of the system Attitude accuracy converges with motion after the coarse alignment is complete see Section 3 3 2 Navigation Mode on page 40 If the system is stationary for less than minute the coarse alignment finishes early provided at least 5 stationary seconds were detected The quality of the coarse alignment is poorer with stationary durations of less than minute 3 3 1 2 Kinematic Alignment If the preferred coarse alignment routine cannot be performed because the vehicle cannot remain stationary for the length of time required an alternate alignment routine is available The kinematic or moving alignment is performed by estimating the attitude from the GPS velocity vector and injecting it
119. n 9 covariance values with respect to the SPAN frame axis as follows variance about X rotation variance about Y rotation angle roll variance about Z rotation angle azimuth or yaw angle pitch a XY XZ yx yy yz ZX Zy and are displayed within the log output as co XX XY XZ YX YY YZ ZX ZY 22 These values are computed once per second and are only available after alignment See also Section 3 3 1 System Start Up and Alignment Techniques starting on page 39 Structure Message ID 264 Log Type Asynch inti Binary Binary Field Field Type Data Description Format Bytes Offset 1 Log Header Log header H 0 2 Week GPS Week Ulong 4 H 3 Seconds into Week Seconds from week start Double 8 H 4 4 Position Covariance Position covariance matrix in local List of 9 72 H 12 level frame Meters squared Doubles 5 Attitude Covariance Attitude covariance matrix in local List of 9 72 H 84 level frame Degrees squared Doubles rotation around the given axis 6 Velocity Covariance Velocity covariance matrix in local List of 9 72 H 156 level frame Meters second squared Doubles 7 XXXX 32 bit CRC ASCII Binary and Short Hex 4 H 228 Binary only 8 CR LF Sentence terminator ASCII only SPAN Technology for OEMV User Manual Rev 7 107 Recommended Input log inscova onchanged ASCII Example INSCOVA COM3 0 0 0 EXACT 1105 425385 020 00040000
120. nccnocccocccionanocccnncconnncnnccnnnnnn 72 B 2 7 LEVERARMCALIBRATE INS Calibration Command cocconconncccocccnocinancnonccinnnos 73 B 2 8 NMEATALKER Set the NMEA talker ID V123 onnncicnnccinconnccconccnocnconcnnnnnnnnns 75 B 2 9 RVBCALIBRATE Vehicle to Body Rotation Control ccccesceeeeeeteeeeeeeneees 76 B 2 10 SETIMUORIENTATION Set IMU Orientation ec ceeeeeeeeeeeeeeteneeteeeeeeeeeneees 77 B 2 11 SETIMUTOANTOFFSET Set IMU to Antenna Offset ceeeeeeeeeeeeeeeeeneees 80 B 2 12 SETIMUTYPE Set IMU Typerende 81 B 2 13 SETINITATTITUDE Set Initial Attitude of SPAN in Degrees n 83 B 2 14 SETINITAZIMUTH Set Initial Azimuth and Standard Deviation 85 B 2 15 SETINSOFFSET Set INS OffS8b ocoooconnconnccinccconccnocnnnnanonanonnn conc crac conc nrnncnn nc 87 B 2 16 SETMARK1OFFSET Set Mark1 Offset oooooonccincccnncicoccconccnonananccnnnnnancnnnccrn non 88 B 2 17 SETMARK2OFFSET Set Mark2 Offset c cecceeeseeeeeeeeeeeneeeeeeeeneeseeeeeeeeaeens 89 B 2 18 SETWHEELPARAMETERS Set Wheel Parameters csccesteeseeeereteneees 90 B 2 19 VEHICLEBODYROTATION Vehicle to SPAN frame Rotation cee 91 B 2 20 WHEELVELOCITY Wheel Velocity for INS Augmentation 0 eeeeeees 93 C INS Logs 94 C 1 Description of ASCII and Binary Logs with Short Headers ecceeseeeeeeeeeeeeteeeeeeeaes 95 G 2 INS Specific Logs ninii ad aivienie rar 96 C 2 1 BESTGPSPOS Best GPS Position e ee eeeeeeeee
121. ngs together two very different but complementary positioning and navigation systems namely GPS and an Inertial Navigation System INS By combining the best aspects of GPS and INS into one system SPAN technology is able to offer a solution that is more accurate and reliable than either GPS or INS could provide alone The combined GPS INS solution has the advantage of the absolute accuracy available from GPS and the continuity of INS through traditionally difficult GPS conditions The SPAN system consists of the following components e NovAtel ProPak V3 receivers These receivers are capable of receiving and tracking different combinations of GPS L1 C A L2C L2 P Y and L5 code and carrier GLONASS not available with SPAN L1 and L2 code and carrier and L band CDGPS and OmniSTAR on a maximum of 72 channels SBAS support is standard on all OEMV family receivers OEMV adaptability offers multi system frequency and size configurations for any application requirement Patented Pulsed Aperture Correlator PAC technology combined with a powerful microprocessor make possible multipath resistant processing Excellent acquisition and re acquisition times allow this receiver to operate in environments where very high dynamics and frequent interruption of signals can be expected The OEMV family also supports the timing requirements of the IMU and runs the real time INS Kalman SPAN Technology for OEMV User Manual Rev 7 19 Chapter 1 Introduction 1
122. ngular offset values are not applied to the attitude output unless the APPLY VEHICLEBODYROTATION command is disabled Abbreviated ASCII Syntax Message ID 641 RVBCALIBRATE reset Field ASCII Binary inti Binary Binary Binary Field Type Value Value Description Format Bytes Offset 1 Log This field contains the H 0 Header command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 Switch RESET 0 Control the vehicle ENUM 4 H body rotation DISABLE 1 computation ENABLE 2 76 Abbreviated ASCII Example RVBCALIBRATE reset SPAN Technology for OEMV User Manual Rev 7 B 2 10 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 lt 1 The default IMU axis definitions are Y forward Z up X out the right hand side It is strongly recommended that you mount your IMU in this way with respect to the vehicle 2 You only need to use this command if the system is to be aligned while in motion using the fast alignment routine see Section 3 3 1 2 Kinematic Alignment on page 39 WARNIN
123. nlock the additional 1 Rates higher than 115 200 are not standard on most PCs and may require extra PC hardware SPAN Technology for OEMV User Manual Rev 7 21 Chapter 1 Introduction features is a special authorization code Refer to the OEMV Family Installation and Operation User Manual for further details on this topic SPAN currently supports the Honeywell iMAR and Litton IMUs When using an IMU 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 47 for details 22 SPAN Technology for OEMV User Manual Rev 7 Chapter 2 SPAN Installation 2 1 Hardware Description The hardware setup consists of an OEMV receiver see Figure 1 on page 19 an IMU see Figure 2 on page 19 a GPS antenna power and a radio link if your application requires real time differential operation If your IMU enclosure and IMU have come separately additional installation instructions for installing the IMU can be found in Appendix E HG1700 IMU Installation starting on page 135 or Appendix F LN 200 IMU Installation starting on page 140 Your SPAN system receiver is ready for data collection Figure 3 shows a typical set up Reference 1 2 3 o Rover iMUcable option Base 1 124 1 pe TS oT namon O Description A ProPak V3 receiver connected to a laptop for data storage
124. nnnnnnnnnnos 119 C 2 18 MARK1PVA Position Velocity and Attitude at Mark eceeeeeeeeeeteeeneeeees 120 C 2 19 MARK2PVA Position Velocity and Attitude at Mark2 0 eeeeeeeeeeeeteeeeeeeees 121 C 2 20 PASHR NMEA Inertial Attitude Data ccccccccccccinininnnnnnanananananoncnonononononos 122 C 2 21 RAWIMU Raw IMU Datta ccccccccccnnnnnnnnnnononnanancnnncnonononononononononanananana adta aa 123 C 2 22 RAWIMUS Short Raw IMU Data cocccccnnnnnnncnnononancconocononononononinanannaaananononnnnnns 127 C 2 23 TIMEDWHEELDATA Timed Wheel Data ooooccccccocaccccccncnonononononinananannananoncnnnos 129 C 2 24 VEHICLEBODYROTATION Vehicle to SPAN frame Rotation o 130 C 2 25 WHEELSIZE Wheel Size irran nan a a aaia aiaa aapi 131 D Command Prompt Interface 132 Dat DOS seit eee eee o aaa 133 DIA WIR OWS ictericia dico 134 E HG1700 IMU Installation 135 E 1 Disassemble the SPAN IMU Enclosure ccccscscccscccceecceceeeceeecessesesesesesssseeeeeeeeeeeeeas 136 E 2 Install the HG1 700 Sensor Unit ici a eee eek 137 E 3 Make the Electrical CONNECTIONS cccccccccnccnnnnnnnanananancnonononononononononaninnnnana cono nononnnnnans 138 E 4 Re Assemble the SPAN IMU Enclosure cccccccncnnnnnnnnononononcncnonononononononnnnanananan nono nonononnns 139 F LN 200 IMU Installation 140 F 1 Disassemble the SPAN IMU EnclOSUFE ccccccccccccnnninanononancncnononononononcnonnnnanananano non nnnnna 14
125. nted 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 77 for a description of the axes mapping that occurs when the IMU is mounted differently from z pointing up lt 1 Azimuth is positive in a clockwise direction when looking towards the z axis origin 2 You do not have to use the SETIMUORIENTATION command see page 77 unless you have your IMU mounted with the z axis not pointing up Then use the tables in the SETIMURIENTATION command on pages 78 79 to determine the azimuth axis that SPAN is using Abbreviated ASCII Syntax Message ID 863 SETINITAZIMUTH azimuth azSTD SPAN Technology for OEMV User Manual Rev 7 85 ASCII Binary Binary Binary Binary Description Format Bytes Offset Value Value 1 header This field contains the command H 0 name or the message header depending on whether the command is abbreviated ASCH ASCII or binary respectively 2 azimuth 360 to 360 Input azimuth angle in degrees Double 8 H 0 000278 to 180 Input azimuth standard deviation f Double 8 H 8 angle in degrees 3 azSTD a 0 000278 is equal to 1 arc second Abbreviated ASCII Example SETINITAZIMUTH 90 5 In this exampl
126. o 100 Hz all other log requests are limited to a maximum rate of 50 Hz Below are examples of acceptable logging requests SPAN Technology for OEMV User Manual Rev 7 41 Chapter 3 SPAN Operation LOG RAWIMUSB ONNEW 100 or 200 Hz depending on the IMU LOG INSPVASB ONTIME 0 02 acceptable 50 Hz logging The following is rejected because RAWIMU has already been requested at 100 200 Hz LOG INSPOSSB ONTIME 0 01 100 Hz request Below is another example set of acceptable logging requests LOG INSPOSSB ONTIME 0 01 100 Hz request LOG INSVELSB ONTIME 0 02 50 Hz request The following are rejected in this case because INSPOSSB has already been requested at a high rate LOG RAWIMUSB ONNEW 100 Hz request LOG INSATTSB ONTIME 0 005 200 Hz request 2 RAWIMU and RAWIMUS logs are only available with the ONNEW or ONCHANGED trigger These logs are not valid with the ONTIME trigger The raw IMU observations contained in these logs are sequential changes in velocity and rotation As such you can only use them for navigation if they are logged at their full rate See details of these log starting on page 123 3 In order to collect wheel sensor information useful in post processing the TIMEDWHEELDATA log should only be used with the ONNEW trigger See also page 129 for details on this log 3 3 4 Lever Arm Calibration Routine Each time the system is re mounted on a vehicle or the IMU or antenna is moved on the vehicle the lever arm must be re
127. o lose lock and calibration settings AAA gO 38 8 amp Y Voltage Supply lt For advanced users You may also have a user point device such as video equipment Connect the device to the receiver s I O port using a cable that is compatible to both the receiver and the device Refer to your device s documentation for information on its connectors and cables The arrow along the cable in the figure indicates a MARKIN pulse refer to the OEMV Family SPAN Technology for OEMV User Manual Rev 7 27 Chapter 2 SPAN Installation Firmware Reference Manual from the user device on the right to the ProPak V3 I O port 2 3 Software Configuration 2 3 1 GPS Configuration The GPS configuration can be set up for different accuracy levels such as single point SBAS DGPS and RTK RTCA RTCM RTCM V3 and CMR ProPak V3 receivers can also be set up for Omnistar HP Omnistar VBS or CDGPS Refer to the OEMV User Manuals for details on DGPS RTK L band or SBAS setup and operation With no additional configuration the system operates in single point mode 2 3 2 SPAN IMU Configuration 2 3 2 1 SPAN Configuration Manually Follow these steps to enable INS as part of the SPAN system using software commands or see Section 2 3 2 2 SPAN Configuration with CDU on page 29 to see the alternate method using NovAtel s Control and Display Unit CDU software utility 1 Issue the INTERFACEMODE command to specify the rec
128. ons alterations additions or changes not made in accordance with NovAtel s specifications or authorized by NovAtel iii normal wear and tear iv damage caused by force of nature or act of any third person v shipping damage vi service or repair of Product by the Purchaser without prior written consent from NovAtel vii Products designated by NovAtel as beta site test samples SPAN Technology for OEMV User Manual Rev 7 11 12 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 s
129. pe 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 057220181 0 610m Longitude 114 054232445 0 885m Hgt Msi 1077 50im 0 838m Velocity 13 5697m s 0 075nys North 12 9866rys 0 047m s East 3 7598rys 0 055mys Up 1 1617m st 0 022m s X Offset 0 000m Y Offset 0 000m Z Offset 0 000m ZUPT Off O Pitch 6 0771 INS_SOLUTION_ GOOD Ready to use 0 01 Fri Apr 21 11 57 09 2006 Local 3 3 Real Time Operation SPAN operates through the OEMV command and log interface Commands and logs specifically related to SPAN operation are documented in Appendices B and C of this manual respectively Real time operation notes e Inertial data does not start until time is set and therefore the SPAN system does not function unless a GPS antenna is connected with a clear view of the sky SPAN Technology for OEMV User Manual Rev 7 37 Chapter 3 SPAN Operation e The Inertial solution is computed separately from the GPS solution The GPS solution is available from the SPAN system through the GPS specific logs even without SPAN running The integrated INS GPS solution is available through special INS logs documented in Appendix C of this manual e The IMU solution is available at the maximum rate of output of the IMU 100 or 200 Hz Because of this high data rate a shorter header format was created These shorter header logs
130. ple SETINITATTITUDE 0090555 In this example the initial roll and pitch has been set to zero degrees with a standard deviation of 5 degrees for both This means that the SPAN system is very close to level with respect to the local gravity field The azimuth is 90 degrees see the SETINITAZIMUTH example on page 85 also with a 5 degrees standard deviation 84 SPAN Technology for OEMV User Manual Rev 7 B 2 14 SETINITAZIMUTH Set Initial Azimuth and Standard Deviation This command allows you to start SPAN operation with a previously known azimuth Azimuth is the weakest component of a coarse alignment and is also the easiest to know from an external source i e like the azimuth of roadway When using this command SPAN operation through alignment will appear the same as with a usual coarse alignment Roll and pitch will be determined using averaged gyro and accelerometer measurements The input azimuth will be used rather than what is computed by the normal coarse alignment routine e This alignment takes the same amount of time as the usual coarse alignment e Input azimuth values must be accurate for good system performance e Sending SETINITAZIMUTH resets the SPAN filter The alignment will take approximately 1 minute but some time and vehicle dynamics are required for the SPAN filter to converge Bridging performance will be poor before filter convergence e The azimuth angle is with respect to the SPAN frame If the IMU enclosure is mou
131. powered the HG1700 IMU will make a noticeable humming sound 2 I dont hear any sound from my IMU Why a The LN 200 and IMU FSAS do not make noise Check that the IMU interface cable is connected to the AUX port on the Propak V3 b When powered the HG 1700 IMUs makes a noticeable humming sound If no sound is heard check that the cable between the receiver and IMU is connected properly The cable should be connected to the AUX port on the Propak V3 c If the cable is connected properly and you still hear no sound from the IMU check the flex cable mounted on top of the IMU Refer to the instructions in this manual on proper IMU installation to ensure that the cable is seated properly on the IMU pins See Appendix E starting on page 135 or Appendix F starting on page 140 for more details d Check the input power supply A minimum of 12V should be supplied to the system for stable IMU performance The supply should also be able to output at least 12W over the entire operating temperature range 3 What system configuration do I need to do to get the system running a Set the interface of the receiver port being used for IMU communication using the INTERFACEMODE command see page 69 INTERFACEMODE COM3 IMU IMU OFF b Set the IMU type using the SETIMUTYPE command see page 81 4 What types of IMUs are supported a SPAN currently supports the HG1700 IMU family from Honeywell the LN 200 from Litton and the iIMU FSAS from iMAR Use
132. re examples of acceptable logging requests LOG RAWIMUSB ONNEW 100 or 200 Hz depending on the IMU LOG INSPVASB ONTIME 0 02 acceptable 50 Hz logging The following is rejected because RAWIMU has already been requested at 100 200 Hz LOG INSPOSSB ONTIME 0 01 100 Hz request Below is another example set of acceptable logging requests LOG INSPOSSB ONTIME 0 01 100 Hz request LOG INSVELSB ONTIME 0 02 50 Hz request The following are rejected in this case because INSPOSSB has already been requested at a high rate LOG RAWIMUSB ONNEW 100 Hz request LOG INSATTSB ONTIME 0 005 200 Hz request RAWIMU and RAWIMUS logs are only available with the ONNEW or ONCHANGED trigger These logs are not valid with the ONTIME 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 123 In order to collect wheel sensor information useful in post processing the TIMEDWHEELDATA log should only be used with the ONNEW trigger See also page 129 for details on this log lt The periods available when you use the ONTIME trigger are 0 005 200Hz 0 01 100Hz 0 02 50 Hz 0 05 0 1 0 2 0 25 0 5 1 2 3 5 10 15 20 30 or 60 seconds SPAN Technology for OEMV User Manual Rev 7 C 2 1 BESTGPSPOS Best GPS Position This log contains the best available GPS position witho
133. s displayed Select Tools Logging Control Window from the CDU main menu to control the receiver s log ging to files and serial ports Refer to CDU s on line Help for more information Use the Console window to enter commands Section 3 4 Data Collection for Post Processing on page 45 SPAN Technology for OEMV User Manual Rev 7 SPAN Operation Chapter 3 lt If you have to power down your receiver ensure that all windows other than the Console window are closed in CDU and then use the SAVECONFIG command 3 2 1 INS Window in CDU CDU is a 32 bit Windows application The application provides a graphical user interface to allow you to set up and monitor the operation of the SPAN system by providing a series of windows The INS Window in CDU is described below Please refer to the OEMV Family Installation and Operation User Manual for more details on CDU and other OEMV Family PC software programs INS Window The Position Velocity and Attitude roll pitch and azimuth sections display data from the INSPVA log along with standard deviations calculated from the INSCOV log Information in the ZUPT Zero Velocity Update section reflects the current INSZUPT command setting The receiver uses the X Y and Z Offset fields to specify an offset from the IMU for the output position and velocity of the INS solution as specified by the SETINSOFFSET command or CDU s SPAN wizard The INS Configuration Status section displays the IMU ty
134. s that the maximum pulse frequency for a wheel sensor input to SPAN is 1 MHz You can use our interface cable with the ODO connector to plug directly into the iMWS With the WPT first modify the cable at the WPT end The cable modification is shown in Table 10 on page 58 lt Connect the female DB9 connector to the male ODO end of the iIMU FSAS interface cable SPAN Technology for OEMV User Manual Rev 7 57 Table 10 Cable Modification for Corrsys Datron WPT 8 pin M12 connector on Female DB9 the Corrsys Datron cable P connector Pin 1 GND White No change Pin 2 Up Input Power Brown Pin 3 Signal A Green 6 Pin 4 Signal A inverted Yellow 7 Pin 5 Signal B Grey 3 Pin 6 Signal B inverted Pink 1 Pin 7 Reserved No change Pin 8 a Pin 2 is wired to a red banana plug Power in and Pin 1 is wired to a black banana plug Power return so the WPT needs power to operate 10 to 30 V Solder the shield on the WPT cable to the female DB9 housing b This modification is for the Corrsys Datron WPT 8 pin M12 plug cable number 14865 Figure 19 IMU FSAS Interface Cable 58 SPAN Technology for OEMV User Manual Rev 7 A 2 3 IMU Performance PERFORMANCE IMU iIMU FSAS Gyro Input Range 500 degrees s Gyro Rate Bias 0 75 hr Gyro Rate Scale Factor 300 ppm Angular Random Walk 0 1 degrees sq rt hr Accelerometer Range 5 g 20 g optional Accelerometer Linearity Accelerometer Sc
135. scription 2 switch Disable 0 Enable disable vehicle body Enum 4 H Enable 1 rotation using values entered in the vehiclebodyrotation command default disable Input Example applyvehiclebodyrotation enable SPAN Technology for OEMV User Manual Rev 7 65 B 2 2 FRESET Factory Reset This command clears data which is stored in non volatile memory Such data includes the almanac ephemeris and any user specific configurations The receiver is forced to hardware reset Abbreviated ASCII Syntax FRESET target Field ASCII Binary Message ID 20 Binary Binary Binary Fiel Description pla Type Value Value escriptio Format Bytes Offset 1 header This field contains the H 0 command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 target See Table 12 What data is to be reset by the Enum 4 H receiver Input Example FRESET COMMAND Table 12 FRESET Target Binary ASCII Description 0 STANDARD Resets commands ephemeris and almanac default Also resets all OmniSTAR related data except for the subscription information 1 COMMAND Resets the stored commands saved configuration 2 GPSALMANAC Resets the stored almanac 3 GPSEPHEM Resets stored ephemeris 5 MODEL Resets the currently selected model 11 CLKCALIBRATION Resets the parameters entered using the CLOCKCA
136. sed to weight the wheel sensor measurement Fields 2 and 3 are used with the estimated scale factor to determine the distance travelled 90 SPAN Technology for OEMV User Manual Rev 7 B 2 19 VEHICLEBODYROTATION Vehicle to SPAN frame Rotation Use the VEHICLEBODYROTATION command to set angular offsets between the vehicle frame direction of travel and the SPAN body frame direction that the IMU computational frame is pointing If you estimate the angular offsets using the RVBCALIBRATE command the VEHICLEBODYROTATION command values are used as the initial values The uncertainty values are optional defaults 0 0 Please see Section 3 3 5 Vehicle to SPAN frame Angular Offsets Calibration Routine starting on page 43 for more details For more information on reference frames see Section 3 1 Definition of Reference Frames Within SPAN starting on page 33 RVBCALIBRATE command information is on page 76 The rotation values are used during kinematic alignment The rotation is used to transform the vehicle frame attitude estimates from GPS into the SPAN frame of the IMU during the kinematic alignment If you use the APPLY VEHICLEBODYROTATION command on page 65 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 uncert
137. served IMU Passed 0 Status Failed 1 N3 12 0x00001000 Reserved IMU Passed 0 Status Failed 1 13 0x00002000 Reserved IMU Passed 0 Status Failed 1 14 0x00004000 Reserved IMU Passed 0 Status Failed 1 15 0x00008000 Reserved Reserved SPAN Technology for OEMV User Manual Rev 7 125 Nibble Number Bit HG1700 Description LN200 Description N4 16 0x00010000 Reserved Reserved 17 0x00020000 Reserved Reserved 18 0x00040000 Reserved Reserved 19 0x00080000 Reserved Reserved N5 20 0x00100000 Reserved Reserved 21 0x00200000 Reserved Reserved 22 0x00400000 Reserved Reserved 23 0x00800000 Reserved Reserved N6 24 0x01000000 Reserved IMU Passed 0 Status Failed 1 25 0x02000000 Reserved IMU Passed 0 Status Failed 1 26 0x04000000 Reserved IMU Passed 0 Status Failed 1 27 0x08000000 IMU Passed 0 IMU Passed 0 Status Failed 1 Status Failed 1 N7 28 0x10000000 IMU Passed 0 IMU Passed 0 Status Failed 1 Status Failed 1 29 0x20000000 IMU Passed 0 Reserved Status Failed 1 30 0x40000000 IMU Passed 0 IMU Passed 0 Status Failed 1 Status Failed 1 31 0x80000000 IMU Passed 0 Reserved Status Failed 1 Recommended Input log rawimua onnew ASCII Example RAWIMUA COM3 0 0 0 EXACT 1105 425384 180 00040000 b8ed 0 1105 425384 156166800 111607 43088060 430312 3033352 132863 186983 823 5aa9706
138. so Table 1 on page 21 for a list of IMU enclosures b A negative value implies that the output is along the positive Y axis marked on the IMU A positive value implies that the change is in the direction opposite to that of the Y axis marked on the IMU c The change in angle gyro scale factor can be found in Table 25 on page 128 Multiply the SPAN Technology for OEMV User Manual Rev 7 appropriate scale factor in Table 25 by the count in this field for the angle increments in radians 123 Table 23 IMU FSAS Status Nibble Bit Mask Description Range Value 0 0x00000001 NO 1 0x00000002 Reserved 2 0x00000004 3 0x00000008 4 0x00000010 Gyro warm up Passed 0 Failed 1 NI 5 0x00000020 Gyro self test active Passed 0 Failed 1 6 0x00000040 Gyro status bit set Passed 0 Failed 1 7 0x00000080 Gyro time out command interface Passed 0 Failed 1 8 0x00000100 Power up built in test PBIT Passed 0 Failed 1 N2 9 0x00000200 Reserved 10 0x00000400 Interrupt Passed 0 Failed 1 11 0x00000800 Reserved 12 0x00001000 Warm up Passed 0 Failed 1 N3 13 0x00002000 Reserved 14 0x00004000 15 0x00008000 Initiated built in test IBIT Passed 0 Failed 1 16 0x00010000 Reserved N4 17 0x00020000 18 0x00040000 Accelerometer Passed 0 Failed 1 19 0x00080000 Accelerometer time out Passed 0 Failed 1 20 0x00100000 Reserved N5 21 0x00200000 Gyro initiated
139. t location is Start Programs NovAtel OEMV NovAtel CDU 2 Select Open from the Device menu View Tools Help Ctrl O Close Config 3 Select the New button in the Open dialog box The Options Configuration dialog opens Open Edit New SPAN Technology for OEMV User Manual Rev 7 35 Chapter 3 SPAN Operation 36 4 Pp N o 11 12 Use the button at the top of the configurations selection box to add a new configuration To delete a configuration select it from the list and click on the button To duplicate an existing configuration click on the button You can select any name in the list and edit it to change it Preferences Configurations amp 6 Startup Options CONFIG J Update Log Definitions Device Type Type Serial Serial Settings Port com y Baud Rate 115200 y Hardware Handshaking Select Serial or USB from the Type list and select the PC laptop port that the SPAN receiver is connected to from the Port list Select 115200 from the Baud Rate list Uncheck the Use hardware handshaking checkbox Select OK to save the new device settings Select the new configuration from the Available device configs area of the Open dialog Select the Open button to open SPAN receiver communications Available device configs gt As Open COM1 at 115200 Baud As CDU establishes the communication session with the receiver a progress box i
140. tax Message ID 675 LEVERARMCALIBRATE switch maxtime maxstd Binary inti Binary Binary Binary Field Field Type ASCII Value Value Description Format Bytes Offset 1 header This field contains the command H 0 name or the message header depending on whether the command is abbreviated ASCH ASCII or binary respectively 2 switch OFF 0 Offset along the IMU X axis Enum 4 H ON default 1 3 maxtime 0 1000 Maximum calibration time s Double 8 H 4 4 maxstd 0 02 0 5 Maximum offset uncertainty m Double 8 H 12 Abbreviated ASCII Example 1 LEVERARMCALIBRATE 600 Given this command the lever arm calibration runs for 600 seconds The final standard deviation of the estimated lever arm is output in the BESTLEVERARM log lt The calibration starts when the SPAN solution reaches alignment_complete The example s 600 s duration is from when calibration begins and not from when you issue the command Abbreviated ASCII Example 2 LEVERARMCALIBRATE 600 0 05 SPAN Technology for OEMV User Manual Rev 7 73 74 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 th
141. tems do not require real time information from SPAN These operations are able to generate the position velocity or attitude solution post mission in order to generate a more robust and accurate solution than is possible in real time In order to generate a solution in post processing data must be simultaneously collected at a base station and each rover The following logs must be collected in order to successfully post process data SPAN Technology for OEMV User Manual Rev 7 45 Chapter 3 From a base e RANGECMPB ONTIME 1 e RAWEPHEMB ONNEW From a rover e RANGECMPB ONTIME 1 e RAWEPHEMB ONNEW e RAWIMUSB ONNEW SPAN Operation Post processing is performed through the Waypoint Inertial Explorer software package available from from NovAtel s Waypoint Products Group Visit our Web site at www novatel com for details lt The highest rate that you should request GPS logs RANGE BESTPOS RTKPOS PSRPOS and so on while in INS operation is 5 Hz If the receiver is not running INS no IMU is attached GPS logs can be requested at rates up to 20 Hz 46 SPAN Technology for OEMV User Manual Rev 7 NT Technical Specifications This appendix details the technical specifications of the IMUs Refer to your SPAN system enclosure s hardware manual for more information on its technical specifications performance and cables the OEMV Family Installation and Operation User Manual A 1 LN 200 IMU Table 7 LN 200 IMU Speci
142. the IMU enclosure frame Structure Message ID 507 Log Type Synch y id 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 ina northerly direction a ve Double 8 H 36 value implies a southerly direction 8 East Velocity Velocity in an easterly direction a ve Double 8 H 44 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 38 Enum 4 H 84 14 XXXX 32 bit CRC Hex 4 H 88 15 CRI 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
143. the SETIMUTYUPE command to specify the type of IMU used see page 81 5 Why dont I have any INS logs a On start up the INS logs are not available until the system has solved for time This requires that an antenna is attached and satellites are visible to the system You can verify that time is solved by checking the time status in the header of any standard header SPAN log such as BESTPOS When the time status reaches FINETIME the inertial filter starts and INS messages are available b Check that the system has been configured properly See question 3 above 6 How can l access the inertial solution The INS GPS solution is available from a number of specific logs dedicated to the inertial filter The INSPOS INSPVA INSVEL INSSPD and INSATT logs are the most commonly used logs for extracting the INS solution These logs can be logged at any rate up to the rate of the IMU data 100 or 200 Hz depending on your IMU model These logs can also be triggered by the mark input signal by requesting the logs ONMARK Further details on these logs are available in Appendix C INS Logs starting on page 94 SPAN Technology for OEMV User Manual Rev 7 145 146 7 Canl still access the GPS only solution while running SPAN The GPS only solution used when running the OEMV receiver without the IMU is still available when running SPAN Logs such as PSRPOS RTKPOS and OMNIPOS are still available Any non INS logs should be logged at a maximum
144. tlet adapter or batteries The receiver has an internal power module that does the following e filters and regulates the supply voltage e protects against over voltage over current and high temperature conditions e provides automatic reset circuit protection There is always a drop in voltage between the power source and the power port due to cable loss Improper selection of wire gauge can lead to an unacceptable 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 below Table 3 IMU Power Supply IMU Power Requirement LN 200 12 to 28 V DC iIMU FSAS 10 to 34 V DC HG1700 12 to 28 V DC For pin out information on the power connector on the ProPak V3 refer to the OEMV Family Installation and Operation User Manual Details on the LN 200 power port and cables can be found in Section A 1 LN 200 IMU starting on page 47 5 Apply power to the IMU and to the receiver It is recommended that a back up battery is placed between the receiver and its voltage supply to act as a power buffer if installed in a vehi cle When a vehicle engine is started power can dip to 9 6 VDC or cut out to ancillary equipment causing the receiver and IMU t
145. to an input command is the SETIMUTOANTOFFSET command It can be entered as follows COM2 gt setimutoantoffset 0 1 0 1 0 1 Return COM2 gt The above example illustrates command input to the receiver COM2 serial port which sets the antenna to IMU offset However your only confirmation that the command was actually accepted is the return of the COM2 gt prompt If a command is incorrectly entered the receiver responds with Invalid Command Name or a more detailed error message followed by the port prompt 132 SPAN Technology for OEMV User Manual Rev 7 D 1 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 COM1 serial port is connected to the receiver s COM1 serial port and where a rover terminal is connected to the receiver s COM2 serial port If you wish to monitor the SPAN system activity the following command file could be used to do this 1 Open a text editor on the PC and type in the following command sequences log log log log log com2 com2 com2 com2 com2 satvisa ontime 15 trackstata ontime 15 rxstatusa ontime 60 5 bestposa ontime 15 psrdopa ontime 15 2 Save this
146. to signify you are looking for ASCII output lt The highest rate that you should request GPS logs RANGE BESTPOS RTKPOS PSRPOS and so on while in INS operation is 5 Hz If the receiver is not running INS no IMU is attached GPS logs can be requested at rates up to 20 Hz depending on the software model WARNING Ensure that all windows other than the Console are closed in CDU and then use the SAVECONFIG command to save settings in NVM Otherwise unnecessary data logging occurs and may overload your system B 2 INS Specific Commands Please refer to the OEMV Family Firmware Reference Manual for a complete list of commands categorized by function and then detailed in alphabetical order 64 SPAN Technology for OEMV User Manual Rev 7 B 2 1 APPLYVEHICLEBODYROTATION Enable Vehicle to Body Rotation This command allows you to apply the vehicle to body rotation to the output attitude that was entered from the VEHICLOBODYROTATION command see page 91 This rotates the SPAN body frame output in the INSPVA INSPVAS and INSATT logs to the vehicle frame APPLYVEHICLEBODYROTATION is disabled by default Abbreviated ASCII Syntax Message ID 1071 APPLY VEHICLEBODYROTATION switch Field ASCII Binary Binary Binary Binary Type Value Value Format Bytes Offset 1 header This field contains the H 0 command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively Field De
147. ton LN 200 400 Hz model 10 IMU_IMAR_FSAS MAR IMU FSAS 11 IMU_HG1700_AG58 Honeywell HG1700 AG58 12 IMU_HG1700_AG62 Honeywell HG1700 AG62 Abbreviated ASCII Example SETIMUTYPE IMU_IMAR_FSAS SPAN Technology for OEMV User Manual Rev 7 B 2 13 SETINITATTITUDE Set Initial Attitude of SPAN in Degrees This command allows you to input a known attitude to start SPAN operation rather than the usual coarse alignment process The caveats and special conditions of this command are listed below e This alignment is instantaneous based on the user input This allows for faster system startup however the input values must be accurate or SPAN will not perform well e Ifyou are uncertain about the standard deviation of the angles you are entering err on the side of a larger standard deviation e Sending SETINITATTITUDE resets the SPAN filter The alignment is instantaneous but some time and vehicle dynamics are required for the SPAN filter to converge Bridging performance is poor before filter convergence e The roll about the y axis pitch about the x axis and azimuth about the z axis are with respect to the SPAN frame If the IMU enclosure is mounted with the z axis pointing upwards the SPAN frame is the same as the markings on the enclosure If the IMU is mounted in another way SPAN transforms the SPAN frame axes such that z points up for SPAN computations You must enter the angles in SETINITATTITUDE with respect to the
148. tput is compatible with post processing software from NovAtel s Waypoint Products Group Visit our Web site at www novatel com for details SPAN Technology for OEMV User Manual Rev 7 17 Foreword What s new in revision 7of this manual SPAN3 620 is a feature release that provides users with AdVance RTK which was unavailable in previous SPAN on OEMV releases SPAN3 620 is available to all customers within a post contractual support PCS period Version 7 of this manuals includes the PASHR log on page 122 This log provides the inertial attitude in NMEA format Prerequisites 18 The installation chapters of this document provide information concerning the installation requirements and considerations for the different parts of the SPAN system To run the SPAN system software your personal computer must meet or exceed this minimum configuration e Microsoft Windows user interface Windows 98 or higher e Pentium Microprocessor recommended e VGA Display Windows compatible mouse or pointing device Although previous experience with Windows is not necessary to use the SPAN system software familiarity with certain actions that are customary in Windows will assist in the usage of the program This manual has been written with the expectation that you already have a basic familiarity with Windows SPAN Technology for OEMV User Manual Rev 7 Chapter 1 Introduction Figure 2 SPAN System IMUs NovAtel s SPAN technology bri
149. ts 147 SPAN Technology for OEMV User Manual Rev 7 scale factor 128 specifications 52 IMU see inertial measurement unit inertial measurement unit IMU 70 connection 49 55 62 type 81 inertial navigation system INS 67 information most recent 117 input output 1 0 26 INSATT 105 112 INSATTS 106 INSCOMMAND 67 INSCOV 107 INSCOVS 109 INSPHASEUPDATE 68 INSPOS 110 INSPOSS 111 INSPOSSYNC 112 INSPVA 113 INSSPD 115 INSSPDS 116 INSUPDATE 117 INSVEL 118 INSVELS 119 INSZUPT 72 interface 69 INTERFACEMODE 69 introduction 19 L latency 97 latitude longitude 97 lever arm 73 104 LEVERARMCALIBRATE 73 link loss of 97 LN 200 basic set up 23 cable 49 50 commands 28 82 dimensions 48 FAQ 145 models 21 performance 51 replacement parts 147 scale factors 128 sensor installation 137 140 142 144 specifications 47 logging 64 94 SPAN Technology for OEMV User Manual Rev 7 Index M Mark trigger 88 MARKIPVA 120 Mark2 trigger 89 MARK2PVA 121 mean sea level 97 memory non volatile 66 mode interface 69 RTK 97 models 21 modem 69 N NMEA satellite type 75 non volatile memory NVM 66 north 117 118 O offset 80 87 orientation 77 P PASHR log 122 pass through log 69 pitch 77 80 104 105 port 24 26 27 AUX 71 COM 71 disable 69 serial 69 70 position 87 113 best 97 INS 67 mark 120 121 measurements 107 110 synchronised 112 power 27 prerequisites 18 pseudorange solutions
150. ttached M4 screws Apply threadlock to the screw threads Use an allan key to torque each screw to 10 in lbs 2 Fit the tube body over the LN 200 sensor and onto the base plate Figure 34 SPAN IMU Re Assembly 142 SPAN Technology for OEMV User Manual Rev 7 F3 Make the Electrical Connections To make the electrical connections you will need a 3 32 allan key the wiring harness and the partially assembled SPAN IMU from Section F 2 Install the LN 200 Sensor Unit on page 142 Now follow these steps 1 Attach the LN 200 wire harness to the mating connector on the LN 200 Check that the connector 1s fully seated see Figure 35 on page 143 Figure 35 Attach Wiring Harness 2 Connect the Samtec connector at the other end of the wiring harness to the corresponding connector on the internal IMU card see Figure 36 Ensure that the connector is locked in place Figure 36 Attach Samtec Connector SPAN Technology for OEMV User Manual Rev 7 143 F 4 Re Assemble the SPAN IMU Enclosure Use an allan key to align the long bolts with the threaded holes in the base see Figure 32 on page 141 Apply threadlock to threads Finger tighten the 6 bolts and torque them in a cross pattern to 12 in lbs The fully assembled IMU enclosure is shown in Figure 37 below Figure 37 LN 200 SPAN IMU 144 SPAN Technology for OEMV User Manual Rev 7 NT dea Frequently Asked Questions 1 How do I know if my hardware is connected properly When
151. ults to 10 of the z offset to a minimum of 0 01 m Abbreviated ASCII Example SETIMUTOANTOFFSET 0 54 0 32 1 20 0 03 0 03 0 05 80 SPAN Technology for OEMV User Manual Rev 7 B 2 12 SETIMUTYPE Set IMU Type The SETIMUTYPE command is used to specify the type of IMU connected to the receiver The IMU type can be saved using the SAVECONFIG command so that on startup the receiver does not have to detect the type of IMU connected WARNING Ensure that all windows other than the Console are closed in CDU and then use the SAVECONFIG command to save settings in NVM Otherwise unnecessary data logging occurs and may overload your system Abbreviated ASCII Syntax Message ID 569 SETIMUTYPE switch Field ASCII Binary inti Binary Binary Binary Field Type Value Value Description Format Bytes Offset 1 Log This field contains the H 0 Header command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 Switch See Table 17 IMU IMU Type ENUM 4 H Type on page 82 SPAN Technology for OEMV User Manual Rev 7 81 82 Table 17 IMU Type Binary ASCII Description 0 IMU_UNKNOWN Unknown IMU type default 1 IMU_HG1700_AG11 Honeywell HG1700 AG11 AG58 2 3 Reserved 4 IMU_HG1700_AG17 Honeywell HG1700 AG17 AG62 5 7 Reserved 8 IMU_LN200 Litton LN 200 200 Hz model 9 IMU_LN200_400HZ Lit
152. usiness or publicly display visual output of the Software d transmit the Software over a network by telephone or electronically using any means except when downloading a purchased up grade from the NovAtel web site or e reverse engineer decompile or disassemble the Software You agree to keep confidential and use your best efforts to prevent and protect the contents of the Soft ware from unauthorized disclosure or use 8 SPAN Technology for OEMV 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 residin
153. ust be created and sent to the SPAN receiver at 1 Hz For iIMU FSAS users the wheel sensor is integrated via the FSAS IMU and wheel velocity commands are not required See also IMU FSAS Odometer Cabling on page 56 of the Technical Specifications appendix 3 3 6 1 Measurement Timing and Frequency Typical wheel sensor hardware accumulates wheel ticks constantly as the wheel rotates The SPAN interface is configured to expect wheel sensor tick counts at a rate of 1Hz aligned with the GPS even second boundaries The GPS second boundary is available from the OEMV 1PPS pulse This pulse should be used to trigger the wheel sensor hardware to send the accumulated tick count back to the receiver through the WHEELVELOCITY message see page 93 SPAN Technology for OEMV User Manual Rev 7 SPAN Operation Chapter 3 lt SPAN does not accumulate raw measurement ticks from a wheel sensor device Additional hardware is required to accumulate the tick counts and pass the accumulated count to the SPAN system at 1Hz triggered by the 1PPS Refer also to our application note on Using a Wheel Sensor with SPAN NovAtel part number APN 036 available on our Web site at http www novatel com support applicationnotes htm 3 3 6 2 Wheel Sensor Update Logic The SPAN system uses the WHEELVELOCITY command to apply a time to the message based on the time of the last 1PPS pulse and the latency reported in the log This timed data is passed to the INS GPS Kalman
154. ut log inspvasa ontime 1 ASCII Example SINSPVASA 1264 144059 000 1264 144059 002135700 51 116680071 114 037929194 515 286704183 277 896368884 84 915188605 8 488207941 0 759619515 2 892414901 6 179554750 INS_ALIGNMENT_COMPLETE 855d6f 76 114 SPAN Technology for OEMV User Manual Rev 7 C 2 13 INSSPD INS Speed This log contains the most recent speed measurements in the horizontal and vertical directions and includes an INS status indicator Structure Message ID 266 Log Type Synch Binary Binary Field Field Type Data Description Format Bytes Offset 1 Log Header Log header H 0 2 Week GPS Week Ulong 4 H 3 Seconds into Week Seconds from week start Double 8 H 4 4 Trk gnd Actual direction of motion over ground Double 8 H 12 track over ground with respect to True North in degrees 5 Horizontal Speed Magnitude of horizontal speed in m s Double 8 H 20 where a positive value indicates you are moving forward and a negative value indicates you are reversing 6 Vertical Speed Magnitude of vertical speed in m s Double 8 H 28 where a positive value indicates speed upward and a negative value indicates speed downward 7 Status INS status see Table 5 on page 38 Enum 4 H 36 8 XXXX 32 bit CRC ASCII Binary and Short Hex 4 H 40 Binary only 9 CR LF Sentence terminator ASCII only Recommended Input log insspda ontime 1 ASCII Example INSS
155. ut INS computed by the receiver In addition it reports several status indicators including differential age which is useful in predicting anomalous behavior brought about by outages in differential corrections A differential age of 0 indicates that no differential correction was used With the system operating in an RTK mode this log reflects the latest low latency solution for up to 60 seconds after reception of the last base station observations After this 60 second period the position reverts to the best solution available the degradation in accuracy is reflected in the standard deviation fields If the system is not operating in an RTK mode pseudorange differential 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 Structure Message ID 423 Log Type Synch Binary Binary Field Field type Data Description Format Bytes Offset 1 header Log header H 0 2 Sol Status Solution status see Table 21 Solution Status on page 101 Enum 4 H 3 Pos Type Position type see Table 20 Position or Velocity Type on Enum 4 H 4 page 99 4 Lat Latitude Double 8 H 8 5 Lon Longitude Double 8 H 16 6 Hgt Height above mean sea level Double 8 H 24 7 Undulation Undulation Float 4 H 32 8 Datum ID Datum ID refer to the DATUM command in the OEMV Enum 4 H 36 Family F
156. x Message ID 1070 SETMARK20FFSET 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 ASCII ASCII or binary respectively 2 x offset 360 Offset along the IMU enclosure Double 8 H frame X axis m for Mark2 3 y offset 360 Offset along the IMU enclosure Double 8 H 8 frame Y axis m for Mark2 4 z offset 360 Offset along the IMU enclosure Double 8 H 16 frame Z axis m for Mark2 5 aoffset 360 Roll offset for Mark2 degrees Double 8 H 24 6 Boffset 360 Pitch offset for Mark2 degrees Double 8 H 32 7 yoffset 360 Azimuth offset for Mark2 degrees Double 8 H 40 Abbreviated ASCII Example SETMARK2OFFSET 0 324 0 106 1 325 000 SPAN Technology for OEMV User Manual Rev 7 89 B 2 18 SETWHEELPARAMETERS Set Wheel Parameters The SETWHEELPARAMETERS command can be used when wheel sensor data is available It allows you to give the filter a good starting point for the wheel size scale factor It also gives the SPAN filter an indication of the expected accuracy of the wheel data Usage of the SETWHEELPARAMETERS command depends on whether you use an external wheel sensor or the iMAR iMWS wheel parameters 1 If you have integrated an external wheel sensor the SETW

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