Home

SPAN-SE manual.book

1. Appendix C Data Logs Field Field type Data Description Format Ser de Bytes Offset 1 header Log header H 0 2 Sol Status Solution status see Table 39 on Page 173 Enum 4 H 3 Pos Type Position type see Table 38 on Page 171 Enum 4 H 4 4 Lat Latitude Double 8 H 8 5 Lon Longitude Double 8 H 16 6 Hgt Height above mean sea level Double 8 H 24 7 Undulation Undulation Float 4 H 32 8 DatumID Datum ID refer to the DATUM command in the OEMV Enum 4 H 36 Family Firmware Reference Manual 9 Lat o Latitude standard deviation Float 4 H 40 10 Lono Longitude standard deviation Float 4 H 44 11 Hgt o Height standard deviation Float 4 H 48 12 Stn ID Base station ID Char 4 4 H 52 13 Diff_age Differential age Float 4 H 56 14 Sol_age Solution age in seconds Float 4 H 60 15 obs Number of observations tracked Uchar 1 H 64 16 GPSL1 Number of GPS L1 ranges used in computation Uchar 1 H 65 17 L1 Number of GPS L1 ranges above the RTK mask angle Uchar 1 H 66 18 L2 Number of GPS L2 ranges above the RTK mask angle Uchar 1 H 67 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 174 Recommended Input log bestgpsposa ontime 1 ASCII Example BESTGPSPOSA COM1 0 62 5 FINESTEERING 1036 484878 000 00000028 63e2 0 SOL_COMPUTED SINGLE 51 11629893124 114 03820302746 1052 34
2. Field 8 Field Type Data Description Format y Binary 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 See Table 60 HG1700 IMU Status on Page 248 Table 61 LN 200 IMU Status on Page 249 or Table 62 iIMU FSAS Status on Page 250 depending on your IMU type 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 E Long 4 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 gt Right handed Long 4 H 28 9 Y Gyro Output Change in angle count around y axis 3 Long 4 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 1 The change in velocity acceleration scale factor for each IMU type can be found in Table 64 on Page 253 Multiply the scale factor in Table 64 by the count in this field for the velocity increments See also Table 1 on Page 24 for a list of IMU enclosures 2 A negative value implies that the output is along
3. Field Field type Data Description Format Bytes Offset 1 GLORAWEPHEM Log header H 0 header 2 sloto Slot information offset PRN identification Ushort 2 H Slot 37 Ephemerisrelates to this slot and is also called SLOTO in CDU 3 freqo Frequency channel offset in the range 0 to 20 Ushort 2 H 2 4 sigchan Signal channel number Ulong 4 H 4 5 week GPS Week in weeks Ulong 4 8 6 time GPS Time in milliseconds binary data or Ulong 4 12 seconds ASCII data 7 recs Number of records to follow Ulong 4 H 16 8 string GLONASS data string Uchar variable H 20 string size 9 Reserved Uchar 1 variable 10 Next record offset H 20 recs x string size 1 variable Xxxx 32 bit CRC ASCII and Binary only Hex 4 variable variable CR LF Sentence terminator ASCII only 1 Inthe binary log case additional bytes of padding are added to maintain 4 byte alignment 188 SPAN SE User Manual Rev 1 Data Logs Appendix C C 4 10 GPALM Almanac Data This National Marine Electronics Association NMEA log see also Section C 3 NMEA Standard Logs on Page 168 outputs raw almanac data for each satellite PRN contained in the broadcast message A separate record is logged for each PRN up to a maximum of 32 records GPALM outputs these messages with contents without waiting for a valid almanac Instead it uses a UTC time calculated with default parameters In this case the UTC tim
4. SPAN SE User Manual Rev 1 93 Appendix B Commands B 4 3 COM Port configuration control This command permits you to configure the SPAN SE receiver s asynchronous serial port communications drivers The current COM port configuration can be reset to its default state at any time by sending it two hardware break signals of 250 milliseconds each spaced by fifteen hundred milliseconds 1 5 seconds with a pause of at least 250 milliseconds following the second break This will e Stop the logging of data on the current port see UNLOGALL on Page 153 e Clear the transmit and receive buffers on the current port Return the current port to its default settings e Set the interface mode to NovAtel for both input and output see the GNSSCARDCONFIG command on Page 105 lt 1 The COMCONTROL command see Page 97 may conflict with handshaking of the selected COM port If handshaking is enabled then unexpected results may occur 2 Watch for situations where the COM ports of two receivers are connected together and the baud rates do not match Data transmitted through a port operating at a slower baud rate may be misinterpreted as break signals by the receiving port if it is operating at a higher baud rate This is because data transmitted at the lower baud rate is stretched relative to the higher baud rate In this case configure the receiving port to have break detection disabled using the COM command 3 Baud ra
5. SPAN SE User Manual Rev 1 229 Appendix C Data Logs C 4 35 LOGLIST List of System Logs 230 Outputs a list of log entries in the system The following tables show the binary ASCII output See also the RXCONFIG log on Page 254 for a list of current command settings Message ID 5 Log Type Polled Recommended Input log loglista once ASCII Example LOGLISTA COM1 0 93 5 FINESTEERING 1521 319135 030 00000000 0000 149 7 COM1 RXSTATUSEVENTA ONNEW 0 000000 0 000000 HOLD COM2 RXSTATUSEVENTA ONNEW 0 000000 0 000000 HOLD COM3 RXSTATUSEVENTA ONNEW 0 000000 0 000000 HOLD CoM4 RXSTATUSEVENTA ONNEW 0 000000 0 000000 HOLD COM1 LOGLISTA ONCE 0 000000 0 000000 NOHOLD COM2 RAWIMUSB ONNEW 0 000000 0 000000 NOHOLD COM2 INSPVASB ONTIME 0 020000 0 000000 NOHOLD 21led4ccd WARNING Do not use undocumented logs or commands Doing so may produce errors and void your warranty SPAN SE User Manual Rev 1 Data Logs Appendix C e Hee Binary Binary Field Field type Data Description Format Bytes Offset 1 LOGLIST Log header H 0 binary header 2 logs Number of messages to follow Long 4 H maximum 20 3 port Output port see Table 18 COM Serial Port Enum 4 H 4 Identifiers on Page 95 4 message Message ID of log Ushort 2 H 8 5 message Bits 0 4 Reserved Char 1 H 10 type Bits 5 6 Format 00 Binary 01 ASCII 10 Abbrev
6. Nibble Bit Mask Description N4 16 0x00010000 Software resource limit OK Error 17 0x00020000 Model Status OK Error 18 0x00040000 COM Port Power Status Not Over Over Current Current 19 0x00080000 Reserved N5 20 0x00100000 Remote Loading Has Begun No Yes 21 0x00200000 Export Restriction OK Error 22 0x00400000 Reserved 23 0x00800000 N6 24 0x01000000 25 0x02000000 26 0x04000000 27 0x08000000 N7 28 0x10000000 29 0x20000000 30 0x40000000 31 0x80000000 Component hardware failure OK Error 258 SPAN SE User Manual Rev 1 Data Logs Appendix C Table 66 SPAN Receiver Status Nibble Bit WET A Description 0 0x00000001 Error Flag seeTable 65 SPAN No error Error Receiver Error on Page 257 1 0x00000002 Temperature Status OK Warning 2 0x00000004 Power Supply OK Warning 3 0x00000008 Antenna Power Powered Not Powered 4 0x00000010 Reserved NI 5 0x00000020 Antenna Open OK Open 6 0x00000040 Antenna Shorted OK Shorted 7 0x00000080 SPAN CPU Overload No Overload Overload 8 0x00000100 COMI Buffer Overrun No overrun Overrun N2 9 0x00000200 COM2 Buffer Overrun No overrun Overrun 10 0x00000400 COM3 Buffer Overrun No overrun Overrun 11 0x00000800 COM4 Buffer Overrun No overrun Overrun 12 0x00001000 USB Buffer Overrun No overrun Overrun N3 13 0x00002000 Ethernet Buffer Overrun No overrun Overrun 14 0x00004000 IMU
7. 4 Z offset 100 Offset along the IMU enclosure Double 8 H 16 frame Z axis m Abbreviated ASCII Example SETINSOFFSET 0 15 0 15 0 25 SPAN SE User Manual Rev 1 143 Appendix B Commands B 4 34 SETMARK1OFFSET SETMARK2OFFSET SETMARK3OFFSET SETMARK4OFFSET Set Mark offset Set the offset to the Markl Mark2 Mark3 or Mark4 trigger event See also the MARK1PVA to MARK4PVA logs on Page 235 The X Y Z offset is measured from the IMU to the asked location in the IMU enclosure frame Abbreviated ASCII Syntax Message ID 1069 SETMARKI1OFFSET xoffset yoffset zoffset aoffset Boffset yoffset Abbreviated ASCII Syntax Message ID 1070 SETMARK20FFSET xoffset yoffset zoffset aoffset Boffset yoffset Abbreviated ASCII Syntax Message ID 1116 SETMARK30FFSET xoffset yoffset zoffset aoffset Boffset yoffset Abbreviated ASCII Syntax Message ID 1117 SETMARK40FFSET 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 Mak1 2 3 or 4 3 y offset 360 Offset along the IMU enclosure Double 8 H 8 frame Y axis m for Mak1 2 3 or 4 4 z offset
8. Binary ASCII Description UNKNOWN Unknown Component 1 GPSCARD OEMV Family Component 7 IMUCARD IMU Card 8192 SPANCARD SPAN SE Card 8193 SPANFPGA SPAN SE Field Programmable Gate Array FPGA Table 75 VERSION Log Field Formats Field Type Field Format ASCII Description hw version P RS CCC P hardware platform for example OEMV R hardware revision for example 3 00 S processor revision for example A I CCC COM port configuration for example 22T 7 sw version VV RRR Xxxx VV major revision number boot version RRR minor revision number X Special S Beta B Internal Development D A XXX number comp date YYYY MM DD YYYY year MM month DD day 1 31 comp time HH MM SS HH hour MM minutes SS seconds 1 This field may be empty if the revision is not stamped onto the processor 2 One character for each of the COM ports 1 2 and 3 Characters are 2 for RS 232 4 for RS 422 T for LV TTL and X for user selectable valid for COM1 of the OEMV 2 only Therefore the example is for a receiver that uses RS 232 for COM 1 and COM 2 and LV TTL for COM 3 SPAN SE User Manual Rev 1 271 Appendix C Data Logs eee Binary Binary Field Field type Data Description Format Bytes Offset 1 VERSION Log header H 0 header 2 comp Number of SPAN SE components cards and so Long 4 H on
9. Nibble Bit UE Description Bit 0 Bit 1 0 0x0001 Solution not fully converged False True NO 1 0x0002 OmniStar satellite list available False True 2 0x0004 Reserved 3 0x0008 4 0x0010 HP not authorized Authorized Unauthorized Nl 5 0x0020 XP not authorized Authorized Unauthorized 6 0x0040 Reserved 7 0x0080 8 0x0100 N2 9 0x0200 10 0x0400 11 0x0800 12 0x1000 N3 13 0x2000 14 0x4000 15 0x8000 1 This authorization is related to the receiver model and not the OmniStar subscription To view OmniSTAR subscription information use the LBANDINFO log see Page 222 SPAN SE User Manual Rev 1 227 Appendix C 228 Table 53 OmniSTAR HP XP Status Word Data Logs Nibble Description Bit 0 0 0x00000001 Subscription Expired False True NO 1 0x00000002 Out of Region False True 2 0x00000004 Wet Error False True 3 0x00000008 Link Error False True 4 0x00000010 No Measurements False True NI 5 0x00000020 No Ephemeris False True 6 0x00000040 No Initial Position False True 7 0x00000080 No Time Set False True 8 0x00000100 Velocity Error False True N2 9 0x00000200 No base stations False True 10 0x00000400 No Mapping Message False True 11 Reserved N3 N5 12 23 24 25 N6 26 0x04000000 Static Initialization Mode False True 27 Reserved N7 28 30 31 0x80000000 Updating Data False True ile Contact Omn
10. SPAN SE USER MANUAL OM 20000124 Rev 1 Proprietary Notice SPAN SE Technology for OEMV User Manual Publication Number OM 20000124 Revision Level 1 Revision Date 2008 03 25 This manual reflects SPAN SE firmware Version SPPC 1 000 and OEMV firmware Version 3 621 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 Technology SPAN SE 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 Position for Velocity Kalman Fil
11. 7 lat std Standard deviation of latitude error m X X 2 51 8 lon std Standard deviation of longitude error m X X 1 94 9 alt std Standard deviation of altitude error m X X 4 30 10 Tax Checksum hh 6E 11 CR LF Sentence terminator CR LF SPAN SE User Manual Rev 1 201 Appendix C Data Logs C 4 16 GPGSV_ GPS Satellites in View This NMEA log provides the number of SVs in view PRN numbers elevation azimuth and SNR value See also Section C 3 NMEA Standard Logs on Page 168 There are four satellites maximum per message When required additional satellite data sent in 2 or more messages a maximum of 9 The total number of messages being transmitted and the current message being transmitted are indicated in the first two fields The GPGSV log outputs these messages with contents without waiting for a valid almanac Instead it uses a UTC time calculated with default parameters In this case the UTC time status is set to WARNING since it may not be 100 accurate When a valid almanac is available the receiver uses the real parameters Then the UTC time is set to VALID The GPGSV log can be used to determine which satellites are currently available to the receiver Comparing the information from this log to that in the GPGSA log shows you if the receiver is tracking all available satellites lt 1 Satellite information may require the transmission of multiple messages The first field specifies the t
12. C No is constrained to a value between 20 51 dB Hz Thus if it is reported that C No 20 dB Hz the actual value could be less Likewise if it is reported that C No 51 the true value could be greater Binary Binary Field Field Type Data Description Format Bytes Offset 1 RANGECMP Log header H 0 header 2 obs Number of satellite observations with Long 4 H information to follow 3 Ist range Compressed range log informat of Table 59 Hex 24 H 4 record on Page 244 4 Next rangecmp offset H 4 obs x 24 variable XXXX 32 bit CRC ASCII and Binary only Hex 4 H 4 obs x 24 variable CR LF Sentence terminator ASCII only SPAN SE User Manual Rev 1 245 Appendix C Data Logs C 4 43 RAWEPHEM Raw Ephemeris This log contains the raw binary information for subframes one two and three from the satellite with the parity information removed Each subframe is 240 bits long 10 words 24 bits each and the log contains a total 720 bits 90 bytes of information 240 bits x 3 subframes This information is preceded by the PRN number of the satellite from which it originated This message is not generated unless all 10 words from all 3 frames have passed parity Ephemeris data whose TOE Time Of Ephemeris is older than six hours is not shown Message ID 41 Log Type Asynch Recommended Input log rawephema onnew ASCII Example RAWEPHEMA COM1 15 60 5 FINESTEER
13. 1 The NMEA GLONASS PRN numbers are 64 plus the GLONASS slot number Current slot numbers are 1 to 24 which give the range 65 to 88 PRN numbers 89 to 96 are available if slot numbers above 24 are allocated to on orbit spares SPAN SE User Manual Rev 1 199 Appendix C Data Logs C 4 15 GPGST Pseudorange Measurement Noise Statistics This NMEA log provides pseudorange measurement noise statistics Pseudorange measurement noise statistics are translated in the position domain in order to give statistical measures of the quality of the position solution See also Section C 3 NMEA Standard Logs on Page 168 This log reflects the accuracy of the solution type used in BESTGPSPOS see Page 171 and GPGGA see Page 191 logs except for the RMS field The RMS field since it specifically relates to pseudorange inputs does not represent carrier phase based positions Instead it reflects the accuracy of the pseudorange position The GPGST log outputs these messages with contents without waiting for a valid almanac Instead it uses a UTC time calculated with default parameters In this case the UTC time status is set to WARNING since it may not be 100 accurate When a valid almanac is available the receiver uses the real parameters Then the UTC time is set to VALID Es Accuracy is based on statistics reliability is measured in percent When a receiver can measure height to one meter this is an accuracy Usually this is a one sigma value one SD
14. Foreword Congratulations Congratulations on purchasing your Synchronized Position Attitude Navigation SPAN Technology system SPAN features a tight integration of a NovAtel GNSS receiver and an Inertial Measurement Unit IMU SPAN provides continuous navigation information using an Inertial Navigation System INS to bridge short Global Navigational Satellite Systems GNSS outages Designed for dynamic applications SPAN provides precise position velocity and attitude information By complementing GNSS with inertial measurements SPAN Technology provides robust positioning in challenging conditions where GNSS alone is less reliable During short periods of GNSS outage or when less than four satellites are received SPAN Technology offers uninterrupted position and attitude output The tight coupling of inertial technology with GNSS also provides the benefits of faster satellite reacquisition and faster RTK initialization after outages SPAN SE receivers are the processing engines of the SPAN Technology system Separate GNSS and IMU enclosures provide a simple modular system This allows the IMU mounting at the most suitable location while the GNSS receiver is mounted where it is most convenient SPAN Technology provides a robust GNSS and Inertial solution as well as a portable high performance GNSS receiver in one system Scope This manual contains sufficient information on the installation and operation of the SPAN system It i
15. RTKCOMMAND RESET s Field ASCII Binary Peer Binary Binary Binary Field Type Value Value Description Format Bytes Offset 1 RTKCOMMAND This field contains the H 0 header command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 type USE_DEFAULTS 0 Reset to defaults Enum 4 H RESET 1 Reset RTK algorithm SPAN SE User Manual Rev 1 123 Appendix B Commands B 4 21 RTKDYNAMICS Set the RTK dynamics mode This command provides the ability to specify how the receiver looks at the data There are three modes STATIC DYNAMIC and AUTO The STATIC mode forces the RTK software to treat the rover station as though it were stationary regardless of the output of the motion detector DYNAMIC forces the software to treat the receiver as though it were in motion If the receiver is undergoing very slow steady motion lt 2 5 cm s for more than 5 seconds you should use DYNAMIC mode as opposed to AUTO to prevent inaccurate results and possible resets On start up the receiver defaults to the DYNAMIC setting lt 1 For reliable performance the antenna should not move more than 1 2 cm when in static mode 2 Use the static option to decrease the time required to fix ambiguities and reduce the amount of noise in the position solution If you use STATIC mode when the antenna is not static the receiver will have erroneous solutions and unnece
16. SPAN SE User Manual Rev 1 141 Appendix B Commands 142 Abbreviated ASCII Example SETINITAZIMUTH 90 5 In this example the initial azimuth has been set to 90 degrees This means that the SPAN system Y axis is pointing due East within a standard deviation of 5 degrees Note that if you have mounted your SPAN system with the positive Z axis as marked on the enclosure ina direction that is not up please refer to the SETIMUORIENTATION command to determine the SPAN computation frame axes mapping that SPAN automatically applies SPAN SE User Manual Rev 1 Commandes Appendix B B 4 33 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 ASCII Binary Binary Binary Binary Description Format Bytes Offset Value Value 1 header This field contains the command H 0 name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 X offset 100 Offset along the IMU 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
17. 3 type Component type see Table 74 on Page 271 Enum 4 H 4 4 model For the OEMV 3 inside the SPAN SE the base Char 16 16 H 8 model name plus the model designators see Table 72 on Page 271 For the SPAN SE the SPAN SE model designators only see Table 73 on Page 271 5 psn Product serial number Char 16 16 H 24 6 hw version Hardware version see Table 75 VERSION Log Char 16 16 H 40 Field Formats on Page 271 7 sw version Firmware software version see Table 75 Char 16 16 H 56 8 boot version Boot code version see Table 75 Char 16 16 H 72 9 comp date Firmware compile date see Table 75 Char 12 12 H 88 10 comp time Firmware compile time see Table 75 Char 12 12 H 100 11 Next component offset H 4 comp x 108 variable XXXX 32 bit CRC ASCH and Binary only Hex 4 H 4 comp x 108 variable CR LF Sentence terminator ASCII only 272 SPAN SE User Manual Rev 1 Data Logs Appendix C C 4 54 WHEELSIZE Wheel Size The SPAN filter models the size of the wheel to compensate for changes in wheel circumference due to hardware or environmental changes The default wheel size is 1 96 m A scale factor to this default size is modeled in the filter and this log contains the current estimate of the wheel size Structure Message ID 646 Log Type Asynch Binary Binary Field Field Type Data Description Format Bytes Offset 1 Log Header Log header H 0 2 Scale Wheel sensor scale factor Doubl
18. 46 108 136 almanac 104 data 189 time status 164 ambiguity half cycle 240 angular offset 48 antenna 61 136 289 altitude 193 motion 124 receiver status 256 APPLY VEHICLEBODYROTA TION command 90 ascii 86 159 ASSIGNLBAND command 91 asterisk 159 asynchronous log 158 atmospheric delay 240 attitude 108 206 208 214 235 authorization 148 149 automated set ups 147 axes enclosure frame 134 136 143 177 247 local level frame 208 210 220 SPAN frame 133 134 136 139 142 206 207 209 210 269 azimuth 133 136 177 202 206 SPAN SE User Manual Rev 1 B baud rate see bps beam frequencies 93 BESTGPSPOS log 171 BESTGPSVEL log 175 BESTLEVERARM log 177 BESTPOS log 171 BESTVEL log 175 binary 86 106 161 246 bit rate see bps bps 96 break 94 96 239 broadcast almanac 189 buffer 112 Built In Status Test BIT 256 byte 162 C C No see carrier to noise density ratio cables antenna 289 IMU interface 71 77 85 power 31 warranty 16 calibration 47 48 127 177 card configuration 105 carrier to noise density ratio C No 203 229 243 CD command 88 CDGPS 106 271 assign 91 93 configure 222 NMEA 196 status 224 225 channel 185 range measurement 240 tracking 185 tracking status 242 244 checksum 159 161 clock adjust 240 internal 165 offset 237 receiver 267 291 Index 292 set 240 status 237 validity 236 CMR 106 dgps type 120 coarse alignment 45 COM comman
19. Appendix B Parameter Values COM Port Enum see Table 18 on Page 95 THISPORT default Mass Storage Device Enum see Table 16 on Page 87 SD default B 3 7 FTP The SPAN SE has a built in FTP server to simplify retrieving data from the SD Card After the IP information has been set using the IFCONFIG command any FTP client can connect to the SPAN SE on port 21 The FTP server allows basic file manipulation and directory browsing but files cannot be uploaded to the SD Card at this time To ensure high speed logging is not corrupted the FTP server reads from the SD Card when it is idle that is mounted and no log file open for writing Attempting to use an FTP command when the card is not idle will result in this error 425 SD Card not ready Command Description GET lt filename gt Copy file fran SD Card to PC DIR Directory listing of SD Card DEL lt filename gt Delete file from SD Card CWD Change Working Directory B 4 SPAN SE Command Reference For convenience some commonly used OEMV commands are included in this manual All SPAN specific commands are included inthis manual Please refer to the OEMV Family Firmware Reference Manual for a complete list of GNSS only commands categorized by function and then detailed in alphabetical order SPAN SE User Manual Rev 1 89 Appendix B Commands B 4 1 APPLYVEHICLEBODYROTATION Enable vehicle to body rotation 90 Thi
20. SE Ethernet Connection on Page 59 The 6 byte MAC address is typically spaced with colons The first 3 bytes are the same numbers for every SPAN SE and are registered to NovAtel The second three bytes are specific to each SPAN SE Structure Message ID 1100 Log Type Asynch Binary Binary Field Field Type Data Description Format Bytes Offset 1 Log Header Log header H 0 2 MAC address 6 MAC address numbers separated Uchar 6 H by colons 3 Protocol Protocol Enum 4 H 4 0 UDP 1 TCP 4 XXXX 32 bit CRC ASCII Binary andShort Hex 4 H 8 Binary only 5 CR LF Sentence terminator ASCI only Recommended Input log maca once Abbreviated ASCII Example MACA COM4 0 98 0 FINESTEERING 1522 327807 461 40000020 0000 159 00 21 66 00 01 91 TCP 35551040 SPAN SE User Manual Rev 1 233 Appendix C Data Logs C 4 37 MARK1COUNT MARK2COUNT MARK3COUNT MARK4COUNT 234 Mark Count When the input mode is set to COUNT using the EVENTINCONTROL command see Page 101 the MARKxCOUNT logs become available lt 1 Use the ONNEW trigger with this the MARKxTIME or the MARKxPVA logs 2 Only the MARKxCOUNT MARKxPVA logs the MARKxTIME logs and polled log types are generated on the fly at the exact time of the mark Synchronous and asynchronous logs output the most recently available data MARKICOUNT Message ID MARK2COUNT Message ID MARK3COUNT Message ID MA
21. lt Ifa SETIMUANTOFFSET command is already entered or there is a previously saved lever arm in NVM before the LEVERARMCALIBRATE is sent the calibration starts using initial values from SETIMUTOANTOFFSET or NVM Ensure the initial standard deviations are representative of the initial lever arm values Abbreviated ASCII Syntax Message ID 675 LEVERARMCALIBRATE switch maxtime maxstd Binary Binary Binary Binary Field Field Type ASCII Value Value Description Format Bytes Offset 1 header This field contains the command H 0 name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 switch OFF 0 Offset along the IMU X axis Enum 4 H ON default 1 3 maxtime 0 1000 Maximum calibration time s Double 8 H 4 4 maxstd 0 02 0 5 Maximum offset uncertainty m Double 8 H 12 110 SPAN SE User Manual Rev 1 Commandes Appendix B 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 INS_ALIGNMENT_COMPLETE The example s 600 s duration is from when calibration begins and not from when you issue the command Abbreviated ASCII Example 2 LEVERARMCALIBRATE 600 0 05 Given this command the le
22. 144059 002135700 51 116680071 114 037929194 515 286704183 277 896368884 84 915188605 8 488207941 0 759619515 2 892414901 6 179554750 INS_ALIGNMENT_COMPLETE 855d6 76 SPAN SE User Manual Rev 1 Appendix C Data Logs C 4 28 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 ofmotion 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 43 Enum 4 H 36 8 XXXX 32 bit CRC ASCII Binary and Short Hex 4 H 40 Binary only 9 CR LF Sentence terminator ASCII only Recommended Input log insspda ontime 1 ASCII Example INSSPDA COM3 0 0 0 EXACT 1105 425385 000 00040000 efce 0 1105 425384 996
23. 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 GNSS solution is suspected to be in error This may be due to multipath or limited satellite visibility The inertial filter has rejected the GNSS position and is waiting for the solution quality to improve 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 1 See also the Frequently Asked Question appendix question 8 on Page 288 SPAN SE User Manual Rev 1 43 Chapter 3 SPAN SE Operation 3 4 1 Configuration for Alignment lt All alignment and calibration activities should be conducted under open sky conditions for maximum system performance A coarse alignment routine requires the vehicle to remain stationary for at least 1 minute If that is not possible an alternate fast alignment routine is available The fast or moving alignment is performed by estimating the attitude from the GNSS velocity vector and injecting it into the SPAN filter as the initial system attitude See also Section 3 4 1 Configuration for Alignment starting on Page 44 for more details on coarse and fast alignments 3 4 2 INS Configuration Command Summary This section gives a brief recap of the commands necessary to get the SPAN system running 1 Issue the SETIMUTYPE
24. 3 INVALID The clock model is not valid 4 ERROR Clock model error SPAN SE User Manual Rev 1 Data Logs Appendix C e EE Binary Fiel Fiel ield ield type Data Description Format Offset 1 MARKxTIME Log header H 0 header 2 week GPS week number Long 4 H 3 seconds Seconds intothe week as masured from the receiver Double 8 H 4 clock coincident with the time of electrical closure on the Mark Input port 4 offset Receiver clock offset in seconds A positive offset Double 8 H 12 implies that the receiver clock is ahead of GPS Time To derive GPS time use the following formula GPS time receiver time offset 5 offset std Standard deviation of receiver clock offset s Double 8 H 20 6 utc offset This field represents the offset of GPS time from Double 8 H 28 UTC time computed using almanac parameters UTC time is GPS time plus the current UTC offset plus the receiver clock offset UTC time GPS time offset UTC offset 7 status Clock model status see Table 54 Clock Model Enum 4 H 36 Status on Page 236 8 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 40 9 CR LF Sentence terminator ASCII only 1 0 indicates that UTC time is unknown because there is no almanac available in order to acquire the UTC offset SPAN SE User Manual Rev 1 237 Appendix C Data Logs C 4 40 PORTSTATS Port Statistic 238 This log conveys various statu
25. 8H0550al 8a2effc2f8006l1c 2fffc267cd09f1d5034d3537affa28b6ff0eb 7a22Ff279 160 SPAN SE User Manual Rev 1 Data Logs C 1 2 Binary Appendix C Binary messages are meant strictly as a machine readable format They are also ideal for applications where the amount of data being transmitted is fairly high Because of the inherent compactness of binary as opposed to ASCII data the messages are much smaller This allows a larger amount of data to be transmitted and received by the receiver s communication ports The structure of all Binary messages follows the general conventions as noted here 1 Basic format of Header 3 Sync bytes plus 25 bytes of header information The header length is variable as fields may be appended in the future Always check the header length Data variable CRC 4 bytes 2 The 3 Sync bytes will always be Byte Hex Decimal First AA 170 Second 44 68 Third 12 18 3 The CRC is a 32 bit CRC performed on all data including the header 4 The header is in the format shown in Table 34 SPAN SE User Manual Rev 1 161 Appendix C Data Logs Table 34 Binary Message Header Structure Binary Ignored Field Name Description Offset on Input 1 Sync Char Hex adecimal 0xAA 1 0 N 2 Syne Char Hex adecimal 0x44 1 1 N 3 Syne Char Hex adecimal 0x12 1 2 N 4 Header Lgth Uchar Length of the header 1 3 N 5 Message ID Ushort This is the Message ID number 2 4 N of the l
26. A one sigma value for height has a reliability of 68 that is the error is less than one meter 68 of the time For a more realistic accuracy double the one sigma value 1 m and the result is 95 reliability error is less than 2 m 95 of the time Generally GPS heights are 1 5 times poorer than horizontal positions As examples of statistics the GPSGST message and NovAtel performance specifications use root mean square RMS Specifications may be quoted in CEP RMS Root mean square a probability level of 68 CEP Circular error probable the radius of a circle such that 50 of a set of events occur inside the boundary Message ID 222 Log Type Synch Recommended Input log gpgst ontime 1 Example 1 GPS only SGPGST 141451 00 1 18 0 00 0 00 0 0000 0 00 0 00 0 00 6B 200 SPAN SE User Manual Rev 1 Data Logs Appendix C Field Structure Field Description Symbol Example 1 GPGST Log header GPGST 2 utc UTC time of position hours minutes seconds decimal hhmmss ss 173653 00 seconds 3 rms RMS value of the standard dviation ofthe range inputs x x 2 73 to the navigation process Range inputs include pseudoranges and DGPS corrections 4 smjr std Standard deviation of semi major axis of error ellipse x x 253 m 5 smnr std Standard deviation of semi minor axis of error ellipse x x 1 88 m 6 orient Orientation ofsemi major axis oferror ellipse degrees x x 15 2525 from true north
27. C 4 46 RXCONFIG Receiver Configuration ceccecceeseeseeeeeeeeeeeeeeeeeeeeeseaeeeaeeeneeraas 254 C 4 47 RXSTATUS Receiver Status 0 ecceeceeeceeeeeeeeeeeeeeeeeeeeeeeeeaeeeaeeseeeeeeeeneeeeeeeaes 256 C 4 48 RXSTATUSEVENT Status Event Indicator eceeeceeeeeeeeeeeeeeeeeseeeeeneeeaees 263 C 4 49 SPANVALIDMODELS Valid Model Information ccccceeeseeseeeeteeeeeeeeaes 265 G4 50 TIME Tma Dia alae ha te EE a ae 266 C 4 51 TIMEDWHEELDATA Timed Wheel Data 268 C 4 52 VEHICLEBODYROTATION Vehicle to SPAN Frame Potation 269 C 4 53 VERSION Version Information c cccceccceeeeeeesseeeeeeeeeseeeeseeeeeseeeeesseeeeeas 270 C 4 54 WHEELSIZE Wheel Gze e rnae a aoaaa aeaea eaa ae aaa alaaa eatea aeai 273 D Command Prompt Interface 274 DAA EDIO Ne gege eege E A E Ee E 275 SPAN SE User Manual Rev 1 D 3 Windows E HG1700 IMU Installation E 1 Disassemble the SPAN IMU Enclosure ccccccscccccscceeeeeceeeeeeeeessesesesseesssseeeeeeeeeenenss E 2 Install the HG1700 Sensor Un IS E 3 Make the Electrical Connections 2 0 ccccccccccccecececseessesceueceeeeeececeeeecececseseseeeesssstnsaeaneess E 4 Re Assemble the SPAN IMU Enclosure F LN 200 IMU Installation F 1 Disassemble the SPAN IMU Endosure F 2 Install the LN 200 Sensor Unit F 3 Make the Electrical Connections 0 cc ecccceceesesssceeceeeeeeeeeceeeeecececsesenecessessaeaeeeeneeeeeneess F 4 Re Assemble the SPAN IMU Encdosure G Frequent
28. 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 290 SPAN SE User Manual Rev 1 73 Appendix A Technical Specifications A 2 2 ilIMU FSAS Table 11 iIMU 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 tat M6x1 6H 12deep 4x Figure 22 ilMU FSAS Top Bottom Dimensions a See Figure 24 on Page 76 for the centre of navigation dimensions b Dimensions are in mm 74 SPAN SE User Manual Rev 1 Appendix A Technical Specifications Haass TURNOI JUUUUQ PAULL III l Figure 23 ilMU FSAS Enclosure Side Dimensions 75 SPAN SE User Manual Rev 1 Appendix A Technical Specifications uo utoes eut el eu0 top L FSO 1 l l I L FSO ED D KI I i I l l fod Uop2es tat 10618W0I9 69Ie julod uogoesIa ul Jeieuio alem Figure 24 iIMU FSAS Centre of Navigation 76 SPAN SE User Manual Rev 1 Technical Specifications Appendix A A 2 2 1 ilMU FSAS Interface Cable The NovAtel part number for the 1 m i MU FSAS interface cable is 01018221 see Table 12 on Page 78 and Figure 29 iiIMU FSAS Interface Cable on Page 81 See also Section A 2 2 2 i
29. The location should also be one that minimizes the effect of multipath interference For a discussion on multipath please refer to the GNSS Reference Manual SPAN SE User Manual Rev 1 29 Chapter 2 SPAN SE Installation 2 2 2 Mount IMU Mount the IMU in a fixed location where the distance from the IMU to the GNSS antenna phase center is constant Ensure that the orientation with respect to the vehicle and antenna is constant and that the distance and relative direction between them is fixed The IMU should be mounted in such that the positive Z axis marked on the enclosure points up and the Y axis points forward through the front of the vehicle in the direction of track The IMU can be mounted in other orientations see Section 29 Full Mapping Definitions on Page 135 but this can make interpreting the raw IMU and attitude output more difficult 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 4 6 Lever Arm Calibration Routine starting on Page 47 See also Appendix A Technical Specifications starting on Page 61 which gives dimensional drawings of the IMU enclosures lt 1 The closer the antenna is to the IMU the more accurate the position solution Also your measurements when using the SETIMUTOANTOFFSET command must be as accurate as possible or at least more accurate than the GNSS positions being used For
30. corrections In the RTKSOURCE command OMNISTAR enables OmniSTAR HP XP if allowed and disables other RTK types OmniSTAR HP XP has its own filter which computes corrections in RTK float modeor within about 10 cm accuracy CDGPS 4 SBAS 34 In the PSRDIFFSOURCE command CDGPS enables CDGPS and disables other DGPS types CDGPS produces SBAS type corrections Do not set CDGPS in the RTKSOURCE command as it can not provide carrier phase positioning and disallows all other sources of RTK information In the PSRDIFFSOURCE command when enabled SBAS such as WAAS EGNOS and MSAS forces the use of SBAS as the pseudorange differential source SBAS is able to simultaneously track two SBAS satellites and incorporate the SBAS corrections into the position to generate differential quality position solutions An SBAS capable receiver permits anyone within the area of coverage to take advantage of its benefits Do not set SBAS in the RTKSOURCE command as it can not provide carrier phase positioning and disallows all other sources of RTK information 10 AUTO 34 In the PPRDIFFSOURCE command AUTO means the first received RTCM or RTCA message has preference over an L band message In the RTKSOURCE command AUTO means that both the NovAtel RTK filter and the OmniSTAR HP XP filter ifauthorized are enabled The NovAtel RTK filter selects the first received RTCM RTCA RTCMV3 or CMR message The BESTPOS log selects the best solution betw
31. corrections The receiver automatically switches to Pseudorange Differential RTCM or RTCA or RTK if the appropriate corrections are received regardless of the current setting To enable the position solution corrections you must issue the SBASCONTROL ENABLE command The receiver does not attempt to track any GEO satellites until you use the SBASCONTROL command to tell it to use either WAAS EGNOS or MSAS corrections DISABLE stops the corrections from being used When in AUTO mode if the receiver is outside the defined satellite system s corrections grid it reverts to ANY mode and chooses a system based on other criteria Once tracking satellites from one system in ANY or AUTO mode it does not track satellites from other systems This is because systems such as WAAS EGNOS and MSAS do not share broadcast information and have no way of knowing each other are there The testmode parameter in the example is to get around the test mode of these systems EGNOS at one time used the IGNOREZERO test mode At the time of printing ZEROTOTWO is the correct setting for all SBAS including EGNOS running in test mode On a simulator you may want to leave this parameter off or specify NONE explicitly When you use the SBASCONTROL command to direct the GNSS receiver to use a specific correction type the GNSS receiver begins to search for and track the relevant GEO PRNs for that correction type only You can force the GNSS receiver to track a s
32. it is possible to communicate with all three serial ports simultaneously using this command lt 1 Ifhandshaking is disabled any of these modes can be used without affecting regular RS232 communications through the selected COM port However if handshaking is enabled it may conflict with handshaking of the selected COM port causing unexpected results 2 The PULSEPPSLOW control type cannot be issued for a TX signal 3 Only PULSEPPSHIGH FORCEHIGH and FORCELOW control types can be used for a TX signal 4 The IMU port does not need to be configured by the user Do not attempt to do so Abbreviated ASCII Syntax Message ID 431 COMCONTROL port signal control mode Factory Default comcontrol com1 rts default rs232 comcontrol com rts default rs232 comcontrol com3 rts default rs232 comcontrol com4 rts default rs232 Abbreviated ASCII Example COMCONTROL COMI RS422 Table 21 Tx DTR and RTS Availability Tx Available On DTR Available On AE MGCUEIOf elk COM1 COM2 COM3 COM4 COM1 COM2 COM3 COM4 COM1 COM2 COM3 COM4 SPAN SE User Manual Rev 1 97 Appendix B Commands Table 22 SPAN SE COM Port Values Binary ASCII 1 COMI 2 COM2 3 COM3 6 THISPORT T FILE 8 ALL 13 USB1 19 COM4 20 ETH1 98 SPAN SE User Manual Rev 1 Commande COMCONTROL header ASCII Value Binary Value Description This field contains the command
33. proprietary rights in the Software and the Software is protected by national copyright laws international treaty provisions and all other applicable national laws You must treat the Software like any other copy righted material except that you may make one copy of the Software solely for backup or archival pur poses one copy may be made for each piece of NovAtel hardware on which it is installed or where used in conjunction with other NovAtel supplied software the media of said copy shall bear labels showing all trademark and copyright notices that appear on the original copy You may not copy the product manual or written materials accompanying the Software No right is conveyed by this Agree ment for the use directly indirectly by implication or otherwise by Licensee of the name of NovAtel or of any trade names or nomenclature used by NovAtel or any other words or combinations of words proprietary to NovAtel in connection with this Agreement without the prior written consent of NovAtel 3 Patent Infringement 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 no
34. 0 2 Solution Type Type of GPS solution used for the last Enum 4 H update see Table 38 on Page 171 3 Reserved Integer 4 H 4 4 Phase Number of raw phase observations used Integer 4 H 8 in the last INS filter update 5 Reserved Integer 4 H 12 6 Zupt Flag A zero velocity update was performed Boolean 2 H 16 during the last INS filter update 0 False 1 True 7 Wheel Status Wheel status see Table 48 on Page 219 Ulong 4 H 18 8 Reserved Ulong 4 H 22 9 XXXX 32 bit CRC ASCH Binary and Short Hex 4 H 26 Binary only 10 CR LF Sentence terminator ASCII only 218 Recommended Input log insupdate onchanged ASCII Example INSUPDATEA UNKNOWN 0 32 5 FINESTEERING 1379 339642 042 00040040 3670 2431 SINGLE 0 6 0 FALSE WHEEL_SENSOR_UNSYNCED 0 fb5d 08b In this example the header time is 339642 042 This means the updates a single point position update and 6 phase updates were applied at 339641 000 SPAN SE User Manual Rev 1 Data Logs Table 48 Wheel Status Binary WHEEL SEN WHEEL SEN ASCII SOR_INACTIVE SOR_ACTIVE NSOR USED WHEEL SENSOR UNSYNCED WHEEL SEN SOR_BAD_ MISC WHEEL SENSOR HIGH ROTATION 1 WHEEL _SENSOR_USED means the wheel sensor data was applied as an update in the SPAN filter SPAN SE User Manual Rev 1 Appendix C 219 Appendix C Data Logs C 4 31 INSVEL INS Velocity This log contains the most r
35. 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 NH LIMIT Height or velocity limits exceeded in accordance with COCOM export licensing restrictions 8 VARIANCE Variance exceeds limits 9 RESIDUALS Residuals are too large 10 DELTA POS Delta position is too large 11 NEGATIVE VAR Negative variance 12 17 Reserved 18 PENDING When a FIX POSITION command is entered the receiver computes its own position and determines if the fixed position is valid l 19 INVALID FIX The fixed position entered using the FIX POSITION command is not valid PENDING implies there are not enough satellites being tracked to verify if the FIX POSITION entered into the receiver is valid The receiver needs to be tracking two or more GPS satellites to perform this check Under normal conditions you should only see PENDING for a few seconds on power up before the GPS receiver has locked onto its first few satellites If your antenna is obstructed or not plugged in and you have entered a FIX POSITION command then you may see PENDING indefinitely SPAN SE User Manual Rev 1 173
36. 1 28 0x 10000000 Accelerometer tests Passed 0 Failed 1 N7 29 0x20000000 Other tests Passed 0 Failed 1 30 0x40000000 Memory tests Passed 0 Failed 1 31 0x80000000 Processor tests Passed 0 Failed 1 248 SPAN SE User Manual Rev 1 Data Logs Appendix C Table 61 LN 200 IMU Status Nibble Bit Mask Description Range Value 0 0x00000001 Delta velocity counter Passed 0 Failed 1 NO 1 0x00000002 D A converter Passed 0 Failed 1 2 0x00000004 Gyro Passed 0 Failed 1 3 0x00000008 Accelerometer Passed 0 Failed 1 4 0x00000010 Gyro loop control Passed 0 Failed 1 Nl 5 0x00000020 Gyro temperature control Passed 0 Failed 1 6 0x00000040 Accelerometer temperature Passed 0 Failed 1 7 0x00000080 Power supply voltage Passed 0 Failed 1 8 0x00000100 A D converter Passed 0 Failed 1 N2 9 0x00000200 Serial I O Passed 0 Failed 1 10 0x00000400 CPU memory Passed 0 Failed 1 11 0x00000800 Laser diode Passed 0 Failed 1 12 0x00001000 Thermo electric cooler TEC Passed 0 Failed 1 N3 13 0x00002000 Broadband Fiber Source BFS Passed 0 Failed 1 fiber temperature 14 0x00004000 Optical receiver Passed 0 Failed 1 15 0x00008000 Reserved 16 0x00010000 N4 17 0x00020000 18 0x00040000 19 0x00080000 Reserved 20 0x00100000 N5 21 0x00200000 22 0x00400000 23 0x00800000 24 0x010000
37. 159 ID 231 232 time stamp 165 trigger 114 116 MKDIR command 88 mode 2 D 199 3 D 199 dynamic 124 operating 198 RTK 171 static 124 model 24 authorization 148 150 card 150 SPAN SE User Manual Rev 1 clock 237 expiry date 265 switch 150 version 265 month 267 271 motion detector 124 moving alignment 45 N navigation data 198 mode 46 NMEA 118 log list 168 position 195 pseudorange measurem entn oise statistics 200 satellite range residuals 196 197 NMEATALKER command 118 node 190 noise statistic 200 thermal 240 non volatile memory NVM 104 save configuration 128 north 218 220 note antenna motion 124 authorization code 148 logging 112 range residual 196 status 263 O offset 136 143 clock 237 receiver clock 267 OmniSTAR 106 222 operating mode 198 orientation 133 output 57 61 overload 112 P parity 95 96 flag 240 port 239 SPAN SE User Manual Rev 1 Index removed 246 PDOP see dilution of precision period 112 114 116 231 232 phase lock loop PLL 241 257 pitch 133 136 177 206 PLL see phase lock loop polarity 57 58 polled log 158 port 31 ascii header 160 communication 161 configuration 94 96 128 178 configure 105 identifier 95 106 interface 106 interrupt 239 log request 113 output 114 116 231 232 power 100 RS232 97 serial 106 238 status 238 263 unlog 153 PORTSTATS log 238 position 143 214 INS 108 mark 235 measurements 208 211 synchro
38. 25 iIMU Interface Cable Connections with a SPAN SE on Page 77 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 277 or Appendix F LN 200 IMU Installation starting on Page 282 For more information on SPAN SE cables please see Appendix A Technical Specifications on Page l SPAN SE User Manual Rev 1 SPAN SE Installation Chapter 2 4 EN Reference Description 1 SPAN SE receiver with an on board SD Card for data storage 2 User supplied NovAtel GNSS antenna 3 LN 200 HG 1700 or iIMU FSAS IMU and IMU interface cable to the connector labelled IMU on the SPAN SE UO 2 yellow cable For the other connections that only apply to the iIMU FSAS see Section A 2 2 1 iIMU FSAS Interface Cable starting on Page 77 4 User supplied power supply SPAN SE rover 1 9 to 28 V DC ProPak V3 base 6 9 to 18 V DC Separate supply for IMU 3 see Table 3 on Page 32 5 User supplied radio device to the connector labelled OEMV3 on the SPAN SE I O green cable 6 User supplied base station ProPak V3 receiver 7 User supplied PC laptop for setting up and monitoring to COM1 on the ProPak V3 or in the case of the SPAN SE to one of the four available COM ports the USB host port or the Ethernet port 8 SPAN SE IO 1 green cable see Section A 1 1 2 O 1 Green Cable NovAtel part number 01018134 on Page
39. 26 INSPVA INS Position Velocity and Attitude cccccceseseeeeeeeeeesneeeesneeeeees 214 C 4 27 INSPVAS Short INS Position Velocity and Attitude AA 215 C 4 28 INSSPD INS OPC ed ea are ee aaa a aa aAa aaan a As Ae Sirina Ar Enaka tat 216 C 4 29 INSSPDS Short INS Gpeed AE 217 G4 30 INSUPDATE INS Update neen re erena e e e aa SEELEN 218 C 4 31 INSVEL INS Velocity AAA 220 C 4 32 INSVELS Short INS Velocity ceceeececeeeeeeeeeeeeeeeeeeeeeeeeeeaeesaeenaeeseaeeeaeesneeeaas 221 C 4 33 LBANDINFO L band Configuration Information 0 cccceeeeeeeeneeeteeeteeeaes 222 C 4 34 LBANDSTAT L band Status Information ccccceeeceeeeeeeeeeeeeeeeeeeeeeeeeeeaees 224 C 4 35 LOGLIST List of System LOGS cceeceseceeeeeeeeeeteeeeeeeeeeeeeaeeteaeeeaeessaeeeaeeeeeesas 230 C 4 36 MAC MAC Address AAA 233 C 4 37 MARK1COUNT MARK2COUNT MARK3COUNT MARK4COUNT Mark Gout an ACEN AER 234 C 4 38 MARK1PVA MARK2PVA MARK3PVA MARK4PVA Position Velocity and Attitude at Mark sessssseesessenseessrnnneernnnnsserrnnneerrrnnnnernnnn 235 C 4 39 MARK1 TIME MARK2TIME MARK8TIME MARK4TIME Time of Mark Input Event 236 C 4 40 PORTSTATS Port Gate 238 C 4 41 RANGE Satellite Range Information cecceeceeeceeeeeeeeeeeneeeeeeeeeeeneeeeaeeeneetaes 240 C 4 42 RANGECMP Compressed Version of the RANGE Log ssssseseeeseeeeseeeeee 244 C 4 43 RAWEPHEM Raw Ephemetis A 246 C 4 44 RAWIMU Raw IMU Data 247 C 4 45 RAWIMUS Short Raw IMU Data 252
40. 30 pin connector at the receiver end plus three DB 9 connectors at the other end each connected to a serial port On this cable serial ports COM1 COM2 and the IMU port are available There are also two ends with bare cables as shown in the figure below See Table 9 I O 2 Yellow Cable Connector Pin Outs on Page 68 This cable is RoHS compliant 1331 0 25 00 0 00 SEE DETAIL B 230 0 25 00 0 00 1000 0 50 00 0 00 10 00 YELLOW BEND RELIEF a Seed NOVATEI Pro P ABEL 30 ODU STRAIGHT PLUG Ty E k SEE DETAIL A 5 0 2 0 ABEL GND ABEL EVENT OUT 1 ABEL EVENT OUT 2 ABEL EVENT OUT 3 ABEL EVENT IN 4 ABEL EVENT IN 3 DETAIL A LABEL SCALE 3 000 EVENT IN 2 ABEL EVENT IN 1 DETAIL B GND g rey SCALE 3 000 Reference Description P10 ODU 30 pin P1 P2 amp P7 DB 9 Figure 15 SPAN SE I O 2 Yellow Cable SPAN SE User Manual Rev 1 67 Appendix A 68 Technical Specifications Table 9 I O 2 Yellow Cable Connector Pin Outs P1 Remote Connectors Pin Function Connector Pin 2 10 EVENT OUT 1 Detail B Bare Wire BLACK 23 EVENT OUT 2 Detail B Bare Wire BLUE 11 EVENT OUT 3 Detail B Bare Wire RED 27 GND Detail B Bare Wire GREEN EVENT IN 1 Detail A Bare Wire BLACK EVENT IN 2 Detail A Bare Wire BLUE 20 EVENT IN 3
41. 5 Signal B Grey 3 6 Signal B inverted Pink 1 7 Reserved No change 8 a Pin 2 is wired to a red banana plug Power in and Pin 1 is wired to a black banana plug Power return so the WPT needs power to operate 10 to 30 V Solder the shield on the WPT cable to the female DB9 housing b This modification is for the Corrsys Datron WPT 8 pin M12 plug cable number 14865 Figure 29 iI MU FSAS Interface Cable SPAN SE User Manual Rev 1 81 Appendix A Technical Specifications A 2 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 Scale Factor 400 ppm Accelerometer Bias 1 0 mg A 2 2 4 Electrical and Environmental 82 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 RS 422 ENVIRONMENTAL iIMU FSAS IMU Interface 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 SE User Manual Rev 1 Technical Specifications Appendix A A 2 3 HG1700
42. ASCII ASCII or binary respectively 2 priority NOW 1 Power down the SPAN SE Enum 4 H immediately Abbreviated ASCII Example SOFTPOWER NOW SPAN SE User Manual Rev 1 147 Appendix B Commands B 4 37 SPANAUTH Add an authorization code for a new model This command is used to add or remove authorization codes from the receiver Authorization codes are used to authorize models of software for a receiver The receiver is capable of keeping track of 5 authorization codes at one time The SPANVALIDMODELS log see Page 265 lists the current available models in the receiver This simplifies the use of multiple software models on the same receiver If there is more than one valid model in the receiver the receiver uses the model of the last spanauth code entered via the SPANAUTH command The SPANAUTH command causes a reset automatically To change models on the internal OEMV 3 use the AUTH MODEL and VALIDMODELS commands defined in the OEMV Family Firmware Reference Manual We recommend that you contact NovAtel Customer Service for assistance in doing this see Page 18 or Note 2 below lt 1 Authorization codes are firmware version specific If the receiver firmware is updated it is necessary to acquire new SPAN authorization codes for the required models If you wish to update the firmware in the receiver please contact NovAtel Customer Service 2 When you want to easily upgrade your SPAN SE receiver
43. Abbreviated ASCII Example FORMAT SD SPAN SE User Manual Rev 1 103 Appendix B Commands B 4 9 FRESET Factory reset 104 This command clears data which is stored in non volatile memory Such data includes the almanac ephemeris and any user specific configurations The receiver is forced to hardware reset When the SPAN SE receives a FRESET command it is also passed to the OEMV 3 but without any parameters Therefore the OEMV 3 only does a full reset SPAN SE can do a partial reset of some of its fields Abbreviated ASCII Syntax Message ID 20 FRESET target Field ASCII Binary Binary Binary Binary 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 23 What data is to be reset by the Enum 4 H receiver Field Description Type Value Value Abbreviated ASCII Example FRESET USER_CFG Table 23 FRESET Target Binary ASCII Description 0 STANDARD Resets commands and INS data 1 USER CFG Resets the stored commands user configuration 4 MODEL Resets the currently selected model 6 INS_LEVER ARM Resets the GNSS antenna to IMU lever arm 7 VEHICLE BODY _ R Resets stored vehicle to body rotations SPAN SE User Manual Rev 1 Commande B 4 10 GNSSCARDCONFIG GNSS port configuration Use this command to configure
44. BOOT1 TXT command file and logging is directed from the receiver s COM2 serial port to the rover terminal SPAN SE User Manual Rev 1 275 Appendix D Command Prompt Interface D 2 WINDOWS As any text editor or communications program can be used for these purposes the use of Windows 98 is described only as an illustration The following example shows how Windows 98 accessory programs Notepad and HyperTerminal can be used to create a hypothetical waypoint navigation file on a laptop computer and send it to the receiver It is assumed that the laptop computer s COM1 serial port is connected to the receiver s COM serial port and that a rover terminal is connected to the receiver s COM2 serial port Example 1 Open Notepad and type in the following command text setimutype imu_hg1700_ag58 setimutoantoffset 1 25 0 35 1 65 0 02 0 02 0 02 log coml rawimusb onnew log coml rangecmpb ontime 1 log coml inspvasb ontime 0 1 log coml inscovsb onnew 2 Save this with a convenient file name e g C GPS BOOTNAV1 TXT and exit Notepad 3 Ensure that the HyperTerminal settings are correctly set up to agree with the receiver communications protocol these settings can be saved e g C GPS OEMSETUP HT for use in future sessions You may wish to use XON XOFF handshaking to prevent loss of data 4 Select Transfer Send Text File to locate the file that is to be sent to the receiver Once you double click on the file or select Open Hyper
45. Bytes Offset 2 action RESET Resets the GNSS INS alignment and restarts the alignment initialization Enum 4 H DISABLE ENABLE Disables INS positioning Enables INS positioning where alignment initialization starts again default Abbreviated ASCII Example INSCOMMAND ENABLE SPAN SE User Manual Rev 1 Commandes Appendix B B 4 13 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 GNSS INS Abbreviated ASCII Syntax Message ID 382 INSZUPT SPAN SE User Manual Rev 1 109 Appendix B Commands B 4 14 LEVERARMCALIBRATE _ INS Calibration Command Use the LEVERARMCALIBRATE command to control the IMU to antenna lever arm calibration The IMU to antenna lever arm is the distance from the IMU centre ofnavigation to the phase centre of the antenna See also the SETIMUTOANTOFFSET command starting on Page 136 and Section 3 4 6 Lever Arm Calibration Routine starting on Page 47 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 177
46. Factory Default nmeatalker gp Abbreviated ASCII Example NMEATALKER AUTO lt This command only affects NMEA logs that are capable of an INS position and or velocity output For example GPGSV is for information on GNSS satellites and its output always uses the GP ID Table 25 shows the NMEA logs and whether they use GP or GP IN IDs with nmeatalker auto Table 25 NMEA Talkers Log GPALM GPGGA GPGLL GPGRS GPGSA GPGST GPGSV GPRMB GPRMC GPVTG GPZDAI Talker IDs CP GP GP IN GP GP GP GP GP GP GP IN GP Field ASCII Binary Binary Binary Binary Field Type Value Value Description Format Bytes Offset 1 NMEA This field contains the command H 0 TALKER name or the message header header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 ID GP 0 GNSS GP only Enum 4 H AUTO 1 GNSS and or Inertial IN 118 SPAN SE User Manual Rev 1 Commandes Appendix B B 4 18 PSRDIFFSOURCE Set the pseudorange correction source This command lets you identify from which base station to accept differential corrections This is useful when the receiver is receiving corrections from multiple base stations See also the RTKSOURCE command on Page 125 lt 1 To use L band differential corrections an L band receiver and a subscription to the OmniSTAR or use of the free CDGPS service are required Contact NovAtel for detai
47. Field Description Symbol Example 1 GPALM Log header GPALM 2 msg Total number of messages logged Set to zero x x 17 until almanac data is available 3 msg Current message number X X 17 4 PRN Satellite PRN number XX 28 GPS 1 to 32 5 GPS wk GPS reference week number a X X 653 6 SV hith SV health bits 17 24 of each almanac page hh 00 7 ecc e eccentricity d hhhh 3EAF 8 alm ref time toa almanac reference time hh 87 9 incl angle sigma j inclination angle hhhh OD68 10 omegadot OMEGADOT rate of right ascension hhhh FD30 11 rt axis A 2 root of semi major axis hhhhhh A10CAB 12 omega omega argument of perigee hhhhhh 6EE732 13 long asc node OMEGA o longitude of ascension node hhhhhh 525880 14 Mo Mo mean anomaly hhhhhh 6DC5A8 15 afo af0 clock parameter hhh 009 16 an af1 clock parameter hhh 005 17 XX Checksum hh 37 18 CR LF Sentence terminator CR LF a Variable length integer 4 digits maximum from 2 most significant binary bits of Subframe 1 Word 3 reference Table 20 1 CD GPS 200 Rev B and 8 least significant bits from subframe 5 page 25 word 3 reference Table 20 1 ICD GPS 200 Reference paragraph 20 3 3 5 1 3 Table 20 VII and Table 20 VIII CD GPS 200 Rev B Reference Table 20 VI ICD GPS 200 Rev B for scaling factors and units d A quantity defined for a conic section where e 0 is a circle e 1 is an ellipse 0 lt e lt 1 isa para
48. Green multi pin connector 1 containing SPAN SE COM ports Vo OEMV COM port event inputs and output strobes Yellow multi pin connector 2 IER containing SPAN SE COM ports IMU COM port event inputs and output strobes Each connector can be inserted in only one way to prevent damage to both the receiver and the cables Furthermore the connectors that are used to mate the cables to the receiver require careful insertion and removal Observe the following when handling the cables e To insert a cable make certain you are using the appropriate cable for the port the T O cable has a different connector number of pins than the power cable e Insert the connector until it is straight on and secure e To remove a cable grasp it by the connector and pull WARNING DO NOT PULL DIRECTLY ON THE CABLE Review this section s hardware set up subsections and follow the numbered steps in bold to install your SPAN system The example graphics in the sections that follow show the connections on the back of a SPAN SE receiver 2 2 SPAN SE Hardware Installation 2 2 1 Mount Antenna For the best possible positioning precision and accuracy as well as to minimize the risk of damage ensure that the antenna is securely mounted on a stable structure that will not sway or topple Where possible select a location with a clear view of the sky to the horizon so that each satellite above the horizon can be tracked without obstruction
49. Half Cycle Not Added N7 1 Half Cycle Added 29 Reserved 30 0x40000000 PRN lock flag 0 PRN Not Locked Out 1 PRN Locked Out 31 0x80000000 Channel assignment 0 Automatic 1 Forced 1 Grouped Channel has an associated channel L1 L2 pairs 2 This bit is zero until the parity is known and the parity known flag bit 11 is set to 1 Binary Binary Data Description Format Bytes Offset 1 RANGE Log header H 0 header 2 obs Number of observations with information to follow Long 4 H 3 PRN slot Satellite PRN number of range measurement UShort 2 H 4 GPS 1 to 32 SBAS 120 to 138 and GLONASS 38 to 61 4 glofreq GLONASS Frequency 7 UShort 2 H 6 5 psr Pseudorange measurement m Double 8 H 8 6 psr std Pseudorange measurement standard deviation m Float 4 H 16 7 adr Carrier phase in cycles accumulated Doppler range Double 8 H 20 8 adr std Estimated carrier phase standard deviation cycles Float 4 H 28 9 dopp Instantaneous carrier Doppler frequency Hz Float 4 H 32 10 C No Carrier to noise density ratio Float 4 H 36 C No 10 log 9 S No dB Hz 11 locktime of seconds of continuous tracking no cycle slipping Float 4 H 40 12 ch tr Tracking status see Table 58 Channel Tracking Status on ULong 4 H 44 status Page 242 and the example in Table 63 KH 13 Next PRN offset H 4 obs x 44 variable xxxx 32 bit CRC AS
50. ID Differential base station ID 0000 XXXX empty when no 1023 differential data is present 16 Tax Checksum hh 48 17 CR LF Sentence terminator CR LF 1 Anindicator of 9 has been temporarily set for WAAS NMEA standard for WAAS not decided yet 2 The maximum age reported here is limited to 99 seconds SPAN SE User Manual Rev 1 193 Appendix C Data Logs C 4 12 GPGLL Geographic Position This NMEA log provides atitude and longitude of the present vessel position time of position fix and status See also Section C 3 NMEA Standard Logs on Page 168 194 Table 46 on Page 195 compares the position precision of selected NMEA logs The GPGLL log outputs these messages with contents without waiting for a valid almanac Instead it uses a UTC time calculated with default parameters In this case the UTC time status is set to WARNING since it may not be 100 accurate When a valid almanac is available the receiver uses the real parameters Then the UTC time is set to VALID lt If the NUEATALKER command see Page 118 is set to AUTO the talker the first 2 characters after the sign in the log header is set to GP GPS satellites only or IN GNSS INS solution Message ID 219 Log Type Synch Recommended Input log gpgll ontime 1 Example1 GPS only SGPGLL 5107 0013414 N 11402 3279144 W 205412 00 A A 73 Example 2 Combined GPS and INS SINGLL 5106 9812620 N 11402 2906137 W
51. IMU Table 15 HG1700 IMU Specifications IMU Enclosure Size 193mm x 167mm x 100 mm 7 6 x 6 6 x 3 9 IMU Size 160 mm x 160mm x 100 mm 6 3 x 6 3 x 3 9 IMU Weight 3 4 kg 7 49 Ib MECHANICAL DRAWINGS SES Ber Tee 4 PLCS xa AA d gt y 90 7 N NAVIGATION ON IMU Enclosure 74 8 ei Center SCALE 0 600 i Note The Center of Navigation shown on the HG1700 label F93 3 for the internal IMU is the same as the enclosure s center The enclosure center measurements are labelled as IMU Enclosure Center in this figure 93 IMU Enclosure Center Figure 30 HG1700 Top Bottom Dimensions SPAN SE User Manual Rev 1 83 Technical Specifications Appendix A 37 IMU Enclosure Center 186 7 1 Figure 31 HG1700 Enclosure Side Dimensions Scale 0 600 Note The Center of Navigation shown on the HG1700 label for the internal IMU is the same as the enclosure s center The enclosure center measurements are labelled as IMU Enclosure Center in this figure SPAN SE User Manual Rev 1 84 Technical Specifications A 2 3 1 Appendix A HG1700 IMU Interface Cable The IMU interface cable supplied the power adapter cable provides power to the IMU from an external power source and enables input and output between the receiver and IMU The HG1700 uses the same cable supplied with the LN 200
52. If the IMU enclosure is mounted with the z axis pointing upwards the SPAN frame is the same as what is marked on the enclosure If the IMU is mounted in another way SPAN transforms the SPAN frame axes such that z points up for SPAN computations You must enter the azimuth with respect to the transformed axis See SETIMUORIENTATION on Page 133 for a description of the axes mapping that occurs when the IMU is mounted differently from z pointing up e This command is not save configurable see the SAVECONFIG command on Page 130 and if needed must be entered at startup lt 1 Azimuth is positive in a clockwise direction when looking towards the z axis origin 2 You do not have to use the SETIMUORIENTATION command see Page 133 unless you have your IMU mounted with the z axis not pointing up Then use the tables in the SETIMURIENTATION command on Pages 134 135 to determine the azimuth axis that SPAN is using Abbreviated ASCII Syntax Message ID 863 SETINITAZIMUTH azimuth azSTD Field ASCII Binary Binary Binary Field Format Offset Type Value Value Description 1 header This field contains the command H 0 name or the message header depending on whether the command is abbreviated ASCII 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 3 azSTD angle in degrees Double 8 H 8
53. Longitude WGS84 at Mark1 2 3 or 4 Double 8 H 20 6 Height Height WGS84 at Mark1 2 3 or 4 Double 8 H 28 7 North Velocity Velocity in a northerly direction ve implies Double 8 H 36 a southerly direction at Mark1 2 3 or 4 8 East Velocity Velocity in an easterly direction ve implies Double 8 H 44 a westerly direction at Mark 2 3 or 4 9 Up Velocity Velocity in an up direction at Mark 2 3 or A Double 8 H 52 10 Roll Right handed rotation from local level around Double 8 H 60 y axis in degrees at Mark 2 3 or 4 11 Pitch Right handed rotation from local level around Double 8 H 68 X axis in degrees at Mark1 2 3 or 4 12 Azimuth Left handed rotation around z axis Degrees Double 8 H 76 clockwise from North at Mark1 2 3 or 4 13 Status INS Status see Table 5 on Page 43 at Mark Enum 4 H 84 14 XXXX 32 bit CRC Hex 4 H 88 15 CR LF Sentence Terminator ASCII only Recommended Input SPAN SE User Manual Rev 1 log mark1pva ontime 1 Abbreviated ASCII Example MARK1PVA USB1 0 51 5 EXACT 1481 251850 001 00040000 46 4 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 235 Appendix C Data Logs C 4 39 MARK1TIME MARK2TIME MARK3TIME MARK4TIME_ Time of 236 Mark Input Event This log contains the time of the leading edge of the detected mark input pulse MARKITIME gives the time when a
54. MU F SAS Odometer Cabling on Page 79 if applicable To talk to the SPAN SE with the IMU FSAS interface cable a FSAS SPAN SE Y Adapter cable is needed Please see Table 13 on Page 79 for cable pin out information The i MU interface cable supplied provides power to the IMU from an external power source and enables input and output between the receiver and IMU Figure 25 below shows the i MU interface cable connections when used with a SPAN SE receiver while the rest ofthe SPAN SE connections are shown in Figure 3 on Page 27 1 2 8 9 F 4 G i IMU 7 Ze a DR iMAR FSAS 1 0 LN 200 or HG 1700 Figure 25 ilMU Interface Cable Connections with a SPAN SE Reference Description 1 SPAN SE receiver ilMU FSAS IMU UO 2 yellow cable s 30 pin connector to I O 2 port on the SPAN SE iIMU interface cable s DB 9 IMU connector to iIMU interface Y cable iIMU interface cable s DB 9 I O connector to ilMU interface Y cable iIMU interface Y cable to I O 2 yellow cable s DB 9 IMU connector iIMU interface cable s DB 9 ODO connector to optional wheel sensor cable 8 iIMU interface cable s ve and ve connectors to user supplied power source 9 iIMU interface cable s MIL 22 pin connector to the iIMU FSAS IMU NOOO RW bh SPAN SE User Manual Rev 1 77 Appendix A Technical Specifications Table 12 IMU Interface Cable Pin Out MIL C Power Female Male Mal
55. North 12 9866m s 0 047mys East 3 7598m s 0 055m s Up 1 1617m s 0 022m s X Offset 0 000m Y Offset 0 000m Z Offset 0 000m ZUPT Off 0 Pitch 6 0771 INS_SOLUTION_GOOD Ready to use 0 01 Fri Apr 21 11 57 09 2006 Local 38 SPAN SE User Manual Rev 1 SPAN SE Operation Chapter 3 3 3 Software Configuration 3 3 1 GNSS Configuration The GNSS configuration canbe set up for different accuracy levels such as singlepoint SBAS DGPS and RTK RTCA RTCM RTCM V3 and CMR SPAN SE receivers can also be set up for Omnistar HP Omnistar VBS or CDGPS With no additional configuration the system operates in single point mode Once your base and SPAN rover are set up you can configure them as shown in the configuration examples starting on Page 40 The section on Page 40 gives an example of how to set up your base and rover for GNSS GLONASS RTCA operation Refer to the OEMV Family user manuals for details on DGPS RTK L band or SBAS setup and operation The GNSS positioning mode of operation can also be configured using the position mode wizard in NovAtel s Control and Display Unit CDU software utility See CDU s Help and its wizard screens for more information SPAN SE RTK ROVER CONFIGURATION Dx Command description brackets represent optional parameters RTK correction data is input to SPAN SE using the port labelled OEMV3 on the green cable The port is configured using the GNSSCARDCONFIG command at the rover as fo
56. OR INDIRECTLY OUT OF THE PURCHASE INSTALLATION OPERATION USE OR LICENSING OR PRODUCTS OR SERVICES IN NO EVENT SHALL NOVATEL BE LIABLE FOR SPECIAL INDIRECT INCIDENTAL OR CONSEQUENTIAL DAMAGES OF ANY KIND OR NATURE DUE TO ANY CAUSE There are no user serviceable parts in the GNSS receiver and no maintenance is required When the status code indicates that a unit is faulty replace with another unit and return the faulty unit to NovAtel Inc Before ship ping any mat erial to Nov Atel or Dealer please obtaina 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 SE User Manual Rev 1 17 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 GNSS 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 dealer
57. Optional field to specify the Enum 4 H 4 polarity of the pulse to be POSITIVE 1 received on the mark input default POSITIVE 4 ticks 1 10 000 Number of ticks per revolution Ushort 4 H 8 5 circ 0 1 100 Wheel circumference m Double 8 H 12 6 spacing 0 001 1000 Spacing ofticks or resolution ofthe Double 8 H 20 wheel sensor m 1 In the binary log case an additional 2 bytes of padding are added to maintain 4 byte alignment Table 31 SETWHEELPARAMETERS Input Binary ASCII 0 IMU default 1 MARK1 2 MARK2 3 MARK3 4 MARK4 Abbreviated ASCII Example SETWHEELPARAMETERS 58 1 96 0 025 lt Fields 2 3 and 4 do not have to add up Field 4 is used to weight the wheel sensor measurement Fields 2 and 3 are used with the estimated scale factor to determine the distance travelled 146 SPAN SE User Manual Rev 1 Commande B 4 36 SOFTPOWER Power down the SPAN SE Appendix B Use the SOFTPOWER command to power down the SPAN SE This command is meant for automated setups where the user may not be able to physically touch the SPAN SE but needs to shut the system down Abbreviated ASCII Syntax Message ID 213 SOFTPOWER priority A Field ASCII Binary bett Binary Binary Binary Field Type Value Value Description Format Bytes Offset 1 header This field contains the command H 0 name or the message header depending on whether the command is abbreviated
58. Rev 1 SPAN SE Installation Chapter 2 4 Connect the I O 2 yellow cable s IMU connector to an IMU COM port using the IMU s interface cable The figure below shows the HG 1700 or LN 200 connections For the iIMU FSAS connections with a SPAN SE see i MU FSAS Interface Cable on Page 77 5 Connect the antenna to the antenna port on the receiver using an appropriate coaxial cable 2 2 4 Connect Power The SPAN SE receiver requires an input supply voltage between 9 VDC and 28 VDC The power cable supplied has bare leads that can be connected to an appropriate DC power supply The receiver has an internal power module that does the following 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 on Page 32 SPAN SE User Manual Rev 1 31 Chapter 2 SPAN SE Installation Table 3 IMU Power Supply IMU Power Requirement LN 20
59. SE User Manual Rev 1 Commandes Appendix B Abbreviated ASCII Syntax VEHICLEBODYROTATION alpha beta gamma Oalpha Sbeta gamma Message ID 642 Structure Log Type Asynch Field Field Type Description Format Binary Binary 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 S5 X Uncertainty Uncertainty of X rotation degrees Double 8 H 24 default 0 6 Y Uncertainty Uncertainty of Y rotation degrees Double 8 H 32 default 0 7 Z Uncertainty Uncertainty of Z rotation degrees Double 8 H 40 default 0 8 XXXX 32 bit CRC Hex 4 H 48 9 CR LF Sentence Terminator ASCII only Refer also to our application note on Vehicle to Body Rotations NovAtel part number APN 037 available on our website at http www novatel com support applicationnotes htm Abbreviated ASCII Example VEHICLEBODYROTATION 0 0 90005 SPAN SE User Manual Rev 1 155 Appendix B Commands B 4 42 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 ASCI
60. USB 10 par err Number of parity errors Ulong H 32 This field does not apply for a USB port and is always set to 0 for USB 11 fram err Number of framing errors Ulong H 36 This field does not apply for a USB port and is always set to 0 for USB 12 overruns Number of hardware overruns Ulong H 40 13 Next port offset H 4 port x 40 14 XXXX 32 bit CRC ASCH and Binary only Hex H 4 port x 40 15 CR LF Sentence terminator ASCII only SPAN SE User Manual Rev 1 239 Appendix C Data Logs C 4 41 RANGE Satellite Range Information 240 RANGE contains the channel measurements for the currently tracked satellites When using this log please keep in mind the constraints noted along with the description It is important to ensure that the receiver clock has been set This can be monitored by the bits in the Receiver Status field of the log header Large jumps in pseudorange as well as accumulated Doppler range ADR occur as the clock is being adjusted If the ADR measurement is being used in precise phase processing it is important not to use the ADR if the parity known flag in the ch tr status field is not set as there may exist a half 1 2 cycle ambiguity on the measurement The tracking error estimate of the pseudorange and carrier phase ADR is the thermal noise of the receiver tracking loops only It does not account for possible multipath errors or atmospheric delays If both the L1 and L2
61. 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 DABO6210087 supports NovAtel SPAN Next gt Cancel 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 SPAN SE User Manual Rev 1 41 Chapter 3 SPAN SE Operation CONFIG SPAN Calibration Wizard Welcome to the NovAtel SPAN wizard K 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 D 3 F Puas e KR da a WALC i Precise thinki ng Your receiver DABO6210087 supports NovAtel SPAN INS SP4N wizard Cancel 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 42 SPAN SE User Manual Rev 1 SPAN SE Operation Chapter 3 3 4 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 r
62. XXXX 32 bit CRC Hex 4 H 52 10 CR LF Sentence Terminator ASCII only Recommended Input log bestleverarma onchanged ASCII Example BESTLEVERARMA COM1 0 83 5 UNKNOWN 0 2 983 00000008 39e4 35484 0 3934000000000000 1 2995000000000001 0 0105500000000000 0 0300000000000000 0 0300000000000000 0 0300000000000000 4 876c47ad SPAN SE User Manual Rev 1 177 Appendix C Data Logs C 4 4 COMCONFIG Current COM Port Configuration 178 This log outputs the current COM port configuration for each port on your receiver Message ID 317 Log Type Polled Recommended Input log comconfiga once ASCII example COMCONFIGA COM1 0 96 5 FINESTEERING 1521 318837 286 00000000 0000 149 thy COM1 9600 N 8 1 N OFF ON NOVATEL NOVAT EL ON COM2 230400 N 8 1 N OFF ON NOVATEL NOVATEL ON COM3 9600 N 8 1 N OFF ON NOVATEL NOVAT CoM4 9600 N 8 1 N OFF ON NOVATEL NOVAT IMU 115200 N 8 1 N OFF OFF IMU IMU OFF USB1 12000000 N 0 0 N OFF OFF NOVATEL ETH1 10000000 N 0 0 N OFF OFF NOVATEL EL ON EL ON 3 OVATEL ON OVATEL ON d32b5437 SPAN SE User Manual Rev 1 Data Logs Appendix C A A a Binary Field Field type Data Description Format Offset 1 COMCOMNFIG Log header 0 header 2 port Number of ports with information to follow Long H 3 port Serial port identifier see Table 18
63. accepted is the return of the COM2 prompt If a command is incorrectly entered the receiver responds with Invalid Command Name or a more detailed error message followed by the port prompt 274 SPAN SE User Manual Rev 1 Command Prompt Interface D 1 DOS Appendix D One way to initiate multiple commands and logging from the receiveris 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 1 psrdopa ontime 15 2 Save this with a convenient file name e g C GPS BOOT1 TXT and exit the text editor 3 Use the DOS copy command to directthe contents ofthe BOOT1 TXT file to the PC s COM1 serial port C GPS gt copy boot1 txt coml1 1 files s copied C GPS gt 4 The SPAN system is now initialized with the contents of the
64. ave ie ieee 74 IMU Interface Cable Pin Out i ccccu ieee ht eet ete ie Ae 78 FSAS SPAN SE Y Adapter Cable Pin Out 79 Cable Modification for Corrsys Datron WT 81 HG1700 IMU Gpechticattons AAA 83 Mass Storage Device EET RE 87 E H EE 92 COM Serial Port deri ES a T e aaa e a E Eara EEA EA AR E E AEE Taas 95 STEE E 95 Handshaking ncn awk Aa cae ee et eee AAE 95 Tx DTR and RTS Availability cccccccccceseeesenececeeeeeseaeeeesaeeesaeeeseeeesseeeseneeesenseeesaes 97 SPAN SE COM Port Value AEN 98 FRESET large EE 104 Serial Port Interface Modes AAA 106 NMEA RE 118 REI GETT 120 Dynamics M Od sie raaraa a a aeaa e paa aaa ahe aE Aaa ap Ea apaa ania aE ERLEEN 124 System RE 129 Full Mapping ee EE 135 ARD 138 SETWHEELPARAMETERS Input 146 kog TYPO Here EE 158 ASCII Message Header Structure cceeccceseeeeeeeneeeeeeeeeeeeneeseeeeeaeesaeeeaeeseeeseeenneenaees 160 Binary Message Header Gpructure 162 GPS Time Statusss nta ha aise aS Re ee eT 164 Short ASCII Message Header Gpructure 167 Short Binary Message Header Structure cecceeeceseseeeseeeeeeeeneeeeesaeseaeeseeeeeaeeeeeeaees 167 Position or Velocity Type c ccecccscsc caseeeisedceseesnsecesceeeusccesndaueaesienarteeceaanuenarenaeatnichenstacceds 171 elle RE 173 Port Proto EE 180 GLONASS Ephemeris Flags Coding ccccccescessseeeeeeeeeeeeneesaeeseeeeeneeseeeeeaeeseaeeeeeeeneeees 185 Bits 0 1 P1 Flag Range Values cc s ccsesteeascencse
65. by an asterisk and followed bya line termination using the carriage return and line feed characters for example 1234ABCD CR LF This value is a 32 bit CRC of a Il bytes in the log excluding the ide ntifier and the asterisk preceding the four checksum digits An ASCII string is one field and is surrounded by double quotation marks for example ASCH string If separators are surrounded by quotation marks then the string is still one field and the separator will be ignored for example xxx xxx is one field Double quotation marks within a string are not allowed If the receiver detects an error parsing an input message it will return an error response message Please see Chapter Responses on page 620 for a list of response messages from the receiver Message Structure header data field data field data field xxxxxxxx CR LF The ASCII message header is formatted as follows SPAN SE User Manual Rev 1 159 Appendix C Data Logs Table 33 ASCII Message Header Structure Ignored on Input Field Name Field Type Description 1 Syne Char Sync character The ASCII message is always preceded N by a single symbol 2 Message Char This is the ASCII name of the log or command N 3 Port Char This is the name of the port from which the log was Y generated The string is made up of the port name followed by an _x where x is a number from 1 to 31
66. com rxstatuseventa onnew 0 0 hold log com3 rxstatuseventa onnew 0 0 hold log com4 rxstatuseventa onnew 0 0 hold 112 SPAN SE User Manual Rev 1 Commandes Appendix B log usb1 rxstatuseventa onnew 0 0 hold Abbreviated ASCII Example 1 LOG COMI PSRPOS ONTIME 1 0 5 HOLD The above example shows BESTPOS logging to COM port 1 at 1 second intervals and offset by 0 5 seconds output at 0 5 1 5 2 5 seconds and so on The hold parameter is set so that logging is not disrupted by the UNLOGALL command To send a log only one time the trigger option can be ignored Abbreviated ASCII Example 2 LOG COM1 PSRPOS ONCE NOHOLD See Section Section B 1 Command Formats on Page 86 for additional examples SPAN SE User Manual Rev 1 113 Appendix B Commands sates Binary Description Offset 1 LOG See Table 34 Binary This field cctains the message 0 binary Message Header Structure on header header Page 162 2 port See Table 18 COM Serial Output port Enum H Port Identifiers on Page 95 3 message Any valid message ID Message ID of log to output UShort H 4 4 message Bits 0 4 Reserved Message type of log Char H 6 type Bits 5 6 Format 00 Binary 01 ASCII 10 Abbreviated ASCII NMEA 11 Reserved Bit 7 Response Bit 0 Original Message 1 Response Message S Reserved Char H 7 6 trigger 0 ONNEW Does not output current Enum H 8 message but outputs when the message is updated not neces
67. command to specify the type of IMU being used see the SETIMU TYPE command on Page 137 setimutype imu_1n200 2 Issue the SETIMUTOANTOFFSET command to enter the distance from the IMU to the GNSS antenna see Page 136 setimutoantoffset 0 1 0 1 0 1 0 01 0 01 0 01 3 4 3 System Start Up and Alignment Techniques 44 WARNING If logging to a PC ensure the Control Panel s Power Settings on your PC are not set to go into Hibernate or Standby modes Data will be lost if one of these modes occurs during a logging session 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 247 and Page 252 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
68. curve C Vibration random IEC 68 2 6 Vibration sinusoidal FCC Part 15 Class B Emissions EN 55022 Class B Emissions EN 55024 Immunity EN 60950 1 Safety 62 SPAN SE User Manual Rev 1 Technical Specifications Appendix A SCALE 1 000 199 138 gt eg 247 259 el a All dimensions are in millimeters please use the Unit Conversion section of GNSS A Reference Guide available from our website at www novatel com for conversion to imperial measurements SPAN SE User Manual Rev 1 63 Appendix A Technical Specifications A 1 1 1 Power Adapter Cable NovAtel part number 01018135 The power adapter cable supplied with the SPAN SE see Figure 13 provides a means for supplying 9 to 28 V DC while operating in the field Input is provided through the bare wire power outlets The exposed wires red and orange for positive brown and black for negative can
69. entire liability and your exclusive remedies for our liability of any kind including lia bility for negligence for the Software covered by this Agreement and all other performance or non performance by NovAtel under or related to this Agreement are to the remedies specified by this Agreement 9 Governing Law This Agreement is governed by the laws of the Province of Alberta Canada Each of the parties hereto irrevocably attorns to the jurisdiction of the courts of the Province of Alberta 10 Customer Support For Software UPDATES and UPGRADES and regular customer support contact the NovAtel GNSS Hotline at 1 800 NOVATEL U S or Canada only or 403 295 4900 Fax 403 295 4901 e mail to support novatel ca website http Awww novatel com or write to NovAtel Inc Customer Service Dept 1120 68 Avenue NE Calgary Alberta Canada T2E 8S5 SPAN SE User Manual Rev 1 Terms and Conditions Standard Terms and Conditions of Sales 1 PRICES All prices are Firm Fixed Price FCA 1120 68th Avenue N E Calgary Alberta All prices include standard commercial packing for domestic shipment All transportation insurance special packing costs and expenses and all Federal provincial and local excise duties sales and other similar taxes are the responsibility of the Purchaser 2 PAYMENT Terms are prepayment unless otherwise agreed in writing Interest shall be charged on overdue accounts at the rate of 18 per annum 1 5 p
70. 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 2 2 3 Connect Interface Cables 30 The SPAN SE has two circular connectors on the back panel Each connector has a cable that breaks out the serial ports into DB9 connectors and the input and output event signals to bare wires Each peripheral signal is identified on the cable with a label See Section A 2 3 3 Electrical and Environmental on Page 85 for more information on signals wiring and pin out information of the SPAN SE port and its cables 1 Connect the I O 1 green cable s 30 pin connector to the I O 1 green port on the SPAN SE 2 Connect the I O 2 yellow cable s 30 pin connector to the I O 2 yellow port on the SPAN SE 3 Connect a communications cable If you want to connect via a serial connection the I O 1 green cable has a DB9 connectors for COM3 and COM4 and the I O 2 yellow cable has DB9 connections for COM1 and COM2 If a USB connection is required connect a USB cable to the USB Device port USB Host support is not available at this time If an Ethernet connection is required connect a network cable to the Ethernet port SPAN SE User Manual
71. hardware and software components of the receiver between successive logs withthe same Message ID 15 Reserved Ushort Reserved for internal use 2 24 Y 16 Receiver Ushort This is a value 0 65535 that 2 26 Y S W Version represents the receiver software build number 1 Recommended value is THISPORT binary 192 2 This ENUM is not 4 bytes long but as indicated in the table is only 1 byte 3 These time fields are ignored if Field 11 Time Status is invalid In this case the current receiver time is used The recommended values for the three time fields are 0 0 0 SPAN SE User Manual Rev 1 163 Appendix C Data Logs C 1 3 GPS Time Status All reported receiver times are subject to a qualifying time status This status gives you an indication of how well a time is known see Table 35 Table 35 GPS Time Status 1 St ature De acini al GPS sea Description 20 UNKNOWN Time validity is unknown 60 APPROXIMATE Time is set approximately 80 COARSEADJUSTING Time is approaching coarse precision 100 COARSE This time is valid to coarse precision 120 COARSESTEERING Time is coarse set and is being steered 130 FREEWHEELING Position is lost and the range bias cannot be calculated 140 FINEADJUSTING Time is adjusting to fine precision 160 FINE Time has fine precision 180 FINESTEERING Time is fine set and is being steered 200 SATTIME Time from satellite T
72. 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 247 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 268 for details on this log gt 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 SE User Manual Rev 1 Data Logs Appendix C CAT BESTPOS Best Position and BESTGPSPOS Best GPS Position The BESTPOS log contains the best available position from either GNSS only or GNSS INS BESTGPSPOS contains the best available GNSS position without INS Both logs have an identical format In addition it reports several status indicators including differential age which is useful in predicting anomalous behavior brought about by outages in differential corrections A differential age of 0 indicates that no differential correction was used On SPAN SE the BESTPOS and BESTGPSPOS logs are available at lt 1 Hz 1 Hz and 5 Hz only It is a SPAN only log and is not available directly from the OEMV 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
73. on Page 95 Enum H 4 4 baud Communication baud rate Ulong H 8 5 parity See Table 19 on Page 95 Enum H 12 6 databits Number of data bits Ulong H 16 7 stopbits Number of stop bits Ulong H 20 8 handshake See Table 20 on Page 95 Enum H 24 9 echo When echo is on the portis transmitting any input Enum H 28 characters as they are received 0 OFF 1 ON 10 breaks Breaks are turned on or off Enum H 32 0 OFF 1 ON 11 rx type The status of the receive interface mode see Table Enum H 36 24 Serial Port Interface Modes on Page 106 12 tx type The status of the transmit interface mode see Enum H 40 Table 24 on Page 106 13 response Responses are tured on or off Enum H 44 0 OFF 1 ON 14 next port offset H 4 port x 44 15 XXXX 32 bit CRC ASCII and Binary only Hex H 4 port x44 16 CR LF Sentence terminator ASCII only SPAN SE User Manual Rev 1 179 Appendix C CAS COMPROTOCOL COM Port Protocol This log reports what the current protocol settings are on each SPAN SE COM port The protocol can be set with the COMCONTROL command described on Page 97 of this manual Message ID Log Type Recommended Input 1145 Polled log comprotocola once ASCII Example Data Logs COMPROTOCOLA COM1 0 95 0 F INESTEERING 1521 319232 645 00000000 0000 149 5 COM1 RS232 COM2 RS232 COM3 RS232 COM4 RS232 IMU RS232 de92c2f
74. part2 4 digit hexadecimal Authorization code section 2 ULong 4 H 8 0 FFFF 5 part3 4 digit hexadecimal Authorization code section 3 1 ULong 4 H 12 0 FFFF 6 part4 4 digit hexadecimal Authorization code section 4 ULong 4 H 16 0 FFFF 7 part5 4 digit hexadecimal Authorization code section 5 ULong 4 H 20 0 FFFF 8 model Alpha Null Model name of the receiver String Vari Vari able numeric terminated max 16 able 9 date Numeric Null Expiry date entered as String Vari Vari able terminated yymmdd in decimal max 7 able 2 1 Inthe binary log case additional bytes of padding are added to maintain 4 byte alignment SPAN SE User Manual Rev 1 149 Appendix B B 4 38 SPANMODEL Switch to a previously authorized model Commands This command is used to switch the receiver between models previously added with the SPANAUTH command see Page 148 When this command is issued the receiver saves this model as the active model The active model is now used on every subsequent start up The SPANMODEL command causes an automatic reset Use the SPANVALIDMODELS log to output a list of available models for your receiver The SPANVALIDMODELS log is described on Page 265 Use the VERSION log to output the active model see Page 270 lt If you switch to an expired model the receiver will reset and enter into an error state You will need to switch to a valid model to continue Abbreviated ASCII Syntax SPANMODEL m
75. present 8 xx Checksum hh 6F 9 CR LF Sentence terminator CR LF 1 Local time zones are not supported by OEMV family receivers Fields 6 and 7 are always null SPAN SE User Manual Rev 1 205 Appendix C Data Logs C 4 19 INSATT INS Attitude This log and the INSATTS log contains the attitude measurements corresponding to the SPAN computation frame axis See Section 3 1 Definition of Reference Frames Within SPAN on Page 34 for definitions of the frames used in SPAN The attitude measurements provided by SPAN may not correspond to other definitions of the terms pitch roll and azimuth If your IMU s z axis as marked on the enclosure is not pointing up the output attitude will be with respect to the SPAN computational frame and not the frame marked on the enclosure See the SETIMUORIENTATION command on Page 133 to determine what the SPAN computation frame will be given how your IMU is mounted To output the attitude in the vehicle frame see Page 90 for information on the APPLY VEHICLEBODYROTATION command Structure Message ID 263 Log Type Synch Binary Binary Field Field Type Data Description Format Bytes Offset 1 Log Header Log header H 0 2 Week GPS Week Ulong 4 H 3 Seconds into Week Seconds from week start Double 8 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 loca
76. referenced to UTC with zero point defined as midnight on the night of January 5 1980 The time stamp consists of the number of weeks since that zero point and the number of seconds since the last week number change 0 to 604 799 GPS time differs from UTC time since leap seconds are occasionally inserted into UTC but GPS time is continuous In addition a small error less than 1 microsecond can exist in synchronization between UTC and GPS time The TIME log reports both GPS and UTC time and the offset between the two The data in synchronous logs for example RANGE BESTPOS TIME are based on a periodic measurement of satellite pseudoranges The time stamp on these logs is the receiver estimate of GPS time at the time of the measurement When setting time in external equipment a small synchronous log with a high baud rate will be accurate to a fraction of a second A synchronous log with trigger ONTIME 1 can be used in conjunction with the 1PPS signal to provide relative accuracy better than 250 ns Other log types asynchronous and polled are triggered by an external event and the time in the header may not be synchronized to the current GPS time Logs that contain satellite broadcast data for example ALMANAC GPSEPHEM have the transmit time of their last subframe in the header In the header of differential time matched logs for example MATCHEDPOS is the time of the matched reference and local observation that they are based on Logs trigger
77. setting 94 fast alignment 48 features 24 filter RTK 123 fine time 165 firmware updates or upgrades 25 fix data 191 position 194 save setting 128 solution 123 flag error 256 parity 240 status 256 float solution 123 format 159 168 FORMAT command 88 103 formats command 86 frame see axes vehicle 45 127 155 frequently asked questions 287 FRESET command 104 G G model 271 GLOCLOCK log 182 GLOEPHEMERIS log 184 GLORAWEPHEM log 188 GNSSCARDCOMNFIG command 105 GPALM log 189 GPGGA log 191 GPGLL log 194 GPGRS log 196 GPGSA log 198 GPGST log 200 GPGSV log 202 GPS overview 164 GPVTG log 204 GPZDA log 205 graphical user interface 38 H handshaking 95 97 hardware SPAN SE User Manual Rev 1 Index reset 122 setup 26 version 272 HDOP see dilution of precision header 157 167 ascii 159 160 log 240 health almanac 190 height 173 174 help 36 hexadecimal 159 162 hold 112 115 116 231 232 HP XP OmniSTAR expiration date 223 status 227 229 tracking state 225 I I model 271 identifier ascii message 159 serial port 179 239 IFCONFIG command 107 iIMU FSAS cables 77 commands 138 dimensions 74 FAQ 287 models 24 performance 82 replacement parts 290 scale factor 253 specifications 74 impedance 61 inertial measurement unit IMU connection 71 77 85 status 248 251 type 137 inertial navigation system INS 108 information most recent 218 NPOSSYNC log 213 put strobe 58 nput out
78. signals are being tracked for a given PRN two entries with the same PRN appear in the range logs As shown in Table 58 Channel Tracking Status on Page 242 these entries can be differentiated by bit 20 which is set if there are multiple observables for a given PRN and bits 21 22 which denotes whether the observation is for L1 or L2 This is to aid in parsing the data Message ID 43 Log Type Synch Recommended Input log rangea ontime 30 ASCII Example RANGEA COM1 0 63 5 FINESTEERING 1429 226979 000 00000000 5103 2748 26 6 0 23359924 081 0 078 122757217 106875 0 015 3538 602 43 3 19967 080 08109c04 6 0 23359926 375 0 167 95654966 812027 0 019 2757 355 36 7 19960 461 01309c0b 21 0 20200269 147 0 038 106153137 954409 0 008 86 289 49 5 13397 470 08109c44 21 0 20200268 815 0 056 82716721 366921 0 008 67 242 46 1 13391 980 01309c4b 16 0 23945650 428 0 091 125835245 287192 0 024 2385 422 41 9 10864 640 08109c64 16 0 23945651 399 0 148 98053428 283142 0 028 1858 773 37 7 10859 980 01309c6b 44 12 19388129 378 0 335 103786179 553598 0 012 975 676 36 6 3726 656 8119e24 44 12 19388136 659 0 167 80722615 862096 0 000 758 859 42 7 3714 860 Ob19e2b 43 8 20375687 399 0 253 108919708 904476 0 012 2781 090 39 1 10629 934 8119e84 43 8 20375689 555 0 177 84715349 232514 0 000 2163 074 42 2 10619 916 0b19e8b d2d3125 SPAN SE User Manual Rev 1 Data Logs App
79. than 115 200 are not standard on most PCs and may require extra PC hardware 2 You must have a valid Post Contractual Support PCS subscription refer to our website at www novatel com SPAN SE User Manual Rev 1 25 Chapter 2 SPAN SE Installation 2 1 26 This chapter contains instructions to set up your SPAN SE system SPAN SE uses NovAtel s powerful OEMV receiver technology as its GNSS engine The O0EMV delivers many enabling features like GNSS GLONASS capability and AdVance RTK which are both supported in SPAN SE A dedicated CPU for real time GNSS INS processing on these cards results in fast data rates and low raw data and solution latency for highly dynamic or time critical applications SPAN SE Hardware Description The basic hardware setup consists of a SPAN SE receiver see Figure 1 on Page 22 connected to an IMU see Figure 2 on Page 22 a GNSS antenna and a power supply For real time differential operation a communication link between the base and rover s is necessary This can be a null modem cable or a radio link Figure 3 on Page 27 shows a basic setup plus a radio link on the base and the rover Remove the complete base side of the figure and the radio links from Figure 3 for a basic setup see also Step 6 s figure on Page 31 Also Figure 3 on Page 27 shows a setup with the LN 200 IMU and the iIMU as an option For more details on the connections between the SPAN SE receiver and the ML see Figure
80. the positive Y axis marked on the IMU A positive value implies that the change is in the direction opposite to that of the Y axis marked on the IMU 3 The change in angle gyro scale factor can be found in Table 64 on Page 253 Multiply the SPAN SE User Manual Rev 1 appropriate scale factor in Table 64 by the count in this field for the angle increments in radians 247 Appendix C Data Logs Table 60 HG1700 IMU Status Nibble Bit UERS Description REUC CAELI 0 0x00000001 4 bit counter Read binary and convert to decimal to eg l 0x00000002 give a simple counter incremented by 6 2 0x00000004 3 0x00000008 lt msb 4 0x00000010 IMU test Passed 0 Failed 1 NI 5 0x00000020 Z axis gyro path length control Good 0 Reset 1 6 0x00000040 Y axis gyro path length control Good 0 Reset 1 7 0x00000080 X axis gyro path length control Good 0 Reset 1 8 0x00000100 Accelerometer temperature Read binary and convert to decimal to x2 o 1 remm aes 10 0x00000400 11 0x00000800 12 0x00001000 N3 13 0x00002000 14 0x00004000 15 0x00008000 lt msb 16 0x00010000 Software version number Read binary and convert to decimal to we 17 0x00020000 Kee CC s software 18 0x00040000 19 0x00080000 20 0x00100000 N5 21 0x00200000 22 0x00400000 23 0x00800000 lt msb 24 0x01000000 N 25 0x02000000 Reserved 26 0x04000000 27 0x08000000 Gyro tests Passed 0 Failed
81. to navigation mode 7 The solution is refined using updates from GNSS Once the system is operating within specifica SPAN SE User Manual Rev 1 SPAN SE Operation Chapter 3 tions and after some vehicle movement the INS Status field changes to INS_SOLUTION_GOOD This indicates that the estimated azimuth standard deviation is below 2 If it increases above 2 the status changes to INS SOLUTION NOTGOOD 3 4 3 1 Coarse Alignment The coarse alignment is the default alignment routine for SPAN The alignment starts as soon as a GNSS solution is available the receiver has computed fine time and the IMU is connected and configured The vehicle must remain stationary for the alignment to happen During the coarse alignment accelerometer and gyro measurements are averaged over a period of time to measure Earth rotation and gravity From these averaged measurements initial estimates of roll pitch and heading are computed Because the coarse alignment uses averaged sensor output the vehicle must remain stationary for the duration of the alignment which is approximately 1 minute The attitude estimates solved by the alignment are larger than the system specified attitude accuracy and vary upon the characteristics of the sensor and the geographic latitude of the system Attitude accuracy converges with motion after the coarse alignment is complete see Section 3 4 4 Navigation Mode on Page 46 If the system is stationary for less than 1 minute
82. ue denidiatie indi dE Ze ee eel 280 38 Incorrect Bowed Flex Cable Installation ecceececeeeeeeeeeeeeeeeeeeeeeeeeeeeeneeeeeeseeeeeaees 280 39 Correct Flat Flex Cable Installation cccceeceeeseeeeeeseeeeeeeeeneeeeeeeeeeseeeenaeeseeeeeeeeneeee 280 40 HG1700 SPAN IMU iiien diogenia ate dereen uereg ed cake 281 41 Required Parts sisisi iea Ani eerie Gabe niin aia aa 282 42 Selen NEE 283 43 Lift Top Cover and Tube Body cceeceeeceeeeeeeeeeeneeeeeeseeeeeneeseeeseaeeseeseeeeeeesnaeeeaeeeeetes 284 44 SPAN IMU Re ASSEIMDIY iss ctsecscncsjecsseccadszsascesicpagdesnsdesadcevucestajanseendagnantasnanstacceacehascane 284 45 Attach Wiring fe Ei 285 46 Ee une 285 47 LN 200 SPAN IMU eerst E Ee dee dE Ree erte ded deta 286 8 SPAN SE User Manual Rev 1 Tables GO OO Joo P Ob SPAN SE Compatible Receiver and IMU Models AA 24 Receiver Enclosure Back Panel Labele AAA 29 MU Power SUPA Ee e Qt siecacatial aa a a aes a Eaa aae aaa Aar a oa Ad Eain 32 Power Button StateSh issia Afs ls IS a r aaa a Ao at dete 32 EI ee 43 Solution Hatratetgtg egenen e enee dadd ENEE CAE deele 46 Positioning Mode LEDS ici cee Edge SERA indie es 52 VO 1 Green Cable Connector Pin Outs cecceeeceseeeeeneeeeeeeeneeseeseaeeeeeeeeeeeaeeseaeeeaeeeaes 66 UO 2 Yellow Cable Connector Pin OUuts cccceeceseceeseeeeeeeeneeseeeeeeeesaeeseeeeeaeeseeeeeaeeeaes 68 LN 200 IMU Specifications AAA 69 iIMU FSAS Specifications crecen avin NEEN
83. warranty shall be returned to NovAtel prepaid by the Buyer and returned to the Buyer prepaid by NovAtel THE FOREGOING WARRANTIES DO NOT EXTEND TO I NONCONFORMITIES DEFECTS OR ERRORS IN THE PRODUCTS DUE TO ACCIDENT ABUSE MISUSE OR NEGLIGENT USE OF THE PRODUCTS OR USE IN OTHER THAN A NORMAL AND CUSTOMARY MANNER ENVIRONMENTAL CONDITIONS NOT CONFORMING TO NOVATEL S SPECIFICATIONS OR FAILURE TO FOLLOW PRESCRIBED INSTALLATION OPERATING AND MAINTENANCE PROCEDURES II DEFECTS ERRORS OR NONCONFORMITIES IN THE PRODUCTS DUE TO MODIFICATIONS ALTERATIONS ADDITIONS OR CHANGES NOT MADE IN ACCORDANCE WITH NOVATEL S SPECIFICATIONS OR AUTHORIZED BY NOVATEL OU NORMAL WEAR AND TEAR IV DAMAGE CAUSED BY FORCE OF NATURE OR ACT OF ANY THIRD PERSON V SHIPPING DAMAGE OR VI SERVICE OR REPAIR OF PRODUCT BY THE DEALER WITHOUT PRIOR WRITTEN CONSENT FROM NOVATEL IN ADDITION THE FOREGOING WARRANTIES SHALL NOT APPLY TO PRODUCTS DESIGNATED BY NOVATEL AS BETA SITE TEST SAMPLES EXPERIMENTAL DEVELOPMENTAL PREPRODUCTION SAMPLE INCOMPLETE OR OUT OF SPECIFICATION PRODUCTS OR TO RETURNED PRODUCTS IF THE ORIGINAL IDENTIFICATION MARKS HAVE BEEN REMOVED OR ALTERED THE WARRANTIES AND REMEDIES ARE EXCLUSIVE AND ALL OTHER WARRANTIES EXPRESS OR IMPLIED WRITTEN OR ORAL INCLUDING THE IMPLIED WARRANTIES OF MERCHANTABILITY OR FITNESS FOR ANY PARTICULAR PURPOSE ARE EXCLUDED NOVATEL SHALL NOT BE LIABLE FOR ANY LOSS DAMAGE EXPENSE OR INJURY ARISING DIRECTLY
84. 0 Note The Center of Navigation offsets shown on the LN 200 label are for the 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 12 SPAN SE User Manual Rev 1 70 Technical Specifications Appendix A A 2 1 1 LN 200 IMU Interface Cable NovAtel s part number for the LN 200 IMU interface cable is 01017375 Figures 18 and 19 below The IMU interface cable supplied enables input and output between the IMU and the receiver Figure 18 LN 200 Interface Cable Sg o gt 7 ap UL HAN Deutsch 13 Pin to IMU DB 9 Female to Receiver S1 N C Se PAIRED Sa S3 S7 S4 N C S5 S5 S6 N C Sr PAIRED Ss S8 S2 oe 2 WIRES al GO S6 S10 N C S11 PAIRED N C S12 N C S13 N C Figure 19 IMU Interface Cable Pin Out ProPak V3 SPAN SE User Manual Rev 1 71 Appendix A Technical Specifications A 2 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 20 shows the cable and Figure 2 the wiring diagram of the 12V adapter The output of the power adap
85. 0 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 SPAN SE see Section A 2 3 3 Electrical and Environmental on Page 85 Details on each IMU s power ports and cables are in the IMU appendices starting on Page 6 2 2 5 Power Button The power button on the front of the SPAN SE see Figure 6 is managed by software When the system receives sufficient power it powers itself on without the need to press the power button However the power button is connected directly to the onboard power supply to re enable the system when it has been automatically shut down and to manually power down the system The state of the button depends on the amount of time the power button is depressed Table 4 Power Button States Seconds Button is Held Button Action 3 10 seconds SPAN SE is powered off gt 10 seconds Factory reset see the FRESET command on Page 104 a Figure 6 SPAN SW Power Button 6 Apply power to the IMU and to the receiver Itis recommended that a back up battery is placed between the receiver and its voltage supply to act as a power buffer if installed in a vehi cle When a vehicle engine is started power can dip to 9 6 VDC or cut out to ancillary equipment causing the receiver and IMU to lose lock and calibration settings 32 SPAN SE User Manual Rev 1 SPAN SE Installation Chapter 2 Voltage Su
86. 00 Gyro accuracy Passed 0 Failed 1 N6 25 0x02000000 Gyro Passed 0 Failed 1 26 0x04000000 Shut down on failure Passed 0 Failed 1 27 0x08000000 Fast start Passed 0 Failed 1 28 0x 10000000 Commanded bit in progress Passed 0 Failed 1 N7 29 0x20000000 Reserved 30 0x40000000 Accelerometer data Passed 0 Failed 1 31 0x80000000 Reserved SPAN SE User Manual Rev 1 249 Appendix C Data Logs Table 62 iIMU FSAS Status Nibble Bit Mask Description Range Value 0 0x00000001 NO 1 0x00000002 Res rved 2 0x00000004 3 0x00000008 4 0x00000010 Gyro warm up Passed 0 Failed 1 Nl 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 BIT Passed 0 Failed 1 22 0x00400000 Gyro self tes
87. 000 40000020 0000 143 COM4 RTS DEFAULT RS232 e3032ae2 1945e7 7 RXCONFIGA COM1 13 96 5 U OWN 0 0 000 40000020 0000 143 INTERFACEMODEA COM1 13 96 5 UNKNOWN 0 0 000 40000020 0000 143 COM1 NOVATE RXCONFIGA COM1 12 96 5 U 96 5 UNKNOWN 0 0 000 40000 RXCONFIGA COM1 11 96 5 U 96 5 UNKNOWN 0 0 000 40000020 0000 143 COM3 NOVAT RXCONFIGA COM1 10 96 5 UNKNOWN 0 0 000 40000020 0000 143 INTERFACEMODEA COM1 10 96 5 UNKNOWN 0 0 000 40000020 0000 143 COM4 NOVATEL NOVATEL ON ddeb5f 5 3b85fbde RXCONFIGA COM1 9 96 5 UNKNOWN 0 0 000 40000020 0000 143 INTERFACEMODEA COM1 9 96 5 UNKNOWN 0 0 000 40000020 0000 143 USB1 NOVATEL NOVATEL ON 68b6a123 db99b6e7 RXCONFIGA COM1 8 96 5 UNKNOWN 0 0 000 40000020 0000 143 INTERFACEMODEA COM1 8 96 5 UNKNOWN 0 0 000 40000020 0000 143 ETH1 NOVATEL NOVATEL ON 421le3cb1 e457 77e L NOVATEL ON bc4fff 14 e7d5cb24 000 143 INTERFACEMODEA COM1 12 L NOVATEL ON 9cd39f4b 12706c90 000 143 INTERFACEMODEA COM1 11 L NOVATEL ON b39ad4f3 e875ddd9 OWN 0 0 000 40000020 20 0000 143 COM2 NOVAT OWN 0 0 000 40000020 PI E D I 3 i ZE 1 The embedded CRCs are flipped to make the embedded messages recognizable to the receiver For example consider the first embedded message above 91 89b07 10010001111110001001101100000111 11100
88. 000110110010001111110001001 e0d91f89 Its CRC is really e0d91f89 254 SPAN SE User Manual Rev 1 WARNING Data Logs RXCONFIGA CO UNKNOWN 0 0 0 RXCONFIGA CO UNKNOWN 0 0 0 de7alf 83 b83 RXCONFIGA CO 0 0 000 4000 4ae673c3 292 RXCONFIGA CO 0 0 000 4000 111160de b9c RXCONFIGA CO 0 0 000 4000 55434e6b d01 RXCONFIGA CO 0 0 000 4000 ed7f 685 bd4 RXCONFIGA CO SETIMUTYPEA 58dfc9b8 80e RXCONFIGA CO Appendix C 43 NMEATALKERA COM1 7 96 5 1 5 96 5 UNKNOWN HO Li KNOWN KNOWN NOWN EEN OWN 0 0 000 40000020 0000 1 00 40000020 0000 143 GP 1283d3e3 14a45bcc af BE Er OWN 0 0 000 40000020 0000 143 MAGVARA COM1 6 96 5 00 40000020 0000 143 CORRECTION 0 000000000 0 000000000 15d9 1 5 96 5 UNKNOWN 0 0 000 40000020 0000 143 LOGA COM 0020 0000 143 COM1 RXSTATUSEVENTA ONNEW 0 000000 0 000000 b473e 1 4 96 5 U OWN 0 0 000 40000020 0000 143 LOGA COM1 4 9 0020 0000 143 COM2 RXSTATUSEVENTA ONNEW 0 000000 0 000000 857a8 1 3 96 5 UNKNOWN 0 0 000 40000020 0000 143 LOGA COM1 3 9 0020 0000 143 COM3 RXSTATUSEVENTA ONNEW 0 000000 0 000000 c75af Ne gr OWN 0 0 000 40000020 0000 143 LOGA COM1 2 9 0020 0000 143 COM4 RXSTATUSEVENTA ONNEW 0 000000 0 000000 19430 1 1 96 5 FINESTEERING 1521 320402 983 40000020 0000 143 C
89. 00800 Reserved Table 68 OEMV 3 Status Nibble Bit Description NO 0 0x0000001 Reserved Table 69 OEMV 2 Status Nibble Bit Description NO 0 0x0000001 Reserved SPAN SE User Manual Rev 1 261 Appendix C Data Logs 3 dee Binary Binary Field Field type Data Description Bytes Offset 1 RXSTATUS Log header H 0 header 2 error Receiver error seeTable 65 on Page 257 A ULong 4 H value of zero indicates no errors 3 stats Number of status codes including Receiver ULong 4 H 4 Status 4 rxstat Receiver status word see Table 66 on ULong 4 H 8 Page 259 5 rxstat pri Receiver status priority mask ULong 4 H 12 6 rxstat set Receiver status event set mask ULong 4 H 16 7 rxstat clear Receiver status event clear mask ULong 4 H 20 8 auxlstat Auxiliary 1 status word see Table 67 on ULong 4 H 24 Page 261 9 auxlstat pri Auxiliary 1 status priority mask ULong 4 H 28 10 auxlstat set Auxiliary 1 status event set mask ULong 4 H 32 11 auxlstat clear Auxiliary 1 status event clear mask ULong 4 H 36 12 V3stat OEMV 3 status word see Table 68 on ULong 4 H 40 Page 261 13 V3stat pri OEMV 3 status priority mask ULong 4 H 44 14 V3stat set OEMV 3 status event set mask ULong 4 H 48 15 V3stat clear OEMV 3 status event clear mask ULong 4 H 52 16 V2stat OEMV 2 status word see Tab
90. 04518869575566 0 0000204616202028 0 0000036582459112 0 0000204616202028 0 0005095575483948 1f c92787 SPAN SE User Manual Rev 1 209 Appendix C Data Logs C 4 22 INSCOVS Short INS Covariance Log This is a short header version of the IVCOV log on Page 208 These values are also computed once per second Structure Message ID 320 Log Type Asynch e dE Binary Binary Field Field Type Data Description Format Bytes Offset 1 Log Header Log header H 0 2 Week GPS Week Ulong 4 H 3 Seconds into Week Seconds from week start Double 8 H 4 4 Position Covariance Position covariance matrix in local List of 9 72 H 12 level frame Meters squared Doubles XX XY XZ YX VY YZ 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 Metets second squared Doubles XX XY XZ YX VY YZ ZX ZY ZZ pi XXXX 32 bit CRC ASCII Binary and Short Hex 4 H 228 Binary only 8 CR LF Sentence terminator ASCI 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 04400
91. 11 12 Software License 5 Term and Termination This Agreement and the rights and licences hereby granted shall continue in force in perpetuity unless terminated by NovAtel or Licensee in accordance herewith In the event that the Licensee shall at any time during the term of this Agreement i be in breach of its obligations hereunder where such breach is irremediable or if capable of remedy is not remedied within 30 days of notice from NovAtel requiring its remedy then and in any event NovAtel may forthwith by notice in writ ing terminate this Agreement together with the rights and licences hereby granted by NovAtel Licensee may terminate this Agreement by providing written notice to NovAtel Upon termination for any reasons the Licensee shall promptly on NovAtel s request return to NovAtel or at the election of NovAtel destroy all copies of any documents and extracts comprising or containing the Software The Licensee shall also erase any copies of the Software residing on Licensee s computer equipment Ter 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 t
92. 167250 223 766800423 0 019769837 0 024795257 INSSolutionGood 15b864f4 216 SPAN SE User Manual Rev 1 Data Logs C 4 29 INSSPDS Short INS Speed This is a short header version of the IVSSPD log on Page 216 Appendix C Structure Message ID 323 Log Type Synch i EL 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 43 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 SPAN SE User Manual Rev 1 217 Appendix C Data Logs C 4 30 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 previous update epoch and a wheel sensor status indicator Structure Message ID 757 Log Type Asynch Binary Binary Field Field Type Data Description Format Bytes Offset 1 Log Header Log header H
93. 193052 00 A A 6D Table 45 NMEA Positioning System Mode Indicator Mode Indicator A Autonomous D Differential E Estimated dead reckoning mode M Manual input N Data not valid SPAN SE User Manual Rev 1 Data Logs Appendix C Table 46 Position Precision of NMEA Logs NMEA Latitude of Longitude of Altitude of Log decimal places decimal places decimal places GPGGA 4 4 2 GPGLL 7 7 N A GPRMC 7 7 N A Field Structure Field Description Symbol Example 1 GPGLL Log header GPGLL 2 lat Latitude DDmm mm 111 11 5106 7198674 3 lat dir Latitude direction a N N North S South 4 lon Longitude DDDmm mm yyyyy yy 11402 3587526 5 lon dir Longitude direction a W E East W West 6 utc UTC time of position hours minutes hhmmss ss 220152 50 seconds decimal seconds 7 data status Data status A A A Data valid V Data invalid 8 mode ind Positioning system mode indicator see a A Table 45 on Page 194 9 Tax Checksum hh 1B 10 CR LF Sentence terminator CR LF SPAN SE User Manual Rev 1 195 Appendix C Data Logs C 4 13 GPGRS GPS Range Residuals for Each Satellite Range residuals can be computed in two ways and this NMEA log reports those residuals See also Section C 3 NMEA Standard Logs on Page 168 Under mode 0 residuals output in this log are used to update the position solution output in the GPGGA message Under mod
94. 2 DX The UNLOGALL command allows you to remove all log requests currently in use Field ASCII Binary so Binary Binary Binary Field Type Value Value Description Format Bytes Offset 1 UNLOGALL This field contains the command H 0 header name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 port See Table 18 COM Port to clear Enum 4 H Serial Port default ALL_PORTS Identifiers on Page 95 3 held FALSE 0 Does not remove logs with the Enum 4 H 4 HOLD parameter default TRUE 1 Removes previously held logs even those with the HOLD parameter SPAN SE User Manual Rev 1 153 Appendix B Commands B 4 41 VEHICLEBODYROTATION Vehicle to SPAN frame rotation Use the VEHICLEBODYROTATION command to set angular offsets between the vehicle frame direction of travel and the SPAN computation frame If you estimate the angular offsets using the RVBCALIBRATE command the VEHICLEBODY ROTATION command values are used as the initial values The uncertainty values are optional defaults 0 0 Please see Section 3 4 7 Vehicle to SPAN frame Angular Offsets Calibration Routine starting on Page 48 for more details For more information on reference frames see Section 3 1 Definition of Reference Frames Within SPAN starting on Page 34 RVBCALIBRATE command information is on Page 127 The VEHICLEBODYROTATION message can be requested as a log and wi
95. 2 Table 64 on Page 253 Multiply the scale factor in Table 64 by the count in this field for the velocity increments in m s See also Table I on Page 24 for a list of IMU enclosures A negative value implies that the output is along the positive Y axis marked on the IMU A positive value implies that the change is in the direction opposite to that of the Y axis marked on the IMU The change in angle gyro scale factor can be found in Table 64 on Page 253 Multiply the appropriate scale factor in Table 64 by the count in this field for the angle increments in radians SPAN SE User Manual Rev 1 Data Logs Recommended Input log rawimusa onnew ASCII Example SRAWIMUSA 1105 425384 180 1105 425384 156166800 111607 43088060 430312 3033352 132863 186983 823 5aa97065 Table 64 Raw IMU Scale Factors IMU HG1700 AG11 Scale HG1700 AG58 HG1700 AG17 HG1700 AG62 Appendix C iIMU FSAS Gyroscope 2 033 rad LSB Scale Factor 2 07 rad LSB 2719 rad LSB 0 1x 2 8 arcsec LSB Acceleration 2 027 ft s LSB Scale Factor 2 0 ft s LSB 2714 m s LSB 0 05 x 2 m s LSB SPAN SE User Manual Rev 1 253 Appendix C Data Logs C 4 46 RXCONFIG Receiver Configuration This log is used to output a list of all current command settings When requested an RXCONFIG log is output for each setting See also the LOGLIST log on Page 230 for a list of currently active logs Mess
96. 3 0 03 0 05 SPAN SE User Manual Rev 1 Commande B 4 30 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 Appendix B WARNING Ensure that all windows other than the Console are closed in CDU and then use the logging occurs and may overload your system Abbreviated ASCII Syntax SETIMUTYPE switch SAVECONFIG command to save settings in NVM Otherwise unnecessary data Message ID 569 Field ASCII Binar Bett Binar Binar Binar SEI 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 30 IMU IMU Type ENUM 4 H Type on Page 138 SPAN SE User Manual Rev 1 137 Appendix B 138 Commands Table 30 IMU Type Binary ASCII Description 0 IMU_UNKNOWN Unknown IMU type default 1 IMU_HG1700_AG11 Honeywell HG1700 AG11 AG58 2 3 Reserved 4 IMU_HG1700_AG17 Honeywell HG1700 AG17 AG62 5 7 Reserved 8 IMU_LN200 Litton LN 200 200 Hz model 9 IMU_LN200_400HZ Litton LN 200 400 Hz model 10 IMU_IMAR FSAS iMAR iIMU FSAS 11 IMU_HG1700_AG58 Honeywell HG1700 AG58 12 IMU_HG1700_AG62 Honeywell HG1700 AG62 Abbreviated ASCII Example SETIMUTYPE IMU_IMAR F
97. 34 16 271287293 61 19 6934 13 1515 23 8561 0 0 60 000 10 10 0 0 0 0 0 0 105lada9 SPAN SE User Manual Rev 1 Data Logs Appendix C C 4 2 BESTVEL Best Available Velocity Data and BESTGPSVEL Best Available GPS Velocity Data The BESTVEL log contains the best available velocity from either GNSS only or GNSS INS BESTGPSVEL contains the best available GNSS velocity without INS Both logs have an identical format In addition it reports a velocity status indicator which is useful in indicating whether or not the corresponding data is valid The velocity measurements sometimes have a latency associated with them The time of validity is the time tag in the log minus the latency value A valid solution with a latency of 0 0 indicates that the instantaneous Doppler measurement was used to calculate velocity The velocity is typically computed from the average change in pseudorange over the time interval or the RTK Low Latency filter As such it is an average velocity based on the time difference between successive position computations and not an instantaneous velocity at the BESTGPSVEL time tag The velocity latency to be subtracted from the time tag is normally 1 2 the time between filter updates Under default operation the positioning filters are updated at a rate of 2 Hz This translates into a velocity latency of 0 25 second The latency can be reduced by increasing the update rate of the positioning filter being used by requesting the B
98. 360 Offset along the IMU enclosure Double 8 H 16 frame Z axis m for Mark1 2 3 or 4 5 aoffset 360 Roll offset for Mark degrees Double 8 H 24 6 Boffset 360 Pitch offset for Mark degrees Double 8 H 32 7 yoffset 360 Azimuth offset for Mark degrees Double 8 H 40 Abbreviated ASCII Example SETMARK10FFSET 0 324 0 106 1 325 000 144 SPAN SE User Manual Rev 1 Commandes Appendix B B 4 35 SETWHEELPARAMETERS Set wheel parameters The SETWHEELPARAMETERS command can be used when wheel sensor data is available It allows you to give the filter a good starting point for the wheel size scale factor It also gives the SPAN SE filter an indication of the expected accuracy of the wheel data Usage of the SETWHEELPARAMETERS command depends on which method is used to communicate to the wheel sensor see section 3 3 8 1 Ifyou have integrated an external wheel sensor the SETWHEELPARAMETERS command can be used to override the number of ticks per revolution given in the WHEELVELOCITY command If this command is not entered the default wheel circumference of 1 96 meters is used In addition this command supplies the resolution of the wheel sensor which allows the filter to weight the wheel sensor data appropriately as in SETWHEELPARAMETERS 1000 2 03 0 002 2 Ifyou have an external wheel sensor that will be connected to an EVENT line on the SPAN SE then the SETWHEELPARAME
99. 4 45 RAWIMUS Short Raw IMU Data This is a short header version of the RAWIMU log on Page 247 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 See one of the following tables depending on your IMU Table 60 HG1700 IMU Status on Page 248 Table 61 LN 200 IMU Status on Page 249 Table 62 iIMU FSAS Status on Page 250 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 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 3 Long 4 H 28 Right handed 9 Y Gyro Output Change in angle count around y axis 3 Long 4 H 32 Right handed 10 X Gyro Output Change in angle count around x axis 7 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 1 The change in velocity acceleration scale factor for each IMU type can be found in 25
100. 41e 03 1 9414072036743164e 03 1 86264514923095703e 06 3 72529029846191406e 06 1 86264514923095703e 06 7 92574137449264526e 05 4 656612873e 09 2 72848410531878471e 12 78810 0 0 0 12 ed7675 SPAN SE User Manual Rev 1 Data Logs Appendix C Table 41 GLONASS Ephemeris Flags Coding na i Nbbk Nmber Oz egen odd ba 0 for 1 fire 00000000S RESERVED N 1 through N 7 Table 42 Bits 0 1 P1 Flag Range Values State Description 00 0 minutes 01 30 minutes 10 45 minutes 11 60 minutes SPAN SE User Manual Rev 1 185 Appendix C Data Logs e s Es Binary Binary Field Field type Data Description Format Bytes Offset 1 GLO Log header H 0 EPHEMERIS header 2 sloto Slot information offset PRN identification Ushort 2 H Slot 37 This is also called SLOTO in CDU 3 freqo Frequency channel offset for satellite in therange 0 to Ushort 2 H 2 4 sat type Satellite type where Uchar 1 H 4 0 GLO_SAT 1 GLO_SAT_M new M type 5 Reserved 1 H 5 6 e week Reference week of ephemeris GPS time Ushort 2 H 6 7 e time Reference time of ephemeris GPS time in ms Ulong 4 H 8 8 t offset Integer seconds betweenGPS and GLONASS time A Ulong 4 H 12 positive value implies GLONASS is ahead of GPS time 9 Nt Current data number This field is only output for the Ushort 2 H 16 new M type satellites See example output from both satellite type
101. 64 2310 43 8 1 0 1364 413114000 10786 792 0 0 87 0 9 0260864257812500e 06 6 1145468750000000e 06 2 2926090820312500e 07 1 4208841323852539e 03 2 8421249389648438e 03 1 9398689270019531e 02 0 00000000000000000 2 79396772384643555e 06 2 79396772384643555e 06 2 12404876947402954e 04 1 396983862e 08 3 63797880709171295e 12 78810 3 15 0 12 a02cel8b GLOEPHEMERISA COM1 2 49 0 SATTIME 1364 413626 000 00000000 6b64 2310 44 11 1 0 1364 413116000 10784 792 0 0 87 13 1 2882617187500000e 06 1 9318657714843750e 07 1 6598909179687500e 07 9 5813846588134766e 02 2 0675134658813477e 03 2 4769935607910156e 03 2 79396772384643555e 06 3 72529029846191406e 06 1 86264514923095703e 06 6 48368149995803833e 05 4 656612873e 09 3 63797880709171295e 12 78810 3 15 3 28 e2d5ef15 GLOEPHEMERISA COM1 1 49 0 SATTIME 1364 413624 000 00000000 6b64 2310 45 13 0 0 1364 413114000 10786 0 0 0 87 0 1 1672664062500000e 07 2 2678505371093750e 07 4 8702343750000000e 05 1 1733341217041016e 02 1 3844585418701172e 02 3 5714883804321289e 03 2 79396772384643555e 06 2 79396772384643555e 06 0 00000000000000000 4 53162938356399536e 05 5 587935448e 09 2 36468622460961342e 11 78810 0 0 0 8 cl5abfeb GLOEPHEMERISA COM1 0 49 0 SATTIME 1364 413624 000 00000000 6b64 2310 59 17 0 0 1364 413114000 10786 0 0 0 87 0 2 3824853515625000e 05 1 6590188964843750e 07 1 9363733398437500e 07 1 3517074584960938e 03 2 28595924377441
102. 65 9 SPAN SE I O 2 yellow cable see Section A 1 1 3 VO 2 Yellow Cable NovAtel part number 01018133 on Page 67 Figure 3 Basic SPAN SE Set Up The sections that follow outline how to set up the system s parts and cables See the specifications starting on Page 85 for the NovAtel part numbers of SPAN SE cables and their pinouts SPAN SE User Manual Rev 1 27 Chapter 2 SPAN SE Installation lt Data can be collected through any of the peripheral devices USB Ethernet or serial COM ports Ensure that your peripheral is configured for a suitably high baud rate to handle the size of the logs you request USB is recommended for logging of high rate data Data storage is via a Secure Digital SD memory card that you access in the front of the SPAN SE See also Section 3 8 The SD Card starting on Page 53 LS VS 2GB Se gitaj Figure 4 SD Memory Card The back panel of the SPAN SE is shown in Figure 5 The SPAN SE has multiple COM and I O connectors Note that there is more than one interface cable with the SPAN SE Figure 5 Receiver Enclosure Back Panel Table 2 on Page 29 shows a summary of the receiver s back panel port names 28 SPAN SE User Manual Rev 1 SPAN SE Installation Chapter 2 Table 2 Receiver Enclosure Back Panel Labels SPAN Enclosure Port Label Description SPAN SE ee Supply Voltage USB Host USB Host USB Device USB Device Ethernet Ethernet GPS1 Antenna 1 GPS2 Antenna 2 optional
103. 68023663887 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 210 SPAN SE User Manual Rev 1 Data Logs Appendix C C 4 23 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 143 Structure Message ID 265 Log Type Synch Binary Binary Field Field Type Data Description Format Bytes Offset 1 Log Header Log header H 0 2 Week GPS Week Ulong 4 H 3 Seconds into Week Seconds from week start Double 8 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 43 Enum 4 H 36 8 XXXX 32 bit CRC ASCH Binary anShort Hex 4 H 40 Binary only 9 CR LF Sentence terminator ASCII only Recommended Input log insposa ontime 1 ASCII Example INSPOSA COM3 0 0 0 EXACT 1105 425385 000 00040000 323a 0 1105 425384 996167250 51 05
104. 7 498512 389 00000000 c5ld 34486 1547547 4800 0 0 762640 UNKNOWN 0 0 UNKNOWN 0 0 0 Table 49 L band Subscription Type Binary ASCII Description 0 EXPIRED The L band subscription has expired or does not exist 1 FIXEDTIME The L band subscription expires at a fixed date and time 2 COUNTDOWN The L band subscription expires after the specified amount of running time 3 COUNTDOWNOVERRUN The COUNTDOWN subscription has expired but has entered a brief grace period Resubscribe immediately 16 UNKNOWN Unknown subscription 222 SPAN SE User Manual Rev 1 Data Logs Appendix C Field z Ge Binary Field Type Data Description Format Offset 1 LBANDINFO Log header H 0 header 2 freq Selected frequency for L band service kHz Ulong 4 H 3 baud Communication baud rate from L band satellite Ulong 4 H 4 4 ID L band signal service ID Ushort 2 H 8 5 Reserved Ushort 2 H 10 6 OSN L band serial number Ulong 4 H 12 7 vbs sub L band VBS subscription type see Table 49 on Enum 4 H 16 Page 222 8 vbs exp week GPS week number of L band VBS expiration date Ulong 4 H 20 9 vbs exp secs Number of seconds into the GPS week of L band Ulong 4 H 24 VBS expiration date 10 hp sub OmniSTAR HP or XP subscription type see Enum 4 H 28 Table 49 on Page 222 11 hp exp week GPS week number of OmniSTAR HP or XP Ulong 4 H 32 expiration date 12 hp exp secs Number of seconds into the GPS week of Ul
105. 8410364 114 065465722 1067 791685696 INSSolutionGood 9bfd5al2 SPAN SE User Manual Rev 1 211 Appendix C Data Logs C 4 24 INSPOSS Short INS Position This is a short header version of the INSPOS log on Page 211 Structure Message ID 321 Log Type Synch Binary Binary Field Field Type Data Description Format Bytes Offset 1 Log Header Log header H 0 2 Week GPS Week Ulong 4 H 3 Seconds into Week Seconds from week start Double 8 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 43 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 212 SPAN SE User Manual Rev 1 Data Logs Appendix C C 4 25 INGPOSSYNC_ Time Synchronised INS Position This log contains the time synchonised INS position It is synchronised with GPS each second Structure Message ID 32 2 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 coordinat
106. AMETERS command For example a 2 m circumference wheel with 2000 pulses per revolution would be configured using the following command SETWHEELPARAMETERS 2000 2 0 0 001 3 5 3 Wheel Sensor Updates using the WHEELVELOCITY Command If you have wheel sensor hardware that accumulates the pulses from a wheel sensor you can send the accumulated tick count to the SPAN SE at 1 Hz using the WHEELVELOCITY command see Page 156 The command can be sent in ASCII or binary format The tick count inthe WHEELVELOCITY command should reference the number of ticks accumulated at the time of the GNSS second boundary For reference the GNSS second boundary is available from the event output lines on SPAN SE See also the EVENTOUTCONTROL command on Page 102 3 5 4 Logging Wheel Sensor Data from SPAN SE The accumulated wheel sensor counts are available by logging the TMEDWHEELDATA log with 50 SPAN SE User Manual Rev 1 SPAN SE Operation the ONNEW trigger LOG TIMEDWHEELDATAB ONN Chapter 3 EW If you wish to use the wheel sensor data in post processing then ensure that the TIMEDWHEELDATAB log is included in your logging profile The computed wheel size is available through the WHEELSIZE log with the ONNEW trigger LOG WHEELSIZEB ONNEW 3 6 Data Collection for Post Processing Some operations such as aerial measurement systems do not require real time information from SPAN These operations are
107. AUTOLOGGING command 131 SETETHPROTOCOL command 132 SETIMUORIENTATION command 133 SETIMUTOANTOFFSET command 136 SETIMUTYPE command 137 SETINITATTITUDE command 139 SETINITAZIMUTH command 141 SETINSOFFSET command 143 SETMARKxOFFSET command 144 SETWHEELPARAMETERS comma nd 145 short binary header 157 167 signal control 99 event 102 timing 97 SOFTPOWER command 147 SPAN frame 133 SPANAUTH command 148 SPANMODEL command 150 SPANVALIDMODELS log 265 speed 175 216 over ground 204 static mode 124 status 171 175 channel tracking 242 244 SPAN SE User Manual Rev 1 clock model 237 COM port 238 data 194 event 263 flag 256 indicators 52 receiver 112 160 256 259 time 160 word 264 steer time 164 strobe 57 subframe 246 synchronise INS with GPS 213 synchronize 57 synchronous log 158 T talker NMEA 118 technical specifications 61 73 82 85 time coarse fine 164 CPU 112 ephemeris 246 fine 165 GPS 267 interval 114 116 of mark in event 237 of position fix 194 precision 164 stamp 165 status 160 164 165 steering 164 synchronised 213 UTC 193 205 validity 164 TIME log 266 TIMEDWHEELDATA log 268 track over ground 175 tracking channel 240 continuous 229 243 loop 240 Transmission Control Proto col TCP 59 60 transmit 96 239 trigger 101 102 error 256 log 112 158 231 232 SPAN SE User Manual Rev 1 Index option 113 troubleshooting 287 true north 175 pseudorange error orientation 201 U
108. Buffer Overrun No overrun Overrun 15 0x00008000 RF1 AGC Status OK Bad 16 0x00010000 Reserved N4 17 0x00020000 RF2 AGC Status OK Bad 18 0x00040000 Almanac UTC Known Valid Invalid 19 0x00080000 Position Solution Valid Invalid 20 0x00100000 Position Fixed Not Fixed Fixed N5 21 0x00200000 Clock Steering Enabled Disabled KS 0x00400000 Clock Model Valid Invalid 23 0x00800000 Reserved 24 0x01000000 Software Resource OK Warning N6 25 0x02000000 OEMV 2 CPU Overload No Overload Warning 26 0x04000000 OEMV 3 CPU Overload No Overload Warning 27 0x08000000 SD Logging Warning Buffer Fine Buffer gt 80 full Continued on Page 260 SPAN SE User Manual Rev 1 259 Appendix C Data Logs Nibble Bit Description 28 0x10000000 Reserved N7 29 0x20000000 OEMV 2 Status Event No event Event 30 0x40000000 OEMV 3 Status Event No event Event 31 0x80000000 Reserved 260 SPAN SE User Manual Rev 1 Data Logs Table 67 Auxiliary 1 Status Appendix C Nibble Bit Description NO 0 0x00000001 Reserved 1 0x00000002 2 0x00000004 3 0x00000008 Position averaging Off On NI 4 0x00000010 Reserved 5 0x00000020 6 0x00000040 7 0x00000080 OEMV 3 USB Connected Not connection status connected N2 8 0x00000100 OEMV 3 USB1 buffer No overrun Overrun overrun flag 9 0x00000200 OEMV 3 USB2 buffer No overrun Overrun overrun flag 10 0x00000400 OEMV 3 USB3 buffer No overrun Overrun overrun flag 11 0x000
109. CII and Binary only Hex 4 H 4 obs x 44 variable CR LF Sentence terminator ASCII only 1 Satellite PRNs may have two lines of observations one for the L1 frequency and the other for L2 SPAN SE User Manual Rev 1 243 Appendix C Data Logs C 4 42 RANGECMP Compressed Version of the RANGE Log Message ID 140 Log Type Synch Recommended Input log rangecmpa ontime 10 Example RANGECMPA COM1 0 63 5 F INESTEERING 1429 226780 000 00000000 9691 2748 26 049c10081857f2df1f 4a130ba2888eb9600603a709030000 0b9c3001225bf58f334a1l130bb1e2bed473062fa609020000 449c1008340400e0aaa9al09a7535bac2015cf71c6030000 4b9c300145030010a6a9a10959c2F09120151F 7166030000 b9d301113c8ffefc284000cb6ea051dbf3089dala0010000 49d1018c6b7f 67 a228820af2e5e39830180ae1a8030000 b9d301165c4f8f b228820a500a089F31185fe0a8020000 49d1018be18f41f2aacad0ala934efc40074ecf88030000 b9d301182b9f69f38acad0a3e3ac28841079Ffcb88020000 49d101817alf95f16d7af0ab9fbelfa401d3 d064030000 b9d30112909fb2f20d7af0a9f24a687521ddece64020000 49e1118af4e0470f66d4309a0a631cd642cf5b821320000 b9eb110a55903502f6e4309ee28dlad032c7cb7e1320000 49e1118b878f 54f4ed2aa098c35558a532bde1765220000 b9eb110abcff71f5ed2aa0 9cb6ad0f9032b9d16c5220000 0eeead18 DONNWAA FP VG h OO Table 59 Range Record Format RANGECMP only Data Bit s first to last Length bits Scale Facto
110. Detail A Bare Wire RED 19 EVENT IN 4 Detail A Bare Wire BROWN 28 GND Detail A Bare Wire GREEN 29 GND Detail A Bare Wire WHITE 4 TXD2 COM2 2 RXD2 COM2 3 VDC OUT COM2 4 30 GND COM2 5 18 CTS2 COM2 7 3 RTS2 COM2 8 16 RXD1 COM1 3 15 TXD1 COM1 2 8 VDC OUT COM1 4 17 GND COM1 5 14 RTS1 COM1 8 1 CTS1 COM1 7 22 EVENT OUT 4 IMU 1 25 RXD_IMU IMU 2 12 TXD_IMU IMU 3 26 GND IMU 5 24 RTS_IMU IMU 7 13 CTS_IMU IMU 8 a Refer to connectors P1 P2 P7 and P10 and to the bare wires in Detail A and Detail B in Figure 15 on Page 67 SPAN SE User Manual Rev 1 Technical Specifications Appendix A A 2 Inertial Measurement Units IMUs A 2 1 LN 200 IMU Table 10 LN 200 IMU Specifications IMU Enclosure Size 135mm x 153mm x 130 mm 5 315 x 6 024 x 5 118 IMU Size 89 mm D x 85 mm H 3 504 D x 3 346 H IMU Weight 3 kg 6 6 lb MECHANICAL DRAWINGS 143 7 J h 4 PLCS VIe ly SO CENTER oF N NAVIGATION OFFSETS 76 2 76 8 Enclosure Center 82 4 Navigation Center 134 6 SCALE 0 800 Pe m Navigation Center s y 76 3 Enclosure Center Figure 16 LN 200 IMU Enclosure Top Bottom Dimensions and Centre of Navigation SPAN SE User Manual Rev 1 69 Technical Specifications Appendix A 36 8 IMU Enclosure Center Figure 17 LN 200 Enclosure Side Dimensions Scale 0 80
111. E Ethernet Connection on Page 59 Abbreviated ASCII Syntax Message ID 1059 IFCONFIG IP mask gateway Field ASCII Binary Binary Binary Binary Type Value Value Format Bytes Offset 1 header This field contains the H 0 command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively Field Description 2 IP IP address Ulong 4 H 3 mask IP mask Ulong 4 H 4 4 gateway IP gateway Ulong 4 H 8 Abbreviated ASCII Example IFCONFIG 198 161 73 11 255 255 255 0 198 161 73 1 SPAN SE User Manual Rev 1 107 Appendix B B 4 12 INSCOMMAND INS control command This command allows you to enable disable or reset INS positioning When INS positioning is disabled no INS position velocity or attitude is output Also INS aiding of RTK initialization and tracking reacquisition is disabled If the command is used to disable INS and then re enable it the INS system has to go through its alignment procedure equivalent to issuing a RESET command See also Section 3 4 1 Configuration for Alignment starting on Page 44 108 Abbreviated ASCII Syntax INSCOMMAND action Field Type ASCII Field Value 1 header Description This field contains the command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively Commands Message ID 379 Binary Binary Binary Format
112. E User Manual Rev 1 Introduction Chapter 1 Each model has the following standard features e Rugged shock water and dust resistant enclosure e NovAtel s advanced OEMV L1 L2 GNSS GLONASS and PAC technology Four bi directional COM ports which support data transfer rates of up to 921 600 bits s e A removable SD Card slot for on board data collection e A USB port for PC communication e A serial port capable of communication with an IMU See also Table 1 on page 24 e An Ethernet port for TCP or UDP communication with the receiver e Field upgradeable firmware program software What makes one model different from another is software not hardware This unique feature means that the firmware can be updated any time anywhere without any mechanical procedures whatsoever For example a model with L1 L2 only capabilities can be upgraded to a model with L1 L2 RT 2 in only a few minutes in your office instead of the days or weeks that would be required if the receiver had to be sent to a service depot All that is required to unlock the additional features is a special authorization code Refer to the SPANAUTH command on Page 48 for further details on this topic SPAN currently supports 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 61 for details 1 Rates higher
113. ECT INCIDENTAL OR CONSEQUENTIAL DAMAGES OF ANY KIND OR NATURE DUE TO ANY CAUSE Purchaser s exclusive remedy for a claim under this warranty shall be limited to the repair or replacement at NovAtel s option and at NovAtel s facility of defective or nonconforming materials parts or components or in the case of software provision of a software revision for implementation by the Buyer All material returned under warranty shall be returned to NovAtel prepaid by the Buyer and returned to the Buyer prepaid by NovAtel The foregoing warranties do not extend to i nonconformities defects or errors in the Products due to accident abuse misuse or negligent use of the Products or use in other than a normal and customary manner environmental conditions not conforming to NovAtel s specifications or failure to follow prescribed installation operating and maintenance procedures ii defects errors or nonconformities in the Products due to modifications alterations additions or changes not made in accordance with NovAtel s specifications or authorized by NovAtel iii normal wear and tear iv damage caused by force of nature or act of any third person v shipping damage vi service or repair of Product by the Purchaser without prior written consent from NovAtel vii Products designated by NovAtel as beta site test samples SPAN SE User Manual Rev 1 Terms and Conditions experimental developmental preproduction sample incompl
114. ES 1 Spaces may only be used in variable text fields 2 A negative sign HEX 2D is the first character in a Field if the value is negative The sign is omitted if the value is positive 3 All data fields are delimited by a comma 4 Null fields are indicated by no data between two commas Null fields indicate invalid data or no data available 5 The NMEA Standard requires that message lengths be limited to 82 characters SPAN SE User Manual Rev 1 169 Appendix C Data Logs GA SPAN SE Logs 170 The receivers are capable of generating many NovAtel format output logs in either Abbreviated ASCII ASCII or binary format For convenience some commonly used OEMV logs are included in this manual All SPAN specific logs are included in this manual Please refer to the OEMV Family Firmware Reference Manual for a complete list of logs containing GNSS only information categorized by function and then detailed in alphabetical order Logging Restriction Important Notice Please note these 3 rules when configuring your SPAN system 1 2 BESTPOS and BESTGPSPOS logs are available at 1 and 5 Hz only on SPAN SE When requesting high rate data over COM1 COM2 COM3 or COM4 be careful not to overrun the baud rate 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
115. ESTGPSVEL or BESTGPSPOS messages at a rate higher than 2 Hz For example a logging rate of 10 Hz would reduce the velocity latency to 0 005 seconds For integration purposes the velocity latency should be applied to the record time tag On SPAN SE BESTVEL and BESTGPSVEL are available at 1 Hz or 5 Hz Higher rate velocity information is available in the INSVEL INSPVA or INSSPD logs Structure BESTGPSVEL Message ID 506 BESTVEL Message ID 99 Log Type Synch Binary Binary Fiel Fiel A ipti eld eld type ata Description Format Bytes Offset 1 header Log header H 0 2 Sol Status Solution status see Table 39 on Page 173 Enum 4 H 3 Vel Type Velocity type see Table 38 on Page 171 Enum 4 H 4 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 SPAN SE User
116. 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 C 1 Log Types Refer to the LOG command see Page 112 for details on requesting logs The receiver is capable of generating many different logs These logs are divided into the following SPAN SE User Manual Rev 1 157 Appendix C Data Logs three types Synchronous asynchronous and polled The data for synchronous logs is generated on a regular schedule Asynchronous data is generated at irregular intervals If asynchronous logs were collected on a regular schedule they would not output the most current data as soon as it was available The data in polled logs is generated on demand An example would be RXCONFIG It would be polled because it changes only when commanded to do so Therefore it would not make sense to log this kind of data ONCHANGED or ONNEW The following table outlines the log types and the valid triggers to use Table 32 Log Type Triggers Type Recommended Trigger Illegal Trigger Synch ONTIME ONNEW ONCHANGED Asynch ONCHANGED Polled ONCE or ONTIME ONNEW ONCHANGED 1 Polled log types do not allow fractional offsets and cannot do ontime rates faster than 1Hz See Section C 1 4 Message Time Stamps on Page 165 for information on how the message time
117. I 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 ASCH 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 Hag Refer also to our application note on Using a Wheel Sensor with SPAN NovAtel part number APN 036 available on our website at http www novatel com support applicationnotes htm Abbreviated ASCII Example WHEELVELOCITY 123 8 100000 40 WHEELVELOCITY 123 8 100000 80 WHEELVELOCITY 123 8 100000 120 The above are for a vehicle traveling at a constant velocity with these wheel sensor characteristics Wheel Circumference 2m Vehicle Velocity assumed constant for this example 10 m s Ticks Per Revolution 8 Cumulative Ticks Per Second 10 m s 8 ticks rev 2 m rev 40 Latency between 1PPS and measurement from wheel sensor hardware 123 ms 1 The ticks per second do not need to be computed as shown in the example above If your hardware provides the tic
118. ING 1337 405297 175 00000000 97b7 1984 3 1337 403184 8b04e4818da44e50007b0d9c05ee6 64f fbfeb695d 763626f00001b03cb6b3 8b04e4818e2b63060536608fd8cdaa051803a41261157eal0d2610626f3d 8b04e4818ead0006aa7f7ef8ffda25c1a69a14881879b9c6ffa79863f9f2 0bb16ac3 RAWEPHEMA COM1 0 60 5 SATTIME 1337 405390 000 00000000 97b7 1984 1 1337 410400 8b04e483 7244e50011d7a6105ee664f fb feb I95df9Ie1643200001200aa92 8b04e483f7a9elfaab2b16a27c7d41 b5c0304794811 7a10d40b564327e 8b04e483f82c00252f57a782001b282027a31c0fba0fc525ffac84e10a06 c5834a5b Field Field type Data Description pi 1 RAWEPHEM Log header H 0 header 2 prn Satellite PRN number Ulong 4 H 3 ref week Ephemeris reference week number Ulong 4 H 4 4 ref secs Ephemeris reference time s Ulong 4 H 8 5 subframel Subframe 1 data Hex 30 H 12 6 subframe2 Subframe 2 data Hex 30 H 42 7 subframe3 Subframe 3 data Hex 30 H 72 8 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 102 9 CR LF Sentence terminator ASCII only 246 SPAN SE User Manual Rev 1 Data Logs Appendix C C 4 44 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 252 Message ID 268 Log Type Asynch Structure Binar
119. LE withoutspecifying the other fields 4 OMNISTARAUTO When you select OMNISTARAUTO the receiver automatically selects the best OmniSTAR beam to track based on the receiver s position This requires the receiver to have a downloaded satellite list from an OmniSTAR satellite Therefore a manual assignment is necessary the first time an OmniSTAR satellite is assigned on a new receiver After collection the satellite list is stored in NVM for subsequent auto assignments Lists are considered valid for 6 months and are constantly updated while an OmniSTAR signal is tracking If the receiver has a valid satellite list it is reportedin a status bit in hd BANDSTAT log see Page 348 5 OMNISTARNARROW When you selectOMNISTARNARROW enter a dedicated frequency and baud rate For re acquisitions of the L band signal the receiver uses a 1500 Hz search window and the stored TCXO offset information To remove the TCXO offset information from NVM use the FRESET LBAND_TCXO_OFFSET command A standard FRESET command does not do this see Page 104 2 1 The receiver will always track an available local beam over a global beam The receiver constantly monitors the satellite list to ensure it is tracking the best one and automatically switches beams if it is not tracking the best one 2 Refer also to the L band Tracking and Data Output with GPS application note available on our website as APN 043 at htto Awww novatel com support
120. LOG AVEPOS ONTIME 2 0 5 Hz LOG AVEPOS ONTIME 2 1 35 LOG AVEPOS ONTIME 2 1 75 For synchronous and asynchronous logs the following examples are invalid LOG PSRPOS ONTIME 1 0 08 _ offset is not a multiple of the minimum logging period LOG PSRPOS ONTIME 11 05 offset is larger than the logging period 166 SPAN SE User Manual Rev 1 Data Logs Appendix C C 2 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 36 and 37 For the message header structure of OEMV 3 regular Binary and ASCII logs please refer to the OEMV Family Firmware Reference Manual Table 36 Short ASCII Message Header Structure G y Field Sa Field Field Type Type Description Char symbol 2 Message Char This is the name of the log 3 Week Number Ushort GPS week number 4 Milliseconds Ulong Milliseconds from the beginning of the GPS week Table 37 Short Binary Message Header Structure Field Seat Binary Binary Field Field Type Type Description Bytes Offset 1 Sync Char Hex 0OxAA 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 Mil
121. Logs Table 58 Channel Tracking Status Nibble Bit Mask Description Range Value 0 0x00000001 Tracking state 0 11 see Table 55 Tracking State on Page 241 NO 1 0x00000002 2 0x00000004 3 0x00000008 4 0x00000010 NI 5 0x00000020 SV channel number 0 n 0 first n last n depends on the receiver 6 0x00000040 7 0x00000080 8 0x00000100 N2 9 0x00000200 10 0x00000400 Phase lock flag 0 Not locked 1 Locked 11 0x00000800 Parity known flag 0 Not known 1 Known 12 0x00001000 Code locked flag 0 Not locked 1 Locked N3 13 0x00002000 Correlator type 0 7 see Table 56 Correlator Type on Page 241 14 0x00004000 15 0x00008000 16 0x00010000 Satellite system 0 GPS 1 GLONASS N4 17 0x00020000 2 WAAS 3 6 Reserved 18 0x00040000 7 Other 19 0x00080000 Reserved 20 0x00100000 Grouping 0 Not grouped 1 Grouped N5 21 0x00200000 Signal type Dependant on satellite system above GPS GLONASS 22 0x00400000 0 LIC A 0 L1 C A 5 L2P 5 L2P 23 0x00800000 9 L2 P codeless 17 L2C 24 0x01000000 SBAS Other N6 25 0x02000000 0 L1 C A 19 OmniSTAR 23 CDGPS 26 0x04000000 Forward Error Correction 0 Not FEC 1 FEC 27 0x08000000 Primary L1 channel 0 Not primary 1 Primary Continued on Page 243 242 SPAN SE User Manual Rev 1 Data Logs Appendix C Nibble Bit Mask Description BEUC CAELI 28 0x10000000 Carrier phase measurement 9
122. MU and INS which indicates the status of the GNSS INS solution computed by the SPAN SE H RS W s i Figure 10 SPAN SE LED Indicators Table 7 Positioning Mode LEDs Green amp Green Orange Orange Red Flashing Card in Flashing Card in but low on Card busy Card in but has Card file open space with lt 10 _ either lt 1 space space remaining formatting remaining and Flashing same or logging stops as above but a mounting automatically file is open Flashing SD card error that can occur at any time regardless of remaining space GPS 1 Primary No Data Solution complete Insufficient N A Receiver status GNSS and fine steering Observations error bits Flashing coarse 0 SDRAM steering 1 Firmware 2 ROM 7 Supply Voltage GPS 2 Secondary No Data same as Primary GNSS above GNSS INS INS GNSS INS_SOLUTION_ Aligning N A INS_INACTIVE only GOOD status Flashing status Flashing INS_SOLUTION __ INS_ALIGNMENT_ NOTGOOD COMPLETE status status IMU IMU No IMU RAWIMU packets No RAWIMU N A IMU status error detected with good IMU IMU type not set bits status as reported by the IMU N A Power No power Unit powered but off N A N A N A to unit and not operational Flashing unit powered on and operational 1 The power LED is on the power button see SPAN SW Power Button on Page 32 52 SPAN SE User Manual Rev 1 SPAN SE
123. Manual Rev 1 175 Appendix C Recommended Input log bestgpsvela ontime 1 ASCII Example Data Logs 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 176 SPAN SE User Manual Rev 1 Data Logs Appendix C C 4 3 BESTLEVERARM_ IMU to Antenna Lever Arm This log contains the distance between the IMU and the GNSS antenna in the IMU enclosure frame and its associated uncertainties If the you enter the lever arm through the SETIMUTOANTOFFSET command see Page 136 these values are reflected in this log When the lever arm calibration is complete see the LEVERARMCALIBRATE command on Page 110 the solved values are also output in this log The default X pitch Y roll and Z azimuth directions of the inertial frame are clearly marked on the IMU see Figure 32 on Page 133 Structure Message ID 674 Log Type Asynch Binary Binary Field Field Type Description Bytes Offset 1 Log Header Log Header H 0 2 X Offset IMU Enclosure Frame m Double 8 H 3 Y Offset IMU Enclosure Frame m Double 8 H 8 4 Z Offset IMU Enclosure Frame m Double 8 H 16 5 X Uncertainty IMU Enclosure Frame m Double 8 H 24 6 Y Uncertainty IMU Enclosure Frame m Double 8 H 32 7 Z Uncertainty IMU Enclosure Frame m Double 8 H 40 8 iMapping See Table 29 Full Mapping Integer 4 H 48 Definitions on Page 135 9
124. N SE allows you to synchronize with external equipment in two ways 1 The receiver has three configurable output strobes Each strobe is synchronous with GPS time and can be configured for pulse length and polarity 2 The receiver accepts up to four input pulses events Each event signal can be configured for positive or negative polarity Time or a solution position velocity attitude can be generated and output synchronously with each input pulse 3 10 1 Configuring a Synchronous Output Pulse The EVENTOUTCONTROL command see Page 102 is used to configure an output strobe There are three output strobe lines in the receiver called MARK1 MARK2 and MARK3 and each of them can be configured independently The event strobes toggle between 3 3 V and 0 V Each strobe can supply 24 mA The pulse consists of two states an active state and a not active state The start of the active state is synchronized with the top of the GPS time second and the polarity of the signal indicates whether the active period is 3 3 V or 0 V The not active period immediately follows the active period and has the alternate voltage Each output strobe can be configured in the following ways Polarity The polarity defines the signal state of the active portion of the signal A positive polarity dictates that the active portion of the signal is in a high state 3 3 V Active Period Width The active period starts at the GPS time synchronized edge rising for n
125. OM1 1 96 5 F INESTEERING 1521 320402 983 40000020 0000 143 IMU_LN200 TRISTE 1 0 96 5 FINESTEERING 1521 320402 984 40000020 0000 L43 COMA COM1 0 96 5 FINESTEERING 1521 320402 984 40000020 0000 143 IMU 115200 N 8 1 N OFF OFF 4a567775 82c e86cf Do not use undocumented commands or logs Doing so may produce errors and void your warranty d K Binary Binary Field type Data Description Bytes Offset RXCONFIG Log header H 0 header e header Embedded header h H e msg Embedded message Varied a H h e XXXX Embedded inverted 32 bit CRC ASCII and Long 4 H h a Binary only The embedded CRC isinverted so that the receiver does not recognize the embedded messages as messages to be output but continues with the RXCONFIG message If you wish to use the messages output from the RXCONFIG log simply flip the embedded CRC around for individual messages XXXX 32 bit CRC ASCII and Binary only Hex 4 H h a 4 CR LF Sentence terminator ASCII only SPAN SE User Manual Rev 1 255 Appendix C Data Logs C 4 47 RXSTATUS Receiver Status 256 This log conveys various status parameters of the SPAN SE receiver system These include the SPAN SE Receiver Status and Error words which contain several flags specifying status and error conditions If an error occurs shown in the Receiver Error word the receiver idles all channels turns off the antenna and disables the RF hardwar
126. Operation Chapter 3 3 8 The SD Card Data commands and logs can be recorded from the SPAN SE to a removable SD Card The need for a companion handheld data logger is avoided and continuous user interaction is not required since the SPAN SE is capable of logging data according to pre configured parameters without any user intervention WARNING To minimize the possibility of damage always keep the SD Card cover closed except when exchanging SD Cards Do not change the card while logging is in progress Data will be lost It is not necessary to turn the receiver off before inserting or extracting a SD Card but the logging session should be closed by pressing the SD Card logging button or issuing the LOGFILE CLOSE command before removing the card An example of an SD Card is shown in Figure 4 SD Memory Card on Page 28 The SD Card access door is shown closed in Figure 11 below Move the arrow latch to the left to open the access door To remove the SD Card unlock the access door When the door is open you can see the card Push it slightly to partially eject it Then grasp the card and pull it all the way out Figure 11 SD Card Access Door To insert the card ensure that it is correctly aligned before gently sliding it into the slot If you attempt to insert the card incorrectly it will not go all the way in In this case do not force the card Remove it orient it properly and then insert it After the card is locked in p
127. Post Processing on Page 51 lt If you have to power down your receiver ensure that all windows other than the Console window are closed in CDU and then use the SAVECONFIG command SPAN SE User Manual Rev 1 37 Chapter 3 SPAN SE Operation 3 2 1 INS Window in CDU CDU is a32 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 whether a ZUPT has been applied The receiver uses the X Y and Z Offset fields to specify an offset from the IMU for the output position and velocity of the INS solution as specified by the SETINSOFFSET command or CDU s SPAN wizard The INS Configuration Status section displays the IMU type IMU Status and local date time information The dial is a graphical display of the Roll Pitch and Azimuth values indicated by an arrow on each axis Latitude 51 057220181 0 610m Longitude 114 054232445 0 885m Hot Ms 1077 501m 0 838m Velocity 13 5697n s 0 075mys
128. R VBS position L1 sub meter l 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 LI INT Integer L1 ambiguity solution 49 WIDE_INT Integer wide lane ambiguity solution 50 NARROW_INT Integer narrow lane ambiguity solution 51 RTK_DIRECT_INS RTK status where the RTK filter is directly initialized from the INS filter 7 52 INS INS calculated position corrected for the antenna 53 INS_PSRSP INS pseudorange single point solution no DGPS corrections 54 INS_PSRDIFF INS pseudorange differential solution 55 INS_RTKFLOAT INS RTK floating point ambiguities solution 2 56 INS_RTKFIXED INS RTK fixed ambiguities solution 2 57 INS_OMNISTAR INS OmniSTAR VBS position L1 sub meter i 58 INS_OMNISTAR_HP INS OmniSTAR high precision solution 59 INS_OMNISTAR_XP INS OmniSTAR extra precision solution l 64 OMNISTAR_HP OmniSTAR high precision l 65 OMNISTAR_XP OmniSTAR extra precision 66 CDGPS Position solution using CDGPS corrections l 1 In addition to a NovAtel receiver with L band capability a subscription to the OmniSTAR or use of the free CDGPS service is required Contact NovAtel for details 2 These types appear in position logs such as BESTPOS SPAN SE User Manual Rev 1 Data Logs Appendix C Table 39 Solution Status Binary ASCII Description
129. RK4COUNT Message ID Recommended Input log marklcounta onnew Example 1093 1094 1095 1096 Log Type Asynch MARK1COUNTA COM1 0 98 5 FINESTEERING 1520 515353 000 00000000 0000 137 1000000 1 1786750b Field Field type Data Description Format Bye PR 1 MARKxCOUNT Log header H 0 header 2 Period Delta time Ulong 4 H 3 Count Tick count Ushort 2 H 4 SPAN SE User Manual Rev 1 Data Logs Appendix C C 4 38 MARK1PVA MARK2PVA MARK3PVA MARK4PVA Position Velocity and Attitude at Mark This log outputs position velocity and attitude information received on a Mark input By default the MARK lt xPVA logs contain the solution at the IMU centre in the SPAN computation frame If the SETMARKxOFFSET command has been entered the MARKxPVA log will contain the solution translated and then rotated by the values provided in the command See also the SETMARKxOFFSET commands valid at the time on Page 144 MARKIPVA Message ID 1067 MARK2PVA Message ID 1068 MARK3PVA Message ID 1118 MARK4PVA Message ID 1119 Log Type Synch gt dat Binary Binary Field Field Type Description Format Bytes Offset 1 Log Header Log header H 0 2 Week GPS Week at Mark 2 3 or 4 request Ulong 4 H 3 Seconds Seconds from week at Mark 2 3 or 4 Double 8 H 4 4 Latitude Latitude WGS84 at Mark 2 3 or 4 Double 8 H 12 5 Longitude
130. RS 2 utc UTC time of position hours minutes hhmmss ss 192911 0 seconds decimal seconds 3 mode Mode 0 Residuals were used to x 1 calculate the position given in the matching GGA line apriori not used by OEMV family receiver Mode 1 Residuals were recomputed after the GGA position was computed preferred mode 4 15 res Range residuals for satellites used in the XXX Ks 13 8 1 9 11 4 33 6 0 9 navigation solution Order matches order of 6 9 12 6 0 3 0 6 22 3 PRN numbers in GPGSA 16 xx Checksum hh 65 17 CR LF Sentence terminator CR LF SPAN SE User Manual Rev 1 197 Appendix C Data Logs C 4 14 GPGSA GPS DOP and Active Satellites 198 This NMEA log provides GPS receiver operating mode satellites used for navigation and DOP values See also Section C 3 NMEA Standard Logs on Page 168 The GPGSA log outputs these messages with contents without waiting for a valid almanac Instead it uses a UTC time calculated with default parameters In this case the UTC time status is set to WARNING since it may not be 100 accurate When a valid almanac is available the receiver uses the real parameters Then the UTC time is set to VALID The DOPs provide a simple characterization of the user satellite geometry DOP is related to the volume formed by the intersection points of the user satellite vectors with the unit sphere centered on the user Larger volumes give smaller DOPs Lower DOP va
131. SAS SPAN SE User Manual Rev 1 Commandes Appendix B B 4 31 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 If you are uncertain about the standard deviation of the angles you are entering err on the side of a larger standard deviation e Sending SETINITATTITUDE resets the SPAN filter The alignment is instantaneous but some time and vehicle dynamics are required for the SPAN filter to converge Bridging performance is poor before filter convergence e The roll about the y axis pitch about the x axis and azimuth about the z axis are with respect to the SPAN frame If the IMU enclosure is mounted with the z axis pointing upwards the SPAN frame is the same as the markings on the enclosure If the IMU is mounted in another way SPAN transforms the SPAN frame axes such that z points up for SPAN computations You must enter the angles in SETINITATTITUDE with respect to the transformed axis See SETIMUORIENTATION for a description of the axes mapping that occurs when the IMU is mounted differently from z up e This command is not save configurable see the SAVECONFIG c
132. SPVA INSVEL INSSPD and INSATT logs are the most commonly used logs for extracting the INS solution These logs can be logged at any rate up to the rate of the IMU data 100 or 200 Hz depending on your IMU model The MARKxPVA logs provide the INS GNSS solution at the time an input was received on EVENT IN x Further details on these logs are available in Appendix C Data Logs starting on Page 157 7 Can I still access the GNSS only solution while running SPAN The GNSS only solution used when running the OEMV receiver without the IMU is still available when running SPAN BESTGPSPOS solutions are available at 1 or 5 Hz from any port of SPAN SE Other GNSS logs RANGE PSRPOS and so on can be logged up to 20 Hz from the SPAN SE ports SPAN SE User Manual Rev 1 287 Appendix G Frequently Asked Questions A What will happen to the INS solution when I lose GNSS satellite visibility When GNSS tracking is interrupted the INS GNSS solution bridges through the gaps with what is referred to as free inertial navigation The IMU measurements are used to propagate the solution Errors in the IMU measurements accumulate over time to degrade the solution accuracy For example after one minute of GNSS outage the horizontal position accuracy is approximately 2 5 m when using an HG1700 AGS58 The SPAN solution continues to be computed for as long as the GNSS outage lasts but the solution uncertainty increases with time This uncertainty can be monitored usin
133. TEE 261 OEMV 3 EE 261 DEM WEE Eet ryote Biased tabi ties eae eee cee ey 261 ENTENTE 264 Event TYPO xi cco satccdetccacecasice ee dese Ree Eet A EE 264 OEMV in SPAN SE Model Desionators A 271 SPAN SE Model DeSignators ccescccscceesceeeeceeseeeeeeeeaeeceeeseaneeaeseaeneneeeeaeeeeeeneaeeenes 271 Component Typ Sh eech fette des Heath etd sade gens E aa a aea raa EEN 271 VERSION Log Field Formats sitiseni nearen facet gheet za sahara iced aeaee A Sa NE aN eier Ersa Raat 271 SPAN SE User Manual Rev 1 Software License BY INSTALLING COPYING OR OTHERWISE USING THE SOFTWARE PRODUCT YOU AGREE TO BE BOUND BY THE TERMS OF THIS AGREEMENT IF YOU DO NOT AGREE WITH THESE TERMS OF USE DO NOT INSTALL COPY OR USE THIS ELECTRONIC PRODUCT SOFTWARE FIRMWARE SCRIPT FILES OR OTHER ELECTRONIC PRODUCT WHETHER EMBEDDED IN THE HARDWARE ON A CD OR AVAILABLE ON THE COMPANY WEB SITE hereinafter referred to as Software 1 License NovAtel Inc NovAtel grants you a non exclusive non transferable license not a sale to where the Software will be used on NovAtel supplied hardware or in conjunction with other NovAtel supplied software use the Software with the product s as supplied by NovAtel You agree not to use the Software for any purpose other than the due exercise of the rights and licences hereby agreed to be granted to you 2 Copyright NovAtel owns or has the right to sublicense all copyright trade secret patent and other
134. TERS command must be sent in order to select which MARK to use The wheel parameters must also be specified here as the default values will not be used The two optional parameters in the command are specifically for this mode of operation For example if you had a wheel sensor attached to the first EVENT IN MARK 1 with a tick provided with positive polarity the command would look like SETWHEELPARAMETERS MARK1 POSITIVE 1000 2 03 0 002 3 Ifyou are using a wheel sensor connected directly to the MAR iIMU FSAS the SETWHEELPARAMETERS command allows you to set the number of ticks per revolution that is correct for your wheel installation the default is 58 The default wheel circumference is 1 96 meters The input type for this mode should be IMU and the polarity is unused SETWHEELPARAMETERS IMU 1000 2 03 0 002 Abbreviated ASCII Syntax Message ID 847 SETWHEELPARAMETERS input polarity ticks circ spacing SPAN SE User Manual Rev 1 145 Appendix B Commands ASCII Value Binary Description Binary Binary Binary Value Format Bytes Offset 1 header This field contains the command H 0 name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 input See Table 31 on Page 146 Optional field to specify to which Enum 4 H input the command should be applied default IMU 3 polarity NEGATIVE 0
135. Terminal sends the file to the receiver The above example sets the IMU type to be the HG1700 AGSS8 It also sets the leverarm from the IMU centre to the GNSS antenna phase centre with the SETIMUTOANTOFFSET command Log requests on COM1 of SPAN SE are also made In this case RAWIMUSB logs are logged asynchronously at 100 Hz RANGECMPB logs synchronously at 1 Hz INSPVASB at 10 Hz and the INSCOVSB log would be logged when updated which is at 1 Hz also 276 SPAN SE User Manual Rev 1 PN e ey Jale p a 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 33 below The steps required for this procedure are e Disassemble the SPAN HG Enclosure e Install the HG1700 Sensor Unit e Make Electrical Connections e Reassemble the SPAN HG Enclosure Important Ensure you use a ground strap before installing the internal circuit boards Do NOT scratch any surfaces of the unit Figure 33 Required Parts Reference Description 1 SPAN IMU Enclosure 2 HG1700 Flex Cable 3 HG1700 Sensor Unit SPAN SE User Manual Rev 1 277 Appendix E HG1700 IMU Installation 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 34 CD Figure 34 Bolts and Allan Key 2 Set aside the bolt
136. UDE or SETINITAZIMUTH commands Details of these commands start on Page 139 3 4 4 Navigation Mode Once the alignment routine has successfully completed SPAN enters navigation mode SPAN computes the solution by accumulating velocity and rotation increments from the IMU to generate position velocity and attitude SPAN models system errors by using a Kalman filter The GNSS solution phase observations and automatic zero velocity updates ZUPTs provide updates to the Kalman filter When a wheel sensor is connected to the system wheel displacement updates are also used in the filter The attitude is coarsely defined from the initial alignment process especially in heading Vehicle dynamics specifically turns stops and starts allow the system to observe the heading error and allows the heading accuracy to converge Three to five changes in heading should be sufficient to resolve the heading accuracy The INS Status field changes to INS SOLUTION GOOD once convergence is complete If the attitude accuracy decreases the INS Status field changes to INS_SOLUTION_NOTGOOD When the accuracy converges again the INS status continues as INS SOLUTION GOOD 3 4 5 Data Collection 46 The INS solution is available in the INS specific logs with either a standard or short header As shown in Table 6 Table 6 Solution Parameters Parameter Log Position INSPOS or INSPOSS INSPVA or INSPVAS Velocity INSVEL or INSVELS INSSPD or INSSPDS INSP
137. VA 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 SPAN SE User Manual Rev 1 SPAN SE Operation Chapter 3 lt The BESTPOS position log can be logged at rates up to 20 Hz directly from the OEMV port but is available at 1 Hz or 5 Hz from any SPAN SE port Other GNSS logs RANGE PSRPOS and so on can be logged up to 20 Hz from the SPAN ports The BESTGPSPOS log is available from SPAN SE only at 1 Hz or 5 Hz 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 6 Data Collection for Post Processing on Page 51 To store data directly to the internal SD Card see Section 3 8 The SD Card starting on Page 53 3 4 6 Lever Arm Calibration Routine Each time the system is re mounted on a vehicle or the IMU or antenna is moved on the vehicle the lever arm must be redefined either through manual measurement or through calibration lt 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 cal
138. 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 16 SPAN SE User Manual Rev 1 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 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
139. able to generate the position velocity or attitude solution post mission in order to generate a more robust and accurate solution than is possible in real time In order to generate a solution in post processing data must be simultaneously collected at a base station and each rover The following logs must be collected in order to successfully post process data From a base if not using GLONASS RANGECMPB ONTIME 1 s RAWEPHEMB ONNEW From a base if using GLONASS e RANGECMPB ONTIME 1 e GLORAWEPHEMB ONNEW e GLOEPHEMERISB ONCHANGED From a rover if not using GLONASS e RANGECMPB ONTIME 1 e RAWEPHEMB ONNEW e RAWIMUSB ONNEW e BESTLEVERARMB ONNEW From a rover if using GLONASS e RANGECMPB ONTIME 1 e GLORAWEPHEMB ONNEW e GLOEPHEMERISB ONCHANGED s RAWIMUSB ONNEW e BESTLEVERARMB ONNEW Post processing is performed through the Waypoint Inertial Explorer software package available from from NovAtel s Waypoint Products Group Visit our website at www novatel com for details SPAN SE User Manual Rev 1 51 Chapter 3 3 7 Status Indicators SPAN SE Operation LED indicators on the front of the SPAN SE see Figure 10 below provide the status of the receiver Table 7 details the LED states which are solid unless otherwise indicated as blinking They represent these categories Power SD Card OEMV 2 Card which is not included in every SPAN SE system OEMV 3 Card IMU which indicates the status of the raw data received from the I
140. age 34 Structure Message ID 264 Log Type Asynch Binary Binary Field Field Type Data Description Format Bytes Offset 1 Log Header Log header H 0 2 Week GPS Week Ulong 4 H 3 Seconds into Week Seconds from week start Double 8 H 4 4 Position Covariance Position covariance matrix in local List of 9 72 H 12 level frame Meters squared Doubles 5 Attitude Covariance Attitude covariance matrix in local List of 9 72 H 84 level frame Degrees squared Doubles rotation around the given axis 6 Velocity Covariance Velocity covariance matrix in local List of 9 72 H 156 level frame Meters second squared Doubles 7 XXXX 32 bit CRC ASCII Binary andShort Hex 4 H 228 Binary only 8 CR LF Sentence terminator ASCII only 208 SPAN SE User Manual Rev 1 Data Logs Appendix C Recommended Input log inscova onchanged ASCII Example INSCOVA COM3 0 0 0 EXACT 1105 425385 020 00040000 c45c 0 1105 425385 000000000 0 0997319969301073 0 0240959791179416 0 0133921499963209 0 0240959791179416 0 1538605784734939 0 0440068023663888 0 0133921499963210 0 0440068023663887 0 4392033415009359 0 0034190251365443 0 0000759398593357 0 1362852812808768 0 0000759398593363 0 0032413999569636 0 0468473344270137 0 1362852812808786 0 0468473344270131 117 5206493841025100 0 0004024901765302 0 0000194916086028 0 0000036582459112 0 0000194916086028 0 00
141. age ID 128 Log Type Polled Recommended Input log rxconfiga once ASCII Example RXCONFIGA COM1 21 96 5 UNKNOWN 0 0 000 40000020 0000 143 COMA COM1 21 96 5 UNKNOWN 0 0 000 40000020 0000 143 COM1 9600 N 8 1 N OFF ON e4f2d9b6 3e13c235 RXCONFIGA COM1 20 96 5 UNKNOWN 0 0 000 40000020 0000 143 COMA COM1 20 96 5 UNKNOWN 0 0 000 40000020 0000 143 COM2 9600 N 8 1 N OFF ON 1 0609b3 1f 61 4e9 RXCONFIGA COM1 19 96 5 UNKNOWN 0 0 000 40000020 0000 143 COMA COM1 19 96 5 UNKNOWN 0 0 000 40000020 0000 143 COM3 9600 N 8 1 N OFF ON 0678ad5c aa03e067 RXCONFIGA COM1 18 96 5 U OWN 0 0 000 40000020 0000 143 COMA COM1 18 96 5 UNKNOWN 0 0 000 40000020 0000 143 COM4 9600 N 8 1 N OFF ON e 7579e2 eed07 66 RXCONFIGA COM1 17 96 5 UNKNOWN 0 0 000 40000020 0000 143 COMCONTROLA COM1 7 96 5 UNKNOWN 0 0 000 40000020 0000 143 COM1 RTS DEFAULT RS232 2c5c183c 2559fe22 RXCONFIGA COM1 16 96 5 UNKNOWN 0 0 000 40000020 0000 143 COMCONTROLA COM1 16 96 5 UNKNOWN 0 0 000 40000020 0000 143 COM2 RTS DEFAULT RS232 dfb9f449 cd8 0al0 RXCONFIGA COM1 15 96 5 UNKNOWN 0 0 000 40000020 0000 143 COMCONTROLA COM1 15 96 5 UNKNOWN 0 0 000 40000020 0000 143 COM3 RTS DEFAULT RS232 f 98ecb75 d8c3al160 RXCONFIGA COM1 14 96 5 UNKNOWN 0 0 000 40000020 0000 143 COMCONTROLA COM1 14 0 K 0 K 0 K 0 96 5 UNKNOWN 0 0
142. applicationnotes htm 92 SPAN SE User Manual Rev 1 Commandes Appendix B B 4 2 1 Beam Frequencies You can switch between Omnistar VBS and CDGPS by using the following commands Use CDGPS assignlband cdgps lt freq gt 4800 psrdiffsource cdgps Use OmniStar VBS assignlband omnistar lt freq gt 1200 psrdiffsource omnistar Where lt freq gt is determined for CDGPS or OmniStar as follows 1 CDGPS beam frequency chart e East 1547646 or 1547646000 e East Central 1557897 or 1557897000 e West Central 1557571 or 1557571000 e West 1547547 or 1547547000 2 The OmniStar beam frequency chart can be found at http www omnistar com chart html For example Eastern US Coverage is Northern Canada to southern Mexico 1557845 or 1557845000 ASCII Binary Description Binary Binary Binary Value Value p Format Bytes Offset 1 ASSIGNLBAND 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 mode See Table 17 Set the mode and enter Enum 4 H specific frequency and baud rate values 3 freq 1525000 to L band service beam Ulong 4 H 4 1560000 frequency of satellite Hz or or kHz See also Beam 1525000000 to Frequencies on Page 93 1560000000 default 1536782 if the mode is OMNISTAR 4 baud 300 600 1200 Data rate for communication Ulong 4 H 8 2400 or 4800 with L band satellite default 1200
143. are for example a receiver or data collector or firmware in the form of applications or data for example data blocks for height models or user applications See Table 75 VERSION Log Field Formats on Page 271 for details on the format of key fields Message ID 37 Log Type Polled Recommended Input log versiona once ASCII Example VERSIONA COM1 0 97 5 F INESTEERING 1521 318658 225 00000000 0000 149 5 SPANCARD SJ DDV08490044 SPANPPC 3 00 A SPPC1 000 1 100 Mar 3 2009 16 35 00 SPANFPGA ME ke en 00028 MLA Tiy ER GPSCARD L12GRV DAB08190083 OEMV3G 4 00 X2T 3 621 3 000 2009 Feb 18 12 31 14 GPSCARD L12GRV BZZ08190377 OEMV2G 3 01 2T 3 200S3 3 000 2006 Jul 14 12 28 52 IMUCARD HG1700 100Hz DAB08190083 OEMV3G 4 00 X2T 2 010 3 000 Feb 09 2007 10 39 41 6f10750 SPAN SE User Manual Rev 1 Data Logs Appendix C Table 72 OEMV in SPAN SE Model Designators GEES Description 12 L1 or 12 L1 L2 GLONASS channels frequencies to match GPS configuration R Receive RT2 and or RT20 corrections L 1 L band channel with CDGPS and OmniSTAR HP XP capability Table 73 SPAN SE Model Designators ZER Description SPAN supporting IMUs with data rates lt 100 Hz SPAN supporting IMUs with data rates gt 100 Hz S A single GNSS card system where only the OEMV 3 is included Table 74 Component Types
144. ariable Variable max 16 4 expyear Expiry year Ulong 4 Variable Max H 20 gt expmonth Expiry month Ulong 4 Variable Max H 24 6 expday Expiry day Ulong 4 Variable Max H 28 Ves Next model offset H 4 mods x variable max 28 variable XXXX 32 bit CRC ASCII and Binary only Hex 4 Variable variable CR LF Sentence terminator ASCII only 1 Inthe binary log case additional bytes of padding are added to maintain 4 byte alignment SPAN SE User Manual Rev 1 265 Appendix C Data Logs C 4 50 TIME Time Data 266 This log provides several time related pieces of information including receiver clock offset and UTC time and offset It can also be used to determine any offset in the PPS signal relative to GPS time To find any offset in the PPS signal log the TIME log ontime at the same rate as the PPS output For example if the PPS output is configured to output at a rate of 0 5 seconds log the TIME log ontime 0 5 as follows log time ontime 0 5 The TIME log offset field can then be usedto determine any offset in PPS output relative to GPS time Message ID 101 Log Type Synch Recommended Input log timea ontime 1 ASCII Example TIMEA COM1 0 50 5 FINESTEERING 1337 410010 000 00000000 9924 1984 VALID 1 953377165e 09 7 481712815e 08 12 99999999492 2005 8 25 17 53 17000 VALID e2 c088c SPAN SE User Manual Rev 1 Data Logs Appendix C
145. ation into a larger system Combining SPAN SE with a SPAN supported IMU creates a complete GNSS INS system Figure 2 SPAN System IMUs 22 SPAN SE User Manual Rev 1 Introduction Chapter 1 The SPAN system consists of the following components e A SPAN capable receiver such as SPAN SE The SPAN SE is capable of receiving and tracking different combinations of GPS GLONASS and L band CDGPS and OmniSTAR signals using a maximum of 72 channels Patented Pulsed Aperture Correlator PAC technology combined with a powerful microprocessor make possible multipath resistant processing Excellent acquisition and re acquisition times allow this receiver to operate in environments where very high dynamics and frequent interruption of signals can be expected The receiver also supports the timing requirements of the IMU and runs the real time INS Kalman filter The SPAN SE also offers on board data logging with a Secure Digital SD card Ethernet connectivity wheel sensor input and scalability for future GNSS advances e IMU Enclosure The Inertial Measurement Unit IMU is housed in the IMU enclosure that provides a steady power supply to the IMU and decodes and times the IMU output data The IMU itself consists of three accelerometers and 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 SE Compatible Receiver and IMU Models on Pag
146. b Field Field Type Description Format Bre nary 1 Log Header Log Header H 0 2 recs Number of records to follow Ulong 4 H 3 port COM port see Table 18 COM Serial Enum 4 H 4 Port Identifiers on Page 95 4 protocol Port protocol see Table 40 below Enum 4 H 8 5 next record offset H 4 recs x 8 6 XXXX 32 bit CRC Hex 4 H 4 recs x 8 7 CR LF Sentence Terminator ASCII only Table 40 Port Protocol ASCII Binary Description RS232 0 RS 232 mode RS422 1 RS 422 mode 180 SPAN SE User Manual Rev 1 Data Logs Appendix C C 4 6 DIRENT SD Card File List The DIRENT log contains the current file contents of the receiver s SD Card Up to 1024 files can be listed using this message The date and time for the DIRENT log is in UTC Universal Coordinated Time If the SPAN SE receiver has no almanac UTC is unavailable The Date of Last Change field has 4 decimal digits reserved for the year followed by 2 decimal digits for the month and 2 decimal digits for the day Example Date of September 5 2001 Date of Last Change field for this date when converted to a Ulong has a value of 20010905 The following steps can be used to obtain the various parts of the Date of Last Change field Ulong Year Ulong DateOfLastChange 10000 Ulong Month Ulong DateOfLastChange Year 10000 100 Ulong Day Ulong DateOfLastChange Year 10000 Month 100 The Time of Last Change field is similar
147. 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 BESTGPSPOS Message ID 423 BESTPOS Message ID 42 Log Type Synch Table 38 Position or Velocity Type reegt GH Description 0 NONE No solution 1 FIXEDPOS Position has been fixed by the FIX POSITION command or by position averaging 2 FIXEDHEIGHT Position has been fixed by the FLX HEIGHT or FIX AUTO command or by position averaging 3 Reserved 4 FLOATCONV Solution from floating point carrier phase ambiguities 5 WIDELANE Solution from wide lane ambiguities 6 NARROWLANE Solution from narrow lane ambiguities 7 Reserved 8 DOPPLER VELOCITY Velocity computed using instantaneous Doppler 9 15 Reserved 16 SINGLE Single point position 17 PSRDIFF Pseudorange differential solution 18 WAAS Solution calculated using corrections from an SBAS 19 PROPOGATED Propagated by a Kalman filter without new observations Continued on Page 172 SPAN SE User Manual Rev 1 171 Appendix C 172 Position Type Position Type Data Logs binary ASCII Description 20 OMNISTAR OmniSTA
148. bola and e gt 1 is a hyperbola e Ameasurement along the orbital path from the ascending node to the point where the SV is closest to the Earth in the direction of the SV s motion 190 SPAN SE User Manual Rev 1 Data Logs Appendix C C 4 11 GPGGA_ GPS Fix Data and Undulation This NMEA log provides time position and fix related data of the GNSS receiver See also Section C 3 NMEA Standard Logs on Page 168 For more on precision of NMEA logs see Table 46 Position Precision of NMEA Logs on Page 195 Below are tables that show how many GNSS and or GLONASS satellites you need to obtain a fixed ambiguity solution Table 43 below and how many you need to keep a fixed ambiguity solution see Table 44 on Page 192 The GPSGGA log outputs these messages with contents without waiting for a valid almanac Instead it uses a UTC time calculated with default parameters In this case the UTC time status is set to WARNING since it may not be 100 accurate When a valid almanac is available the receiver uses the real parameters Then the UTC time is set to VALID Message ID 218 Log Type Synch Recommended Input log gpgga ontime 1 Example SGPGGA 134658 00 5106 9792 N 11402 3003 W 2 09 1 0 1048 47 M 16 27 M 08 AAAA 60 Table 43 To Obtain a Fixed Ambiguity Solution GNSS Satellites GLO Satellites 3 4 SPAN SE User Manual Rev 1 191 Appendix C Data Logs Table 44 To Main
149. both the interface mode and COM port mode on an internal GNSS card from a SPAN SE receiver port Do this from a COM1 COM2 COM3 COM4 ETH1 or USB1 prompt The GNSSCARDCOMFIG command is especially useful for configuring RTK because the OEMV3 COMI port is used for RTK correction input data Appendix B You cannot use this command with the O0EMV2 and OEMV3 connectors on the I O 1 Green cable as they provide direct access to the OEMV 2 and OEMV 3 GNSS cards respectively within the receiver Instead use the standard OEMV family INTERFACEMODE and COM commands Abbreviated ASCII Syntax GNSSCARDCOMFIG card port rx_inter tx_inter response bps parity data bits stop bits handshaking echo break Message ID 1092 Field ASCII Binary Parr Binary Binary Binary Field Type Value Value Description Format Bytes Offset 1 header This field contains the command name or H 0 the message headerdepending on whether the command is abbreviated ASCII ASCII or binary respectively 2 card CARDI 0 Select a receiver card CARD1 is Enum 4 H CARD 1 OEMV3 default and CARD2 is OEMV2 3 port COMI 1 Enter COM only for the COM1 port on Enum 4 H 4 the GNSS receiver not a SPAN SE port default COM1 4 rx_inter See Table 24 op Receiver interface mode Enum 4 H 8 5 tx_inter EE Transmit interface mode Enum 4 H 12 6 response OFF 0 Response mode Enum H 16 ON 1 d
150. c track indicator M M 6 speed Kn Speed over ground knots X X 0 4220347 7 N Nautical speed indicator N Knots N N 8 speed Km Speed kilometers hour X X 0 781608 9 K Speed indicator K km hr K K 10 mode ind Positioning system mode indicator see Table 47 below a A 11 Xx Checksum hh 7A 12 CR LF Sentence terminator CR LF Table 47 NMEA Positioning System Mode Indicator A Autonomous D Differential E Estimated dead reckoning mode M Manual input N Data not valid 204 SPAN SE User Manual Rev 1 Data Logs Appendix C C 4 18 GPZDA UTC Time and Date This NMEA log outputs messages with contents without waiting for a valid almanac Instead it uses a UTC time calculated with default parameters In this case the UTC time status is set to WARNING since it may not be 100 accurate When a valid almanac is available the receiver uses the real parameters Then the UTC time is set to VALID See also Section C 3 NMEA Standard Logs on Page 168 Message ID 227 Log Type Synch Recommended Input log gpzda ontime 1 Example SGPZDA 143042 00 25 08 2005 6E Field Structure Field Description Symbol Example 1 GPZDA Log header GPZDA 2 utc UTC time hhmmss ss 220238 00 3 day Day 01 to 31 XX 15 4 month Month 01 to 12 XX 07 5 year Year XXXX 1992 6 null Local zone description not available XX empty when no data is present 7 null Local zone minutes description not available XX empty when no data is
151. can be made in kHz or Hz For example ASSIGNLBAND OMNISTAR 1557855 1200 A value entered in Hz is rounded to the nearest 500 Hz 3 OmniSTAR has changed channels frequencies on the AMSC Satellite that broadcasts OmniSTAR corrections for North America NovAtel receivers do not need a firmware change To change frequencies connect your receiver and issue an ASSIGNLBAND command For example the Western Beam frequency as stated on OmniSTAR s website is 1557 8550 MHz Input into the receiver assignlband omnistar 1557855 1200 4 The NAD83 CSRS datum is available to CDGPS users The receiver automatically transforms the CDGPS computed coordinates into WGS84 the default datum ofthe receiver Alternatively select any datum including CSRS for a specified coordinate system output Abbreviated ASCII Syntax Message ID 729 ASSIGNLBAND mode freq baud Factory Default ASSIGNLBAND IDLE Abbreviated ASCII Example 1 ASSIGNLBAND CDGPS 1547547 4800 Abbreviated ASCII Example 2 ASSIGNLBAND IDLE SPAN SE User Manual Rev 1 91 Appendix B Commands Table 17 L band Mode Binary ASCII Description 0 Reserved 1 OMNISTAR When you select OmniSTAR enter a dedicated frequency and baud rate 2 CDGPS When you select CDGPS enter a dedicated frequency and baud rate 3 IDLE When you select IDLE the receiver is configured to stop tracking any L band satellites The freq and baud fields are optional so thatyou may select ID
152. cations of the IMUs and the SPAN SE receiver Refer to your SPAN system enclosure for example ProPak V3 manual OEMV Family Installation and Operation User Manual for more information on its technical specifications performance and cables A1 SPAN SE SPAN SE is a SPAN capable receiver The SPAN SE receiver s technical specifications follow For the other OEMV based and SPAN capable receivers details refer to the OEMV Family Installation and Operation User Manual ATI SPAN SE Receiver INPUT OUTPUT CONNECTORS Antenna Input 1 and 2 TNC female jack 50 Q nominal impedance 5 V DC 100 mA max output from SPAN SE to antenna LNA Power ODU Mini Snap Series K 4 pin connector 9 to 28 V DC Power Consumption Single Antenna 10 W typical Dual Antenna 12 W typical USB Host USB A USB Device USB B Ethernet RJ 45 Ethernet UO 1 Green ODU Mini Snap Series K 30 pin connector see Table 8 on Page 66 I O 2 Yellow ODU Mini Snap Series K 30 pin connector see Table 9 on Page 68 NOVATEL PART NUMBER SPAN SE 01018071 PHYSICAL Size 247 x 199 x 76 mm Weight 3 4 kg maximum ENVIRONMENTAL Operating 40 C to 65 C Storage Temperature 50 C to 95 C Humidity Not to exceed 95 non condensing SPAN SE User Manual Rev 1 61 Appendix A Technical Specifications ENVIRONMENTAL Tested to these IEC 60529 IPX7 Waterproof standards IEC 60529 IPX6 Dust IEC 68 2 27 60g Shock non operating RTCA DO 160D
153. ccucesceeesteeas svcd shsceeedeccanasesiusseseneteceas 185 To Obtain a Fixed Ambiguity Solution 02 0 eeceecececeeeeeeeeeeeeeeeeeeeeeeseaeeeaeeseeeesieeeeeeeeaees 191 To Maintain a Fixed Ambiguity Solution 0 0 0 eee eecceceeeeeeeeneeeeeeeeeeeseaeeeaeesneeseeeeeneeeaees 192 NMEA Positioning System Mode INdiCator ecceeeceeeeeeeeeeeeeeeeeeteeeeeaeeeeeeteaeeseeeeneeeeas 194 Position Precision Of NMEA Loge 195 NMEA Positioning System Mode INdiCator ecceeeceeeceeeeeeeeeeeeeeteaeeeaeeseeeteaeeseeeeeeeeeas 204 Wheel Stats csi nana linet etl laden al nese iii 219 L band Subscription Ip ode eh gata AER Welle 222 L band Signal Tracking Status AEN 225 OmniISTAR VBS Status Word DEE 226 SPAN SE User Manual Rev 1 10 OmniSTAR HP XP Additional Status Word 227 OmniSTAR HP XP Status Word 228 Clock Model Status a3 irienna Ee Se dee ege ee E aie ae aie aril 236 RRE le EE 241 Gorrelator TYPE eccssteie tes te dhe fin du Eege eeh cath aes ee A te 241 Channel Tracking Example AAA 241 Channel Tracking Status s c0iicss aise eben al aan Gal ited liste ieee lees 242 Range Record Format RANGECMP only 244 HIG 1700 RRE 248 EN 200 IMU Status eier eile ali anal dree 249 OI GE 250 HG1700 IMU Status Example AA 251 Raw IMU Scale Factors 2 s cicei tsc cep ibascdieseesestenatdsateassecseacsdshisandaevasedssjasseniiccgiceestsiedee 253 SPANReceiver TEE 257 SPAN Receiver Status c a cd een nies ain neti EENS EE 259 Auxillary A KE
154. cimal fraction are optional if full resolution is not required Time hhmmss ss Fixed Variable length field hours minutes seconds decimal 2 fixed digits of hours 2 fixed digits of mins 2 fixed digits of seconds and variable number of digits for decimd fraction of seconds Leading zeros always included for hours mins and seconds to maintain fixedlength The decimal point and associated decimal fraction are optional if full resolution is not required Defined field Some fields are specified to contain pre defined constants most often alpha characters Such a field is indicated in this standard by the presence ofone or more valid characters Excluded from the list of allowable characters are the following which are used to indicate field types within this standard A a Eh bh hhmmss ss MLI E yyyyy yy Numeric Value Fields Variable X X Variable length integer or floating numeric field Optional leading and trailing zeros numbers The decimal point and associated decimal fraction are optional if full resolution is not required example 73 10 73 1 073 1 73 Fixed HEX hh Fixed length HEX numbers only MSB on the left Information Fields Variable text c c Variable length valid character field Fixed alpha aa Fixed length field of uppercase or lowercase alpha characters Fixed XX Fixed length field of numeric characters Fixed text Cos Fixed length field of valid characters NOT
155. corrections and make sure that the BESTGPSPOS log see Page 171 reports a good RTK solution 3 Configure the IMU see Section 3 3 2 SPAN IMU Configuration starting on Page 40 4 Ensure that an accurate lever arm has been entered into the system either manually or through a lever arm calibration see Page 47 5 Allow the system to complete a coarse alignment see Page 45 Remain stationary long enough for the coarse alignment to finish The alignment is complete when the INS status changes to INS_ALIGNMENT COMPLETE see Table 5 on Page 43 Another indication that the alignment is complete is the availability of INSCOV log on Page 208 6 Enable the vehicle to body calibration using the RVBCALIBRATE ENABLE command see Page 127 7 Start to move the system As with the lever arm calibration movement of the system is required for the observation of the angular offsets 8 Drive 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 SPAN SE User Manual Rev 1 SPAN SE Operation Chapter 3 9 When the uncertainties of the offsets are low enough to be used for a fast alignment the calibration stops and t
156. ctions e Reassemble the SPAN IMU Enclosure Important Ensure you use a ground strap before installing the internal circuit boards Do NOT scratch any surfaces of the unit Figure 41 Required Parts Reference Description 1 SPAN IMU Enclosure 2 LN 200 Wiring Harness LN 200 Sensor Unit 282 SPAN SE User Manual Rev 1 LN 200 IMU Installation Appendix F 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 42 C amp D Figure 42 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 43 on Page 284 SPAN SE User Manual Rev 1 283 Appendix F LN 200 IMU Installation Figure 43 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 44 and follow these steps 1 Mount the LN 200 sensor with the attached 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 44 SPAN IMU Re Assembly 284 SPAN SE User Manual Rev 1 LN 200 IMU Installation Appendix F F 3 Make the Electrical Connections To make the electrical connections you will need a 3 32 allan key the wiring
157. d 94 COM port 113 178 238 COMCOMFIG command 178 COMCONTROL command 97 command as a log 86 formats 86 prompt interface 274 276 communication 36 computation frame 34 COMVOUT command 100 configuration 271 alignment 44 non volatile memory 104 port 94 178 receiver 122 254 256 reset 122 save 128 connector antenna 61 green 66 input output 61 power 72 yellow 68 constraint 240 coordinated universal time UTC log 205 offset 237 position 193 201 status 267 copyright 2 correction RTCA 106 RTK 271 CPU 112 cyclic redundancy check CRC 161 162 D data collection 46 51 53 datum 174 DC antenna 61 default factory 122 DGPS command 201 differential 171 174 correction station 125 correction station 119 dilution of precision DOP 193 NMEA 198 DIR command 88 DIRENT log 181 distance exceeded 173 Doppler 243 accumulated 240 245 instantaneous 243 range record 244 DOS commands 87 driving 48 dynamic 124 Dynamic Host Con figuration Protoco 1 DHCP 59 E east 218 220 echo 96 elevation satellite visibility 202 enclosure 25 enclosure frame 35 ephemeris GLONASS 184 raw data 246 time status 164 error flag 256 multipath 240 parity 239 text description 264 tracking 240 ethernet 59 60 107 event 57 101 102 message 264 text description 264 type 264 EVENTINCONTROL command 101 EVENTOUTCONTROL command 102 expiry date 265 F factory default modify 128 SPAN SE User Manual Rev 1 reset 122
158. dar day number within a four year Ushort 2a H 32 4 period beginning since the leap year in days 9 TT GLONASS time scale correction to UTC time in Double 8 H 36 seconds 10 bl Beta parameter 1st order term Double 8 H 44 11 b2 Beta parameter 2nd order term Double 8 H 52 12 Kp The Kp scale summarizes the global level of Uchar 1 H 60 geomagnetic activity A Kp of 0 to 4 is below storm levels 5 to 9 13 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 61 14 CR LF Sentence terminator ASCII only 1 In the binary log case an additional bytes of padding are added to maintain 4 byte alignment SPAN SE User Manual Rev 1 183 Appendix C Data Logs C 4 8 GLOEPHEMERIS GLONASS Ephemeris Data 184 GLONASS ephemeris information is available through the GLOEPHEMERIS log GLONASS ephemerides are referenced to the SGS 90 geodetic datum and GLONASS coordinates are reconciled internally through a position filter and output to WGS84 CG GLONASS measurements can be used for post processed positioning solutions or in user designed programs NovAtel plans to offer GLONASS positioning in the future In the meantime OEMV based output is compatible with post processing software from the Waypoint Products Group NovAtel Inc See also www novatel com for details Message ID 723 Log Type Asynch Recommended Input log gloephemerisa onchanged Example GLOEPHEMERISA COM1 3 49 0 SATTIME 1364 413624 000 00000000 6b
159. de of the vehicle when facing forward See the VEHICLEBODYROTATION command on Page 154 for information on entering the rotation into the system and see the RVBCALIBRATE command on Page 127 for information on calculating this rotation SPAN SE User Manual Rev 1 35 Chapter 3 SPAN SE Operation Figure 9 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 default location is Start Programs NovAtel PC Software NovAtel CDU 2 Select Open from the Device menu Close Config 3 Select the New button in the Open dialog box The Options Configuration dialog opens LE Open Edt New 4 Usethe 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 an
160. ded as do not use default ZEROTOTWO 1 Receiver interprets Type 0 messages as Type 2 messages IGNOREZERO 2 Receiver ignores the usual interpretation of Type 0 messages as do not use and continues 130 SPAN SE User Manual Rev 1 Commandes Appendix B B 4 26 SETAUTOLOGGING Start SD Card Logging at Boot Up This command is used to enable and disable SD Card auto logging at boot up If you have already used the SAVECONFIG command for some logs on the FILE port that you wish to start logging on automatically this command enables the SD Card and opens a file for writing immediately after the card is mounted and ready for use even before the rest of the system is ready For example enter LOG FILE RANGEA ONTIME 1 followed by SAVECONFIG If you also enter SETAUTOLOGGING ON a file is created and RANGEA logs are recorded automatically after each system boot up or restart If the logs are requested but SETAUTOLOGGING is OFF nothing is written to the card Similarly if SETAUTOLOGGING is ON but no logs to the FILE port have been requested no data is written to the card but a blank file is created The user can still type LOGFILE CLOSE at any time to stop logging to the file whether it was opened for writing manually using LOGFILE OPEN or automatically using SETAUTOLOGGING ON Since data is being recorded immediately at boot up some early output will have invalid GPS TIME and other potential error
161. denoting the virtual address of the port If no virtual address is indicated it is assumed to be address 0 4 Sequence Long This is used for multiple related logs It is a number that N counts down from N 1 to 0 where 0 means it is the last one of the set Most logs only come out one at a time in which case this number is 0 5 Idle Time Float The minimum percentage of time that the processor is Y idle between successive logs with the same Message ID 6 GPS ime Tf Enum This value indicates the quality of the GPS time see Y Status Table 35 GPS Time Status on Page 164 7 Week Ulong GPS week number Y 8 Seconds GPSec Seconds from the beginning of the GPS week accurate to Y the millisecond level 9 Receiver Ulong This is an eight digit hexadecimal number representing Y Status the status of various hardware and software components of the receiver between successive logs with the same Message ID see Table 66 SPAN Receiver Status on Page 259 10 Reserved Ulong Reserved for internal use Y 11 Receiver Ulong This is a value 0 65535 that represents the receiver Y s w Version software build number 12 Char This character indicates the end of the header N Example Log RAWEPHEMA COM1 0 35 0 SATTIME 1364 496230 000 00100000 97b7 2310 30 1364 496800 8b0550a1892755100275e6a09382232523a9dc04ee6f794a0000090394ee 8b05 50al89aab6ff925386228f97eabfIC8047e34a70ec5al0e486e794a7a
162. e 38999 III Function 4mm DB9to B 1 DB9to Comments Connector Pin plugs com3 op ODO 1 PGND Color black Power ground Label PGND 2 ODO_AN 7 Odometer input A opto coupler 2 to 6 V 2 3 Vin Color red 10 to 34 VDC Label 10 34 VDC 4 ODO_A 6 Odometer input A opto coupler 2 to 6 V 5 6 Reserved 7 DAS 1and6 Shielded data acquisition signal LVTTL to VARF 8 Reserved 9 DAS 9 Shielded ground reference for GND data acquisition amp control signals 10 Reserved 11 DON 8 Twisted pair serial data output signal RS 422 12 DO 2 Twisted pair serial data output signal RS 422 13 Reserved 14 DGND 5 Digital ground 15 DGND 5 Digital ground 16 ODO_B 3 Odometer input B opto coupler 2 to 6 V 17 ODO_BN 1 Odometer input B opto coupler 2 to 6 V 18 Reserved 19 DI 3 Twisted pair serial data in RS 422 20 DIN 7 Twisted pair serial data in RS 422 21 SW_ON_ Connected to Pin 3 switch IMU SIG signal ON OFF voltage applied ON 4 to 34 V 22 SW_ON_ Connected to Pin 1 ground for GND IMU signal ON a RS 422 compatible 78 SPAN SE User Manual Rev 1 Technical Specifications Appendix A Table 13 FSAS SPAN SE Y Adapter Cable Pin Out DB 9 Male to FSAS DB 9 Female to DB 9 Female to Function COM 3 Cable FSAS UO Cable SPAN SE Cable Description M1 in Figure 26 F1 in Figure 26 F2 in Figure 26 DAS 1 1 Data acquisition a
163. e that mounting a large capacity SD Card can also take extra time as the free space is being calculated During mounting the SD LED flashes green and orange to indicate busy Table 16 Mass Storage Device ASCII Binary Description SD 0 Internal SD Card default SPAN SE User Manual Rev 1 87 Appendix B Commands B 3 1 DIR Show Directory Command DIR Message ID 1055 Parameter Values COM Port Enum see Table 18 on Page 95 THISPORT default Mass Storage Device Enum see Table 16 on Page 87 SD default B 3 2 CD Change Directory Command CD Message ID 1054 Parameter Values Mass Storage Device Enum see Table 16 on Page 87 SD default Path Null terminated string B 3 3 FORMAT Format storage medium Command FORMAT Message ID 1057 Parameter Values Mass Storage Device Enum see Table 16 on Page 87 SD default Volume Name Optional string B 3 4 MKDIR Make Directory Command MKDIR Message ID 1060 Parameter Values Mass Storage Device Enum see Table 16 on Page 87 SD default Path Null terminated string B 3 5 RMDIR Remove Directory Command RMDIR Message ID 1058 Parameter Values Mass Storage Device Enum see Table 16 on Page 87 SD default Path Null terminated string 88 SPAN SE User Manual Rev 1 Commande B 3 6 PWD Present Working Directory Command PWD Message ID 1061
164. e 1 the residuals are re computed after the position solution in the GPGGA message is computed The receiver computes range residuals in mode 1 An integrity process using GPGRS would also require GPGGA for position fix data GPGSA for DOP figures and GPGSV for PRN numbers for comparative purposes The GPGRS log outputs these messages with contents without waiting for a valid almanac Instead it uses a UTC time calculated with default parameters In this case the UTC time status is set to WARNING since it may not be 100 accurate When a valid almanac is available the receiver uses the real parameters Then the UTC time is set to VALID Db 1 Ifthe range residual exceeds 99 9 then the decimal part is dropped Maximum value for this field is 999 The sign of the range residual is determined by the order of parameters used in the calculation as follows range residual calculated range measured range 2 There is no residual information available from the OmniSTAR HP XP service so the GPGRS contains the pseudorange position values when using it For the OmniSTAR VBS or CDGBPS service residual information is available Message ID 220 Log Type Synch Recommended Input log gpgrs ontime 1 Example 1 GPS only SGPGRS 142406 00 1 1 1 0 1 1 7 1 2 2 0 0 5 1 2 1 2 0 1 67 196 SPAN SE User Manual Rev 1 Data Logs Appendix C Field Structure Field Description Symbol Example 1 GPGRS Log header GPG
165. e 24 and Table 30 IMU Type on Page 138 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 2 on Page 36 e A dual frequency GNSS or GNSS GLONASS Antenna The GNSS receiver is connected to the IMU enclosure with an RS 232 or RS 422 serial link A NovAtel GNSS antenna must also be connected to the receiver to track GNSS signals Once the IMU enclosure GNSS antenna and appropriate power supplies are attached and a few simple configuration commands are entered the SPAN system will be up and running and ready to navigate 1 1 Fundamentals of GNSS INS GNSS positioning observes range measurements from orbiting Global Positioning System and GLONASS satellites From these observations the receiver can compute position and velocity with high accuracy NovAtel GNSS positioning systems have been established as highly accurate positioning tools however GNSS in general has some significant restrictions which limit its usefulness in some situations GNSS positioning requires line of site view to at least four satellites simultaneously If these criteria are met differential GNSS positioning can be accurate to withina few centimeters If however some or all of the satellite signals are blocked the accuracy of the position reported by GNSS degrades substantially or may not be available at all In general an inertial navi
166. e 8 H 3 Circum Wheel circumference m Double 8 H 8 4 Var Variance of circumference m Double 8 H 16 5 XXXX 32 bit CRC ASCII Binary andShort 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 SE User Manual Rev 1 273 Lieiel ilelr nCommand Prompt Interface When the SPAN system turns on no activity information is transmitted from the serial ports except for the port prompt A terminal connected to the receiver display a messages on its monitor For example COM1 if connected to COMI port The COM port can be COM1 COM2 COM3 COM4 USB1 or ETH1 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 to an input command is the SETIMUTOANTOFFSET command It can be entered as follows COM2 setimutoantoffset 0 1 0 1 0 1 Return lt OK COM2 The above example illustrates command input to the receiver COM2 serial port which sets the antenna to IMU offset However your only confirmation that the command was actually
167. e Double 8 H 8 4 ECEF Y coordinate Double 8 H 16 5 Z ECEF Z coordinate Double 8 H 24 6 Cov ECEF covariance matrix a 3 x 3 Double 9 72 H 32 array of length 9 7 XXXX 32 bit CRC ASCII Binary and Shor 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 SPAN SE User Manual Rev 1 213 Appendix C Data Logs C 4 26 INSPVA_ INS Position Velocity and Attitude This log allows INS position velocity and attitude to be collected in one log instead of using three separate logs The attitude is of the SPAN computation frame by default See the INSATT log on Page 206 for an explanation of how the SPAN frame may differ from the IMU enclosure frame The attitude can be output in the vehicle frame as well See the APPLY VEHICLEBODYROTATION command on Page 90 Structure Message ID 507 Log Type Synch Binary Binary Bytes Offset Field Field Type Description Format Log Header Log header 2 Week GPS Week Ulong 4 H 3 Seconds S
168. e as these conditions are considered to be fatal errors The log contains a variable number of status words to allow for maximum flexibility and future expansion The receiver gives the user the ability to determine the importance of the status bits In the case of the Receiver Status setting a bit in the priority mask causes the condition to trigger an error This causes the receiver to idle all channels turn off the antenna and disable the RF hardware the same as if a bit in the Receiver Error word is set Receiver errors automatically generate event messages These event messages are output in RXSTATUSEVENT logs It is also possible to have status conditions trigger event messages to be generated by the receiver This is done by setting clearing the appropriate bits in the event set clear masks The set mask tells the receiver to generate an event message when the bit becomes set Likewise the clear mask causes messages to be generated when a bit is cleared If you wish to disable all these messages without changing the bits simply UNLOG the RXSTATUSEVENT logs on the appropriate ports See also the UNLOG command on Page 151 lt 1 Field 4 the receiver status word as represented in Table 66 is also in Field 8 of the header See the ASCI Example below and Table 66 on Page 259 for clarification 2 Many OEMV status bits have been redefined to match SPAN receiver hardware Some bits such as model temperature position solution are map
169. e eee eee 61 A 2 Inertial Measurement Units Me 69 AG251 UN 200 ME eet beten din Ae ciate anh tees 69 A2 2iIMU F SAS ite doctrine aia Gite aed A Soa GLA ate els 74 A253 FGA LOO IMU eet A E A AT 83 B Commands 86 Fake wu Ile DEE 86 B 2 Using a Command asa Log j sici s aia i ae ied en eee 86 EENEG 87 B 3 1 DIR Show Directory irena eevee ee vive parece 88 B 3 2 CD Change Directoryn de dese cece oooh cenit ea de 88 B 3 3 FORMAT Format storage mecdhum eecececeeeeeeeneeeeeeeeeeeteeeeeaeeeeeeeaeeteeeteatens 88 B 3 4 MKDIR Make Directory e cecesccceeeeeceeesceeeeesceneneceeseeneneneaeesnenenseseesensenenenees 88 B 3 5 RMDIR Remove Direchonm 88 B 3 6 PWD Present Working Directory A 89 E ETP TEE 89 DA SPAN SE Command Heierence A 89 B 4 1 APPLYVEHICLEBODYROTATION Enable vehicle to body rotation 90 B 4 2 ASSIGNLBAND Set L band satellite communication parameters ss 122 91 B 4 3 COM Port Configuration Control 94 B 4 4 COMCONTROL Control the RS232 hardware control lines ccceseeeeeeees 97 B 4 5 COMVOUT Turn power to the ports on OF ot 100 B 4 6 EVENTINCONTROL Control mark input properties eeeeeeeeeeeeteeeeeeeeteees 101 B 4 7 EVENTOUTCONTROL Control PPS signal properties eceeeeeeeeeeeeeeees 102 B 4 8 FORMAT Format the SD Card 00 0 eeceeecceeeeeeeeeeneeceeeeeeeseeeeeaeeeeeeseaeeseeeeeaeesaees 103 B49 FRESET Eat Fegg t sc scat cccstecs n
170. e header header 2 port See Table 18 COM Serial Port Port to which log is Enum 4 H Identifiers on Page 95 being sent default THISPORT 3 message Any valid message ID Message ID of log to UShort 2 H 4 output 4 message Bits 0 4 Reserved Message type of log Char 1 H 6 type Bits 5 6 Format 00 Binary 01 ASCII 10 Abbreviated ASCII NMEA 11 Reserved Bit 7 Response Bit 0 Original Message 1 Response Message 5 Reserved Char 1 H 7 SPAN SE User Manual Rev 1 151 Appendix B Commands Field ASCII Binary Binary Binary Binary Hele Type Value Value Description Format Bytes Offset 1 UNLOG This field contains the H 0 ASCII command name or the header message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 port See Table 18 COM Serial Port Port to which log isbeing Enum 4 H Identifiers on Page 95 sent default THISPORT 3 message Message Name N A Message Name of log to ULong 4 H 4 be disabled 152 SPAN SE User Manual Rev 1 Commandes Appendix B B 4 40 UNLOGALL Remove all logs from logging control If port is specified this command disables all logs on the specified port only All other ports are unaffected If port is not specified this command defaults to the ALL_PORTS setting Abbreviated ASCII Syntax Message ID 38 UNLOGALL port Abbreviated ASCII Example UNLOGALL COM
171. e status is set to WARNING since it may not be 100 accurate When a valid almanac is available the receiver uses the real parameters Then UTC time is then set to VALID It takes a minimum of 12 5 minutes to collect a complete almanac following receiver boot up If an almanac was stored in NVM the stored values are reported in the GPALM log once time is set on the receiver lt To obtain copies of ICD GPS 200 seen in the GPALM table footnotes refer to ARINC in the Standards and References section of GNSS A Reference Guide available on our website Refer also to NMEA contact information there Message ID 217 Log Type Asynch Recommended Input log gpalm onchanged Example SGPALM 28 01 01 1337 00 305a 90 1b9d fd5b al0ce9 ba0adSe 2 48 1 cccb76 006 001 27 SGPALM 28 02 02 1337 00 4aa6 90 0720 d50 al0c5a 4dc146 d89bab 0790b6 Zei 000 70 SGPALM 28 24 26 1337 00 878c 90 1d32 fd5c al0c90 ldb6b6 2eb7 5 ce95c8 00d 000 23 SGPALM 28 25 27 1337 00 9cde 90 07 2 d54 al0da5 adc097 562da3 6488dd 00e 000 2F SGPALM 28 26 28 1337 00 5509 90 Ob7c d59 al0cc4 ald262 83e2c0 3003bd 02d 000 78 SGPALM 28 27 29 1337 00 47 7 90 1620 d58 al0ce0 d40a0b 2d570e 221641 122 006 7D SGPALM 28 28 30 1337 00 4490 90 0112 fd4a al0ccl 33d10a 81dfc5 3bdb0f 178 004 28 SPAN SE User Manual Rev 1 189 Appendix C Data Logs Field Structure
172. e the mode but note that the command must be followed by a receiver reset through the RESET command or cycling the power See Page 132 and Page 122 respectively lt The Ethernet protocol setting is permanent The receiver will stay configured as either TCP or UDP until the SETETHPROTOCOL and RESET commands are entered to change the setting again SPAN SE User Manual Rev 1 59 Chapter 3 SPAN SE Operation 3 11 2 Configuring the Ethernet Connection Settings Use the IFCONFIG command see Page 107 to set the static IP Address the subnet mask and the gateway An example of the IFCONFIG command is IFCONFIG 10 1 100 25 255 255 255 0 10 1 100 1 3 11 3 Configuring Log Requests Destined for the Ethernet Port The COM port identifier for the Ethernet port is ETH1 in ASCII or 20 in binary A sample log request for the Ethernet port is Ia LA LOG ETH1 RANGECMPB ONT IM 3 11 4 Connecting to the Ethernet Port If the port is configured in TCP mode only one connection to the receiver is allowed at a time Data automatically streams to the IP address that connects to the port Because UDP is a connectionless protocol multiple end points could communicate with the port at one time from multiple IP addresses Data streams to the last IP Address to communicate with the receiver For details on the FTP functionality of the Ethernet port see the FTP DOS command on Page 89 To connect the SPAN SE directly to your PC Ethernet p
173. eader This field contains the H 0 command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively Description Field 2 IPProtocol UDP 0 User Datagram Protocol Enum 4 H TCP 1 Transport Control Protocol default Abbreviated ASCII Example SETETHPROTOCOL UDP RESET 132 SPAN SE User Manual Rev 1 Commandes Appendix B B 4 28 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 4 3 3 Manual Alignment on Page 46 WARNING Ensure that all windows other than the Console are closed in CDU and then use the SAVECONFIG command to save settings in NVM Otherwise unnecessary data logging occurs and may overload your system This orientation command serves to transform the inc
174. eceiver automatically accumulates the wheel sensor pulses calculates a distance travelled and applies the constraint information in the SPAN GNSS INS filter To connect your wheel sensor to the SPAN SE event input line connect Signal A from the wheel sensor to one of the event input lines available on the I O 2 yellow cable see I O 2 Yellow Cable on Page 67 The event input line must be configured for wheel sensor input and the size of the wheel and the number of ticks per revolution must be set using the SETWHEELPARAMETERS command For example if you have your wheel sensor connected to event input 2 with a 2 m circumference wheel and 2000 pulses per revolution the configuration command would be SETWHEELPARAMETERS MARK2 POSITIVE 2000 2 0 0 001 3 5 2 Wheel Sensor Updates using the ilMU FSAS IMU The FSAS IMU also has a wheel sensor input that can be directly attached to the output of the wheel sensor You can use iMAR s iMWS or another wheel sensor that meets the iIMU FSAS requirements see http Avww imar navigation de englishside imar htm for details An optical encoder style wheel sensor such as the Corrsys Datron wheel pulse transducer can also be used Information about cabling requirements for wheel sensor input to the FSAS wheel sensor interface is available in iMU FSAS Odometer Cabling on Page 79 The size of the wheel and the number of ticks per revolution must also be set using the SETWHEELPAR
175. ecent North East and Up velocity vector values with respect to the local level frame and also includes an INS status indicator Structure Message ID 267 Log Type Synch Binary Bytes Binary Offset Field Field Type Data Description Format Log Header Log header Week GPS Week Ulong H Seconds into Week Seconds from week start Double H 4 North Velocity Velocity North in m s Double H 12 East Velocity Velocity East in m s Double Up Velocity Velocity Up in m s Status INS status see Table 5 on Page 43 Enum H 36 XXXX 32 bit CRC ASCII Binary and Short Hex 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 220 SPAN SE User Manual Rev 1 Data Logs Appendix C C 4 32 INSVELS Short INS Velocity This is a short header version of the INSVEL log on Page 220 Structure Message ID 324 Log Type Synch Binary Binary Field Field Type Data Description Format Bytes Offset 1 Log Header Log header H 0 2 Week GPS Week Ulong 4 H 3 Seconds into Week Seconds from week start Double 8 H 4 4 North Velocity Velocity North m s Double 8 H 12 5 East Velocity Velocity East m s Double 8 H 20 6 Up Vel
176. econds from week start Double 8 H 4 4 Latitude Latitude WGS84 Double 8 H 12 5 Longitude Longitude WGS84 Double 8 6 Height Ellipsoidal Height WGS84 Double 8 H 28 7 North Velocity Velocity in a northaly direction a ve Double 8 H 36 value implies a southerly direction 8 East Velocity Velocity in aneasterly 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 43 Enum 4 H 84 14 XXXX 32 bit CRC Hex 4 H 88 15 CR LF Sentence Terminator ASCII only Recommended Input log inspvaa ontime 1 ASCII Example INSPVAA COM1 0 31 0 FINESTEERING 1264 144088 000 00040000 5615 1541 1264 144088 002284950 51 116827527 114 037738908 401 191547167 354 846489850 108 429407241 10 837482850 1 116219952 3 476059035 7 372686190 INS_ALIGNMENT_COMPLETE af719 d9 214 SPAN SE User Manual Rev 1 Data Logs Appendix C C 4 27 INSPVAS Short INS Position Velocity and Attitude This log allows INS position velocity and attitude to be collected in one log instead of using three separate logs The attitude is of the SPAN computation
177. ed by a mark event for example MARK1IPVA MARKITIME have the estimated GPS time of the mark event in their header In the header of polled logs for example LOGLIST PORTSTATS VERSION is the approximate GPS time when their data was generated However when asynchronous logs are triggered ONTIME the time stamp will represent the time the log was generated not the time of validity given in the data SPAN SE User Manual Rev 1 165 Appendix C Data Logs C 1 5 Log Type Examples For polled logs the receiver only supports an offset that is e smaller than the logging period e an integer The following are valid examples for a polled log LOG COMCONFIG ONTIME 2 1 LOG PORTSTATS ONTIME 4 2 LOG VERSION ONCE For polled logs the following examples are invalid LOG COMCONFIG ONTIME 1 2 offset is larger than the logging period LOG COMCONFIG ONTIME 4 1 5 offset is not an integer For synchronous and asynchronous logs the receiver supports any offset that is e smaller than the logging period e a multiple of the minimum logging period For example if the receiver supports 20 Hz logging the mnimum logging period is 1 20 Hz or 0 05 s The following are valid examples for a synchronous or asynchronous log on a receiver that can log at rates up to 20 Hz LOG PSRPOS 0 05 20 Hz LOG PSRPOS 0 1 10 Hz LOG PSRPOS 0 1 0 05 LOG PSRPOS ONTIME 1 1 Hz LOG PSRPOS ONTIME 1 0 1 LOG PSRPOS ONTIME 1 0 90 LOG AVEPOS ONTIME 1 0 95
178. ed the event Enum 4 H message see Table 70 above 3 bit position Location of the bit in the status word see Ulong 4 H 4 Table 66 starting on Page 259 for the receiver status table or the auxiliary status tables on Page 261 4 event Event type see Table 71 above Enum 4 H 8 3 description This is a text description of the event or error Char 32 32 H 12 5 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 44 6 CR LF Sentence terminator ASCH only 264 SPAN SE User Manual Rev 1 Data Logs Appendix C C 4 49 SPANVALIDMODELS Valid Model Information This log gives a list of valid authorized models available and expiry date information Use the SPANVALIDMODELS log to output a list of available models for the receiver You can use the SPANAUTH command see Page 148 to add a model See the VERSION log on Page 270 for the currently active model If a model has no expiry date it reports the year month and day fields as 0 0 and 0 respectively 1089 Polled Message ID Log Type Recommended Input log validmodelsa once ASCII Example SPANVALIDMODELSA COM1 0 99 0 UNKNOWN 0 74 876 404c0020 0000 155 1 SI 0 0 0 558ae6ab i A SES Binary Binary Field Field type Data Description Format Bytes Offset 1 SPANVALID Log header H 0 MODELS header 2 mod Number of models with infomation to Ulong 4 H follow 3 model Model name String V
179. een NovAtel RTK and OmniSTAR HP XP 11 NONE 4 Disables all the DGPS and OMNISTAR types 12 Reserved 13 RTCMV3 RTCM Version 3 0 ID 0 lt RTCMV3 ID lt 4095 or ANY PONS 120 Disables L band Virtual Base Stations VBS Available only with the RTKSOURCE command see Page 125 ID parameter is ignored All PSRDIFFSOURCE entries fall back to SBAS even NONE for backwards compatibility SPAN SE User Manual Rev 1 Commandes Appendix B ASCII Binary Description Binary Binary Binary Value Value p Format Bytes Offset 1 PSRDIFFSOURCE This field contains the H 0 header command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 type See Table 26 on ID Type All type may revert to Enum 4 H Page 120 SBAS if enabled or SINGLE position types See also Table 38 Position or Velocity Type on Page 171 l 3 ID Char 5 or ANY ID string Char 5 g2 H 4 1 If you choose ANY the receiver ignores the ID string Specify a Type when you are using base station IDs 2 Inthe binary log case an additional 3 bytes of padding are added to maintain 4 byte alignment SPAN SE User Manual Rev 1 121 Appendix B Commands B 4 19 RESET Perform a hardware reset This command performs a hardware reset Following a RESET command the receiver initiates a cold start boot up Therefo
180. een the receiver and IMU is connected properly The cable should be connected to the port on the SPAN SE c Ifthe cable is connected properly and you still hear no sound from the IMU check the flex cable mounted on top of the IMU Refer to the instructions in this manual on proper IMU installation to ensure that the cable is seated properly on the IMU pins d Check the input power supply A minimum of 12V should be supplied to the system for stable IMU performance The supply should also be able to output at least 12W over the entire operating temperature range 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 the SETIMUTYUPE command to specify the type of IMU used see Page 137 5 Why don t I have any INS logs a On start up the INS logs are not available until the system has solved for time This requires that an antenna is attached and satellites are visible to the system You can verify that time is solved by checking the time status in the header of any standard header SPAN log such as BESTPOS When the time status reaches FINESTEERING the inertial filter starts and INS messages are available b Check that the system has been configured properly See question 3 above 6 How canl access the inertial solution The INS GNSS solution is available from a number of specific logs dedicated to the inertial filter The INSPOS IN
181. eeseeeeeseeneseneeseseesesenseneseneeenanes 34 3 1 2 The SPAN Computation Frame 34 3 123 The Enclosure Framesi opes takes aeara veined dE Aran ae atid eae acetal 35 3 14 The Vehicle Frame wis sceteael deed a eee eee desl lead 35 3 2 Communicating with the SPAN Gvstem 36 3 2 1 INS Window in CDU eee nals E ETE E TEREN ER 38 3 3 Software ue H le 39 33 1 GNSS Configuration isso certs eee aed eieis avatesndivee ciel eds E ect oes delt Seas 39 3 3 2 SPAN IMU Configuration sissano eine eaae Kaaa eaa o E einas 40 3 4 Real Time Operation eeececceesceseseeeseeeseeseaeeseeeeeaeesseeseaeseaeessaeeeaeesseeseaeeeeesaeseaeeeeeeteaees 43 3 4 1 Configuration for Alonment 44 3 4 2 INS Configuration Command SUMMALY eceeeeeceeteeeeeeeeneeteeeteeeteaeeeaeeseeeeeetens 44 3 4 3 System Start Up and Alignment Technoues 44 3 4 4 Navigation Modis dee eer ah ace dete ne agains 46 3 4 5 Data Collection istin iae Ehe 46 3 4 6 Lever Arm Calibration Routine cccscccceeeeeeeeeeeeeeneeeeeeeeeeeaeeeseneeessneeessneeeseaes 47 3 4 7 Vehicle to SPAN frame Angular Offsets Calibration Routine ssssseeseeeeeeeeee 48 3 5 SPAN Wheel Sensor Configuration ccecceeeceseeeeeneeeeeeeeeeeseeeseaeeeeeseaeeeeeteaeeeeeeenaeeed 49 3 5 1 Wheel Sensor Updates Using the Event Input Lines 49 3 5 2 Wheel Sensor Updates using the iIMU FSAS IMU ce eeeeeeeeeeeeeeeeteeeeeeeeeneeees 50 3 5 3 Wheel Sensor Updates using the WHEELVELOCITY Com
182. efault ON 7 bps Bits per second or baud rate Ulong 4 H 20 8 parity N 0 No parity default Enum 4 H 24 E 1 Even parity O 2 Odd parity 9 data bits 7or8 Number of data bits 7 or 8 default Ulong 4 H 28 10 stop bits lor2 Number of stop bits 1 default or 2 Ulong H 32 11 handshaking N 0 No handshaking default Enum 4 H 36 XON 1 XON XOFF software handshaking CTS 2 CTS RTS hardware handshaking 12 echo OFF 0 No echo default Enum 4 H 40 ON 1 Transmit any input characters as they are received 13 break OFF 0 Disable break detection Enum 4 H 44 ON 1 Enable break detection default SPAN SE User Manual Rev 1 105 Appendix B 106 Commands Abbreviated ASCII Example GNSSCARDCONFIG CARD1 COMI RTCA NOVATEL ON 57600 N 8 1 N OFF ON Table 24 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 OMNISTAR The port accepts generates OmniSTAR corrections 6 7 Reserved 8 RTCMNOCR RTCM with no CR LF appended 9 CDGPS The port accepts GPS C data 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 ente
183. egative polarity and falling for positive polarity The time length of this period is specified in nanoseconds ns Not Active Period Width The not active period immediately follows the active period The width of this period is specified in ns SPAN SE User Manual Rev 1 57 Chapter 3 SPAN SE Operation Rules Governing Period Widths e The minimum period is 1000 ns The maximum period is 999 999 000 ns e Periods must be entered as a multiple of 25 ns that is 1000 1025 1050 1075 and so on e The sum of the active and not active periods must be a factor of 1 s That is K active not active 1 000 000 000 where K 1 2 3 500 000 e GPS Time PPS 3 3V DV J L J L 1Hz negative polarity 3 3V een OV 1Hz positive polarity 4 Active Non Active Period Active Period Width Period Width Width Figure 12 Event Out 3 10 2 Configuring an Input Strobe SPAN SE has four available input strobes The input strobes apply an accurate GPS time to the rising or falling edge of an input pulse called an event For each event an accurate position velocity or attitude solution is also available Each input strobe is usually associated with a separate device therefore different solution output lever arm offsets can be applied to each strobe Each input strobe can be configured using the EVENTINCONTROL command see Page 101 for the following parameters 1 Polarity When polarity is set to po
184. endix C lt On SPAN SE it is recommended the RANGE log be requested in binary only especially if high rates are desired An ASCII example is shown above for clarity and consistency Table 55 Tracking State State Description State Description 0 L1 Idle 7 L1 Frequency lock loop 1 L1 Sky search 8 L2 Idle 2 L1 Wide frequency band pull in 9 L2 P code alignment 3 L1 Narrow frequency band pull in 10 L2 Search 4 L1 Phase lock loop 11 L2 Phase lock loop 5 L1 Reacquisition 19 L2 Steering 6 L1 Steering Table 56 Correlator Type State Description 0 N A 1 Standard correlator spacing 1 chip 2 Narrow Correlator spacing lt 1 chip 3 Reserved 4 Pulse Aperture Correlator PAC 5 6 Reserved Table 57 Channel Tracking Example flag lag Reserved R AELE Automatic Primary L1 C A Grouped GPS PAC Locked Locked Channel 0 L1 Phase Lock Loop Bit 27 E Ei 21 20 19 i8 17 isf 7 3 Binary 1 folo of 1 fofolo oo 0 Code Phase Data Set er Hee Signal Type Grouping Serie ze Tee ren lock f Channel Number Tracking State R R 1 For a complete list of hexadecimal and binary equivalents please refer to the conversions section of GNSS A Reference Guide available on our website at http www novatel com support docupdates htm SPAN SE User Manual Rev 1 241 Appendix C Data
185. er month from due date To expedite payment by wire transfer to NovAtel Inc Bank HSBC Bank of Canada Bank HSBC Bank of Canada US Account 788889 002 407 8 Avenue S W CDN Account 788889 001 Calgary AB Canada T2P 1E5 EURO Account 788889 270 Transit 10029 016 Swift HKBCCATTCAL 3 DELI VERY Purchaser shall supply shipping instructions with each order Ship to and bill to address NovAtel Quotation Preferred carrier and account Custom broker freight forwarder including name and contact In the absence of specific instructions NovAtel may select a carrier and insure Products in transit and charge Purchaser accordingly NovAtel shall not be responsible for any failure to perform due to unforeseen circumstances or causes beyond its ability to reasonably control Risk of loss damage or destruction shall pass to Purchaser upon delivery to carrier Goods are provided solely for incorporation into the Purchaser s end product and shall not be onward delivered except as incorporated 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 informat
186. erter box Figure 27 Corrsys Datron WPT Figure 28 iMAR iMWS Pre Installed The WPT mounts to the wheel lug nuts via iMAR provides a sensor that operates with a adjustable mounting collets The torsion magnetic strip glued inside the rim of a non drive protection rod which maintains rotation wheel and a special detector 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 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 See also Section 3 5 SPAN Wheel Sensor Configuration starting on Page 49 The cable modification is shown in Table 14 below GJ Connect the female DB9 connector to the male ODO end of the iIMU FSAS interface cable 80 SPAN SE User Manual Rev 1 Technical Specifications Appendix A Table 14 Cable Modification for Corrsys Datron WPT 8 pin M12 Connector on the Corrsys Datron Cable P Pin Description Color Connector 1 GND White No change 2 Up Input Power Brown 3 Signal A Green 6 4 Signal A inverted Yellow 7
187. es faster GNSS signal reacquisition and RTK solution convergence The advantages of using SPAN technology are its ability to e Provide a full attitude solution roll pitch and azimuth e Provide continuous solution output in situations when a GNSS only solution is impossible e Provide faster signal reacquisition and RTK solution resolution over stand alone GNSS because of the tightly integrated GNSS and INS filters e Output high rate up to 100 or 200 Hz depending on your IMU model and other logging selections position velocity and attitude solutions for high dynamic applications e Use raw phase observation data to constrain INS solution drift even when too few satellites are available for a full GNSS solution 1 2 Models and Features 24 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 SE Compatible Receiver and IMU Models Model Name Max Output Rate Compatible IMUs SPAN SE Models IMU H58 100 Hz HG1700 AG58 SPAN SE RT2 G S I IMU H62 HG1700 AG62 SPAN SE RT2 S I IMU LN200 200 Hz LN 200 SPAN SE RT2 G S J 200 and 400 Hz models SPAN SE RT2 S J IMU FSAS EI 200 Hz iIMU FSAS SPAN SE RT2 G S J SPAN SE RT2 S J Each model is capable of multiple positioning modes of operation For a discussion on GNSS positioning please refer to the OEMV Family Installation and Operation User Manual SPAN S
188. espectively Real time operation notes e Inertial data does not start until time is set and therefore the SPAN system does not function unless a GNSS antenna is connected with a clear view of the sky e The Inertial solution is computed separately from the GNSS solution The GNSS solution is available from the SPAN system through the GNSS specific logs even without SPAN running The integrated INS GNSS solution is available through special INS logs documented in Appendix C of this manual s The INS GNSS solution is available at the maximum rate of output of the IMU 100 or 200 Hz Because of this high data rate a shorterheader format was created These shorter header logs are defined with an S RAWIMUSB rather than RAWIMUB We recommend you use these logs instead of the standard header logs to save throughput Status of the inertial solution can be monitored using the inertial status field in the INS logs Table 5 below 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 GNSS used to aid the INS is absent
189. ete or out of specification Products viii returned Products if the original identification marks have been removed or altered or ix Services or research activities 7 EXCLUSION OF LIABILITY If a Party would but for this paragraph 7 have concurrent claims in contract and tort including negligence such claims in tort including negligence shall to the extent permitted by law be wholly barred unenforceable and excluded NovAtel shall not be liable to the Buyer by way of indemnity or by reason of any breach of the Order or of statutory duty or by reason of tort including but not limited to negligence for any loss of profit loss of use loss of production loss of contracts or for any financing costs or for any indirect or consequential damage whatsoever that may be suffered by the Buyer In the event and to the extent that NovAtel shall have any liability to Buyer pursuant to the terms of the Order NovAtel shall be liable to Buyer only for those damages which have been foreseen or might have reasonably been foreseen on the date of effectivity of the Order and which are solely an immediate and direct result of any act or omission of NovAtel in performing the work or any portion thereof under the Order and which are not in the aggregate in excess of ten 10 percent of the total Order price SPAN SE User Manual Rev 1 15 Warranty Policy NovAtel Inc warrants that its Global Navigational Satellite Systems GNSS products are
190. f the SPAN system To run the SPAN system software your personal computer must meet or exceed this minimum configuration e Microsoft Windows user interface Windows 98 or higher e Pentium Microprocessor recommended e VGA Display e Windows compatible mouse or pointing device Although previous experience with Windows is not necessary to use the SPAN system software familiarity with certain actions that are customary in Windows will assist in the usage of the program This manual has been written with the expectation that you already have a basic familiarity with Windows SPAN SE User Manual Rev 1 21 Chapter 1 Introduction NovAtel s SPAN technology brings together two very different but complementary positioning and navigation systems namely GNSS and an Inertial Navigation System INS By combining the best aspects of GNSS and INS into one system SPAN technology is able to offer a solution that is more accurate and reliable than either GNSS or INS alone could provide The combined GNSS INS solution has the advantage of the absolute accuracy available from GNSS and the continuity of INS through traditionally difficult GNSS conditions SPAN SE is the solution engine of NovAtel s leading edge SPAN technology It provides the user interface to SPAN and outputs raw measurement data or solution data over several communication protocols or to a removable SD Card Multiple GNSS synchronous strobes and event input lines offer easy integr
191. frame by default See the INSATT log on Page 206 for an explanation of how the SPAN frame may differ from the IMU enclosure frame The attitude can be output in the vehicle frame as well See the APPLY VEHICLEBODYROTATION command on Page 90 Structure Message ID 508 Log Type Synch Binary Binary Field Bytes Offset Format Field Type Description 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 43 Enum 4 H 84 14 XXXX 32 bit CRC Hex 4 H 88 15 CR LF Sentence Terminator ASCII only Recommended Input log inspvasa ontime 1 ASCII Example SINSPVASA 1264 144059 000 1264
192. free from defects in materials and workmanship subject to the conditions set forth below for the following time periods OEMV 3 Receivers including SPAN SE One 1 Year IMU Units return to manufacturer l One 1 Year Antennas One 1 Year Cables and Accessories Ninety 90 Days Computer Discs Ninety 90 Days Software Warranty One 1 Year Date of sale shall mean the date of the invoice to the original customer for the product NovAtel s responsibility respecting this warranty is solely to product replacement or product repair at an authorized NovAtel location only Determination of replacement or repair will be made by NovAtel personnel or by technical personnel expressly authorized by NovAtel for this purpose continued on Page 17 WARNING Only return an IMU to its manufacturer and not to NovAtel 1 Litton Northrop Grumman Litton Systems Inc Navigation Systems Division NSD 21240 Burbank Blvd Woodland Hills CA 91367 iMar iMAR GmbH Im Reihersbruch 3 D 66386 St Ingbert Germany Honeywell Honeywell International Inc 2600 Ridgway Parkway Ridgway is really not spelled with an e Minneapolis MN 55413 When returning a Litton or Honeywell IMU from outside the U S follow these steps a Include a copy of the original U S export permit with it b Send the unit to Litton or Honeywell with the following wording on the documentation Shipped in accordance with 22 CFR 123 4 a 1 using air transport and not
193. g data to a file on the SD Card Abbreviated ASCII Syntax Message ID 157 LOGFILE action device filename ASCII Binary Binary Binary Binary Description Format Bytes Offset Value Value 1 header This field contains the command H 0 name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 action Open 0 Open a file to log to it or close a Enum 4 H Close file 3 device Choose a mass storage device see Enum 4 H 4 Table 16 on Page 87 default SD 4 filename Filename where filenames havea Char 12 12 H 8 maximum 12 character limit default SPAN log where is the next number in the list starting at 0 Abbreviated ASCII Example LOGFILE OPEN SD SITE1 GPS SPAN SE User Manual Rev 1 117 Appendix B Commands B 4 17 NMEATALKER_ Set the NMEA Talker ID This command allows you to alter the behavior of the NMEA talker ID The talker is the first 2 characters after the sign in the log header of the GPGGA GPGLL GPGRS GPGSA GPGST GPGSV GPRMB GPRMC GPVTG and GPZDA log outputs The default GNSS NMEA message nmeatalker GP outputs GP as the talker ID regardless of the position 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
194. g the INSCOV log see Page 208 288 SPAN SE User Manual Rev 1 Divdefidelt v lienlacement 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 Part Description NovAtel Part Installation and Operation User Manual IMUs see Table 1 SPAN SE Compatible Receiver and IMU Models on Page 24 for details IMU H58 IMU H62 IMU LN200 IMU FSAS EI Receivers see Table 1 SPAN SE Compatible Receiver and IMU Models on Page 24 for details ProPak V3 SPAN SE ProPak V3 to LN 200 IMU interface cable see Figure 18 on Page 71 01017375 LN 200 power adapter cable see Figure 20 on Page 72 01017821 ProPak V3 to iIMU FAS IMU interface cable see Table 12 on Page 78 60723086 ProPak V3 to HG1700 IMU interface cable identical to LN 200 cable see Figure 18 on Page 71 01017384 SPAN SE I O 1 green multi connector cable 01018134 SPAN SE I O 2 yellow multi connector cable 01018133 SPAN SE power cable 01018135 OEMV CDU and Convert disk refer to Page 34 of this manual and to the OEMV Family 01017827 SPAN SE User Guide OM 20000124 SPAN Technology for OEMVUser 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 Descri
195. gation system INS uses forces and rotations measured by an IMU to calculate position velocity and atitude This capability is embedded in the firmware of SPAN capable receivers Forces are measured by accelerometers in three perpendicular axes within the IMU and the gyros measure angular rotation rates around those axes Over short periods of time inertial navigation gives very accurate position velocity and attitude output The INS must have prior knowledge of its initial position initial velocity initial attitude Earth rotation rate and gravity field Since the IMU measures changes in orientation and acceleration the INS determineschanges in position and attitude but initial values for these parameters must be provided from an external source Once these SPAN SE User Manual Rev 1 23 Chapter 1 Introduction parameters are known an INS is capable of providing an autonomous solution with no external inputs However because of errors in the IMU measurements that accumulate over time an inertial only solution degrades with time unless external updates such as position velocity or attitude are supplied The SPAN system s combined GNSS INS solution integrates the raw inertial measurements with all available GNSS information to provide the optimum solution possible in any situation By using the high accuracy GNSS solution the IMU errors can be modeled and mitigated Conversely the continuity and relative accuracy of the INS solution enabl
196. h as figure eights The turns should alternate between directions and you should make an equal number of turns in each direction Some height varia tion in the route is also useful for providing observability in the Z axis When the calibration is complete either because the specified time has passed or the accuracy requirement has been met the BESTLEVERARM log outputs the solved lever arm 8 Monitor the calibration log BESTLEVERARM see Page 177 using the ONCHANGED trigger The lever arm is saved automatically in non volatile memory If the IMU or GNSS antenna are re mounted the calibration routine should be re run to compute an accurate lever arm 3 4 7 Vehicle to SPAN frame Angular Offsets Calibration Routine 48 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 148 If the angular offset is more complex that is rotation is about 2 or 3 axis then the calibration routine provides a more accurate estimation of the values As with the lever arm calibration the vehicle to SPAN frame angular offset calibration requires RTK GNSS The steps for the calibration routine are 1 Apply power to the receiver and IMU see the IMU choices and their technical specifications starting on Page 61 2 Configure the RTK
197. harness and the partially assembled SPAN IMU from Section F 2 Install the LN 200 Sensor Unit on Page 284 Now follow these steps 1 Attach the LN 200 wire harness to the mating camector on the LN 200 Check that the connector is fully seated see Figure 45 on Page 285 Figure 45 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 46 Ensure that the connector is locked in place Figure 46 Attach Samtec Connector SPAN SE User Manual Rev 1 285 Appendix F LN 200 IMU Installation EA Re Assemble the SPAN IMU Enclosure Use an allan key to align the long bolts with the threaded holes in the base see Figure 42 on Page 283 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 47 below Figure 47 LN 200 SPAN IMU 286 SPAN SE User Manual Rev 1 hie aem Frequently Asked Questions 1 How do I know if my hardware is connected properly When powered the HG1700 IMU will make a noticeable humming sound 2 Idon t hear any sound from my IMU Why a The LN 200 and iIMU FSAS do not make noise Check that the IMU interface cable is connected to the IMU DB9 on the yellow SPAN SE cable port on the SPAN SE b When powered the HG 1700 IMUs makes a noticeable humming sound If no sound is heard check that the cable betw
198. he VEHICLEBODYROTATION log see Page 269 is overwritten with the solved values To monitor the progress of the calibration log VEHICLEBODYROTATION using the ONCHANGED trigger The rotation parameters are saved in NVM for use on start up in case a kinematic alignment is required Each time the IMU is re mounted this calibration should be performed again See also Sections 3 4 3 1 and 3 4 3 2 starting on Page 45 for details on coarse and kinematic alignment WARNING After the RVBCALIBRATE ENABLE command is entered there are no vehicle body rotation parameters present and a kinematic alignment is NOT possible Therefore this command should only be entered after the system has performed either a static or kinematic alignment and has a valid INS solution lt The solved rotation values are used only for a rough estimate of the angular offsets between the IMU and vehicle frames The offsets are used when aligning the system while in motion see Section 3 4 1 Configuration for Alignment starting on Page 44 The angular offset values are not applied to the attitude output unless the APPLY VEHICLEBODYROTATION command is enabled see Page 90 3 5 SPAN Wheel Sensor Configuration The SPAN SE receiver supports various wheel sensor inputs A wheel sensor can be used to measure the distance travelled by counting the number of revolutions of a ground vehicle wheel Typical wheel sensor hardware outputs a variable frequency pulse that varies linearly w
199. he 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 148 If the IMU is mounted coincidentally with the vehicle frame defined as z up and y pointing in the direction of travel then the command would be VEHICLEBODYROTATION 0 0 0 Alternatively solve the vehicle to IMU frame angular offsets using the RVBCALIBRATE routine See also Section 3 4 7 Vehicle to SPAN frame Angular Offsets Calibration Routine starting on Page 48 SPAN SE User Manual Rev 1 45 Chapter 3 SPAN SE Operation The kinematic alignment begins when the receiver has a good GNSS position fine time is solved the configuration parameters have been set and a GNSS velocity of at least 1 15 4 km h m s is observed During kinematic alignment keep the vehicle roll at less then 10 Straight line driving is best The accuracy of the initial attitude of the system following the kinematic alignment varies and depends on the dynamics of the vehicle and the accuracy of the RVB estimates The attitude accuracy will converge to within specifications once some motion is observed by the system This transition can be observed by monitoring the INS Status field in the INS logs 3 4 3 3 Manual Alignment Manually enter the attitude information using the SETINITATTIT
200. he 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 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 2 Description of ASCII and Binary Logs with Short Headers on Page 167 2 The BESTPOS position log can be logged at rates up to 20 Hz directly from the OEMV port but is available at 1 Hz or 5 Hz from any SPAN SE port Other GNSS logs RANGE PSRPOS and so on can be logged up to 20 Hz from the SPAN ports The BESTGPSPOS log is available from SPAN SE only at 1 Hz or 5 Hz 3 Table 5 Inertial Solution Status on Page 43 shows the status values included in the INS position velocity and attitude output logs If you think you have an IMU unit hooked up properly your GNSS time status is FINESTEERING as shown in the log headers and you are not getting a good status value something is wrong and the hardware setup must be checked out Check the IMU status word in the RAWIMU or RAWIMUS log and verify that the times in the RAWIMU or RAWIMUs logs are changing over time Please also refer to the OEMV Family
201. his is only used in logs containing satellite data such as ephemeris and almanac 1 See also Section C 1 4 Message Time Stamps on Page 165 There are several distinct states that the receiver goes through s UNKNOWN e COARSE s FREEWHEELING s FINE e FINESTEERING On start up and before any satellites are being tracked the receiver can not possibly know the current time As such the receiver time starts counting at GPS week 0 and second 0 0 The time status flag is set to UNKNOWN After the first ephemeris is decoded the receiver time is set to a resolution of 10 milliseconds This state is qualified by the COARSE or COARSESTEERING time status flag depending on the state of the CLOCKADJUST switch 164 SPAN SE User Manual Rev 1 Data Logs Appendix C Once a position is known and range biases are being calculated the internal clock model begins modelling the position range biases and the receiver clock offset Modelling continues until the model is a good estimation of the actual receiver clock behavior At this time the receiver time will adjusts again this time to an accuracy of 1 microsecond This state is qualified by the FINE time status flag If for some reason position is lost and the range bias cannot be calculated the time status degrades to FREEWHEELING C 1 4 Message Time Stamps NovAtel format messages generated by the OEMV family receivers have a GPS time stamp in their header GPS time is
202. iSTAR for subscription support All other status values are updated by collecting the OmniSTAR data for 20 35 minutes SPAN SE User Manual Rev 1 Appendix C Field A ee Binary Field Type Data Description Format Offset 1 LBANDSTAT Log header 0 header 2 freq Measured frequency of L band signal Hz Ulong H 3 C No Carrier to noise density ratio Float H 4 C No 10 log19 S No dB Hz 4 locktime Number of seconds of continuous tracking no cycle Float H 8 slipping 5 Reserved Float H 12 6 tracking Tracking status of L band signal see Table 50 on Hex H 16 Page 225 7 VBS status Status word for OmniSTAR VBS see Table 51 on Hex H 18 Page 226 8 bytes Number of bytes fed to the standard process Ulong H 20 9 good dgps Number of standard updates Ulong H 24 10 bad data Number of missing standard updates Ulong H 28 11 Reserved the hp status 1 field is obsolete and has been replaced by the Hex H 32 longer OmniSTAR HP Status field The shorter legacy status here is maintained for backward compatibility 12 hp status 2 Additional status pertaining to the HP or XP process Hex H 34 see Table 52 on Page 227 13 bytes hp Number of bytes fed to the HP or XP process Ulong H 36 14 hp status Status from the HP or XP process see Table 53 on Hex H 40 Page 228 15 Reserved Hex H 44 16 XXXX 32 bit CRC ASCII and Binary only Hex H 48 17 CR LF Sentence terminator ASCII only
203. iated ASCII NMEA 11 Reserved Bit 7 Response Bit 0 Original Message 1 Response Message 6 reserved Char 31 H 11 7 trigger 0 ONNEW Enum 4 H 14 1 ONCHANGED 2 ONTIME 3 ONNEXT 4 ONCE 8 period Log period for ONTIME Double 8 H 18 9 offset Offset for period ONTIME trigger Double 8 H 26 10 hold 0 NOHOLD Enum 4 H 34 1 HOLD 11 Next log offset H 4 logs x 34 variable xxxx 32 bit CRC Hex 4 H 4 logs x 34 1 Inthe binary log case an additional 2 bytes of padding are added to maintain 4 byte alignment SPAN SE User Manual Rev 1 231 Appendix C 232 Data Logs Field Field type Data Description Format 1 LOGLIST Log header ASCII header 2 port Number of messages to follow maximum 20 Long 3 port Output port see Table 18 COM Serial Port Identifiers on Page Enum 95 4 message Message name of log with no suffix for abbreviated ascii an A Char suffix for ascii and a B suffix for binary 5 trigger ONNEW Enum ONCHANGED ONTIME ONNEXT ONCE 6 period Log period for ONTIME Double 7 offset Offset for period ONTIME trigger Double 8 hold NOHOLD Enum HOLD 9 Next port variable XXXX 32 bit CRC Hex variable CR LF Sentence terminator SPAN SE User Manual Rev 1 Data Logs Appendix C C 4 36 MAC MAC Address This log displays the SPAN SE s Media Access Control MAC address See also Section 3 11 SPAN
204. iated 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 themessage header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 Switch 0 0 IMU determines axis ENUM 4 H orientation automatically during coarse alignment default 1 1 IMU X axis is pointing UP 2 2 IMU X axis is pointingDOWN 3 3 IMU Y axis is pointing UP 4 4 IMU Y axis is pointingDOWN 5 5 IMU Z axis is pointing UP 6 6 IMU Z axis is pointing DOWN Abbreviated ASCII Example SETIMUORIENTATION 1 134 SPAN SE User Manual Rev 1 Commandes Appendix B Table 29 Full Mapping Definitions Ee SPAN Frame y IMU Enclosure IMU Enclosure Mapping Axes SEAN Frame Frame Axes Frame 1 X Z Y X Y Z Y H Z X x Y S x Z Z Y Y Y H x Y Z x X 3 X E Zz Y Y X Y x Z x Y Zz 4 X z X z Y Z z Y Y Z x Y S x Zz X z default Y Y Y Y Z X Z X g X Z Y X Y X Y H Y Z X Z SPAN SE User Manual Rev 1 135 Appendix B Commands B 4 29 SETIMUTOANTOFFSET Set IMU to antenna offset 136 It is recommended that you mount the IMU as close as possible to the GNSS antenna particularly in the horizontal plane This command is used to enter the offset between the IMU and the GNSS antenna The measurement
205. ibration 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 136 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 61 2 Configure the RTK corrections and make sure that the BESTGPSPOS log see Page 171 reports a good RTK solution 3 Configure the IMU see Section 3 3 2 SPAN IMU Configuration starting on Page 40 4 Enter the initial estimate for the lever arm using the SETIMUTOANTOFFSET command see Page 1306 5 Specify the limits of the calibration through the LEVERARMCALIBRATE command see Page 110 The calibration can be limited by time or accuracy of the lever arm It is recommended that the calibration is limited by a minimum of 300 seconds 6 Remain stationary long enough for the coarse alignment to finish The alignment is complete when the INS status changes to INS ALIGNMENT COMPLETE see Table 5 on Page 43 SPAN SE User Manual Rev 1 47 Chapter 3 SPAN SE Operation Another indication that the alignment is complete is the availability of INSCOV log on Page 208 7 Start to move the system The lever arm is not observable while the system is stationary Immedi ately drive a series of manoeuvres suc
206. ies en les ide roAa eE Ae AAAA A a ee na Siionin 104 B 4 10 GNSSCARDCONFIG GNSS port configuration ceeeeeeeeeeeeeeeteeeeeeeees 105 B 4 11 IFCONFIG Set IP information oo ccc eeceecceeeeeeeeeeeneeceeeeeeeeseeseaeeeeeseaeeeeesneeens 107 SPAN SE User Manual Rev 1 B 4 12 INSCOMMAND INS Control commande 108 B 4 13 INSZUPT Request Zero Velocity Update 0 eeceeeeeeeeeeeeeeeeeeeeneesteeeeeeeeaees 109 B 4 14 LEVERARMCALIBRATE INS Calibration Commande 110 B 4 15 LOG Request logs from the receiver eeeeeseeeeeeeeeeeeeeneeceeeeeaeeeeeseaeeeaeetaes 112 B 4 16 LOGFILE Log Data to a File on the SD Card 0 0 ee eeeeeeeeeneeeeeeeeeeeseeeeeeeaes 117 B 4 17 NMEATALKER Set the NMEA Talker ID 118 B 4 18 PSRDIFFSOURCE Set the pseudorange correction source 119 B 4 19 RESET Perform a hardware rose 122 B 4 20 RTKCOMMAND Reset or set the RTK filter to its defaults eeeeeeeeees 123 B 4 21 RTKDYNAMICS Ger the RTK dynamics mode 124 B 4 22 RTKSOURCE Set the RTK Correction source 125 B 4 23 RVBCALIBRATE Vehicle to Body Rotation Control 127 B 4 24 SAVECONFIG Save current configuration in NVM A 128 B 4 25 SBASCONTROL Set SBAS test mode and PDPN AA 129 B 4 26 SETAUTOLOGGING Start SD Card Logging at Boot Up 131 B 4 27 SETETHPROTOCOL Set Eth1 Protocol cceceeeceeeeeeeeeeeeeeeeeeeeeeeeeeeeeeaes 132 B 4 28 SETIMUORIENTATION Set IMU Orientation cceeeeeeeeeeeeeeeeeteeteneeeereeeaes 133 B 4 29 SETIMUTOANTOFFSET Get IMU to antenna oitse
207. imum signal frequency for the count mode is 50 kHz When an input strobe is configured for COUNT mode the totals are available by logging the MARKxCOUNT logs see Page 234 For example the following givesthe total pulses on event strobe 1 every second LOG MARK1ICOUNTA ONNEW 3 11 SPAN SE Ethernet Connection The SPAN receiver has one 10 100 RJ 45 Ethernet port The device has a Media Access Control MAC address hard coded into flash and user configurable IP information There is one port available for Ethernet Port 3000 can be used for both Transmission Control Protocol TCP and User Datagram Protocol UDP traffic but not simultaneously SPAN SE uses a static IP address Dynamic Host Configuration Protocol DHCP is a protocol for automating the configuration of computers that use TCP IP There is no DHCP support at this time An FTP port is available for transfer of data files from the data logging SD Card The receiver is shipped with a default configuration as follows e Default IP 192 168 0 10 e Default mask 255 255 255 0 e Default Gateway 192 168 0 1 A unique MAC address is programmed into the receiver before it is shipped The MAC address is available to the user through the MAC log 3 11 1 Configuring for TCP or UDP Operation The SPAN SE Ethernet connection can be configured for either TCP or UDP The default configuration of the Ethernet port is for TCP operation The SETETHPROTOCOL command can be used to chang
208. input voltage out through Pin 4 of COM1 COM2 and COM4 lt Power is turned on through Pin 4 of COM1 COM2 and COM4 Ensure the connections are correct before issuing this command to prevent damage to the electronics Abbreviated ASCII Syntax Message ID 779 COMVOUT switch Field ASCII Binary Binary Binary Binary Format Bytes Offset 1 header This field contains the H 0 command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 switch 0 OFF The state of the output power Enum 4 H 1 ON lines Field Description Type Value Value Abbreviated ASCII Example COMVOUT ON SPAN SE User Manual Rev 1 Commandes Appendix B BAG EVENTINCONTROL_ Control mark input properties This command controls up to four Event In input triggers See also Section 3 10 Synchronizing External Equipment starting on Page 57 Abbreviated ASCII Syntax Message ID 614 EVENTINCONTROL mark event polarity t_bias t_guard Field ASCII Binary Binary Binary Description Type Value Format Bytes Offset 1 header This field contains the H 0 command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 mark MARK MARK MARK MARK4 3 event DISABLE EVENT Choose which Event In mark Enum 4 H to use Disables Event input Enum 4 H 4 FlOoO
209. inting up aligned with gravity y axis pointing north x axis pointing east Figure 7 Local Level Frame ENU 3 1 2 The SPAN Computation Frame The definition of the SPAN computation frame is as follows z axis pointing up aligned approximately with gravity 34 SPAN SE User Manual Rev 1 Chapter 3 SPAN SE Operation 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 29 on Page 135 This frame is also known as the computation frame and is the default frame that attitude is output in 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 computation frame This origin of this frame is not the enclosure center but the Center of Navigation sensor center vU IIIe 3 center or P S O NAVIGATION 7 A OFFSETS t 0 022 145 Figure 8 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 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 si
210. ion 3 9 5 Log a Pre Defined List of Logs on Page 55 Otherwise continue to Step 3 3 Select the location on the disk to store your data The default location is in the root directory but you can modify the directory structure using the following commands a To view the current working directory enter the PWD command COM1 pwd SD COM1 Now in the root directory b To make a directory enter the MKDIR command MKDIR SD TEST1 Create a directory called testl under the root c The DIRENT log lets you view the contentsof the current directory which now contains a TEST directory COM1 LOG DIRENT lt OK COM1 lt DIRENT COM1 0 99 0 FINESTEERING 1523 153428 656 00000000 0000 159 lt TEST1 0 0 20090316 183648 The DIR command can also be used at the command prompt to return a Disk Operating System DOS directory structure response d To change the directory enter the CD command CD SD TEST1 Change current working directory to new TESTI e To view the current working directory enter the PWD command COM1 PwD SD 54 SPAN SE User Manual Rev 1 SPAN SE Operation Chapter 3 TEST1 COM f To remove a directory use the RMDIR command CDA Change back to the root directory RMDIR SD TEST1 Remove the TESTI directory 3 9 3 Select Logs to Send to the SD Card Use the LOG command see Page 112 and its FILE designator to specify which logs to send to the SD Card For example a s
211. ion expressed or confirmed by NovAtel in writing to be confidential and shall not disclose it without NovAtel s prior consent in SPAN SE User Manual Rev 1 13 14 Terms and Conditions writing to any third party or use it other than for the operation and maintenance of any Equipment provided 5 GENERAL PROVISIONS All Purchase Orders are subject to approval and acceptance by NovAtel Any Purchase Order or other form from the Purchaser which purports to expand alter or amend these terms and conditions is expressly rejected and is and shall not become a part of any agreement between NovAtel and the Purchaser This agreement shall be interpreted under the laws of the Province of Alberta 6 LIMITED WARRANTY AND LIABILITY Warranty Period Products 1 year Accessories 90 days in each case from the date of invoice NovAtel warrants that during the Warranty Period that a the Product will be free from defects in material and workmanship and conform to NovAtel specifications b the software will be free from 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 INDIR
212. is that GPS time currently leads UTC time by 14 seconds GLONASS time applies leap seconds but is also three hours ahead to represent Moscow time The nominal offset between GPS and GLONASS time is therefore due to the three hour offset minus the leap second offset Currently this value is at 10787 seconds with GLONASS leading As well as the nominal offset there is a residual offset on the order of nanoseconds which must be estimated in the least squares adjustment The GLONASS M satellites broadcasts this difference in the navigation message This log also contains information from the GLONASS navigation data relating GLONASS time to UTC Message ID 719 Log Type Asynch Recommended Input log gloclocka onchanged ASCII Example GLOCLOCKA COM1 0 54 5 SATTIME 1364 411884 000 00000000 1d44 2310 0 0 000000000 0 000000000 0 0 0 000000275 792 0 000001207 0 000000000 0 000000000 0 437e9afaft SPAN SE User Manual Rev 1 Data Logs Appendix C dn Binary Field Field type Data Description Format Offset 1 GLOCLOCK Log header H 0 header 2 Reserved Ulong 4 H 3 Double 8 H 4 4 Double 8 H 12 5 sat type Satellite type where Uchar 1 H 20 0 GLO_SAT 1 GLO_SAT_M new M type 6 NI Four year interval number starting from 1996 Uchar 1 H 21 7 TGPS GPS time scale correction to UTC SU given at Double 8 H 24 beginning of day N in seconds 8 NA GLONASS calen
213. isabled at this point but command and log processing continues to allow you to diagnose the error Even if the source of the error is corrected at this point the receiver must be reset to resume normal operation lt See also the chapter on Built In Status Tests in the OEMV Family Installation and Operation User Manual Message ID 94 Log Type Asynch Recommended Input log rxstatuseventa onchanged ASCII Example 1 RXSTATUSEVENTA COM1 0 17 0 FREEWHEELING 1337 408334 510 00480000 b967 1984 STATUS 19 SET No Valid Position Calculated 6de945ad ASCII Example 2 RXSTATUSEVENTA COM1 0 41 0 FINESTEERING 1337 408832 031 01000400 b967 1984 STATUS 10 SET COM3 Transmit Buffer Overrun 5b5682a9 SPAN SE User Manual Rev 1 263 Appendix C Table 70 Status Word Data Logs Word binary Word ASCII Description 0 ERROR Receiver Error word see Table 65 on Page 257 1 STATUS Receiver Status word see Table 66 on Page 259 2 AUXI Auxiliary 1 Status word see Table 67 on Page 261 3 AUX2 Auxiliary 2 Status word see Table 68 on Page 261 4 AUX3 Auxiliary 3 Status word see Table 69 on Page 261 Table 71 Event Type Event binary Event ASCH Description 0 CLEAR Bit was cleared 1 SET Bit as set w S Gef Binary Fiel Data Description Form eld type ata Descriptio ormat Offset 1 RXSTATUSEVENT Log header H 0 header 2 word The status word that generat
214. ith speed If the pulses are accumulated and the size of the wheel known a displacement of the wheel over time can be calculated SPAN SE takes in a wheel sensor input and applies a displacement update to the GNSS INS Kalman filter in order to constrain the position error growth during GNSS outages SPAN also automatically calculates the exact size of the wheel to mitigate small changes in the size of the wheel due to hardware changes or environmental conditions Information on how the wheel sensor updates are being used is available in the INSUPDATE log see Page 218 Wheel sensor information can be input into the system using one of three separate methods 1 Directly connecting the wheel sensor to one of the event input lines available on the SPAN SE 2 Using the wheel sensor interface on the IMU FSAS IMU 3 Entering the WHEELVELOCITY commands see Page 156 through the user interface Specific details on the three methods of wheel sensor input are described below 3 5 1 Wheel Sensor Updates Using the Event Input Lines The event input lines in SPAN SE can be configured to accept a wheel sensor signal directly Any of SPAN SE User Manual Rev 1 49 Chapter 3 SPAN SE Operation the four available event input lines can be used but only one can be used at a time the system does not support multiple wheel sensors This method currently only supports A mode directionless and not A B directional mode of operation for the wheel sensor The r
215. k 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 156 SPAN SE User Manual Rev 1 Noel qemu Data Logs The INS specific logs follow the same general logging scheme as normal OEMV Family logs They are available in ASCII or binary formats and are defined as being either synchronous or asynchronous Information on both SPAN only and selected OEMV logs are contained in this appendix For information on other available logs and output logging please refer to the OEMV Family Firmware Reference Manual One difference from the standard OEMV Family logs is that there are two possible headers for the ASCII and binary versions of the logs Which header is used for a given log is described in the log definitions in this chapter The reason for having the alternate short headers is that the normal OEMV 3 binary header is quite long at 28 bytes This is nearly as long as the data portion of many of the INS logs and creates excess storage and baud rate requirements Note that the INS related logs contain a time tag within the data block in addition to the time tag in the header The time tag in the data block should be considered the exact time of applicability of t
216. l WwIN e o Captures a single asynchronous event with the input COUNT 2 Increments a counter with each input for a wheel sersor for example Period of count is from one 1PPS to the next PPS 4 polarity NEGATIVE 0 Negative polarity default Enum 4 H 8 POSITIVE 1 Positive polarity 5 t_bias If Field 3 is EVENT Long 4 H 12 Time bias in nanoseconds default 0 minimum 999 999 999 maximum 999 999 999 If Field 3 is COUNT This field is not used 6 t_guard If Field 3 is EVENT Ulong 4 H 16 Time guard in milliseconds default 4 minimum 4 maximum 3 599 999 If Field 3 is COUNT This field is not used Abbreviated ASCII Example EVENTINCONTROL MARK1 COUNT SPAN SE User Manual Rev 1 101 Appendix B Commands B 4 7 EVENTOUTCONTROL Control PPS signal properties This command controls up to three Event Out output triggers PPS signal properties See also Section 3 10 Synchronizing External Equipment starting on Page 57 lt The EVENTOUTCONTROL MARK1 ENABLE POSITIVE 10000000 240000000 command will generate a 4 Hz signal The signal is held high for 10 ms during each cycle and the leading edge of the high signal is aligned to the 1PPS Abbreviated ASCII Syntax Message ID 613 EVENTOUTCONTROL mark switch polarity active period non active period Field ASCII Binary ae Binary Binary Binary rieg Type Val
217. l 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 43 Enum 4 H 36 8 XXXX 32 bit CRC ASCII Binary and Short Hex 4 H 40 Binary only 9 CR LF Sentence terminator ASCII only 1 Axis of the SPAN computation frame If the APPLY VEHICLEBODYROTATION command has been invoked it will be the axis of the vehicle frame See Section 3 1 Definition of Reference Frames Within SPAN on Page 34 for frame definitions 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 206 SPAN SE User Manual Rev 1 Data Logs Appendix C C 4 20 INSATTS Short INS Attitude This is a short header version of the INSATT log on Page 206 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 clock
218. lace close the cover by moving the arrow latch to the right until it clicks in place 3 9 Logging Data to the SD Card 3 9 1 Insert the SD Card 1 Insert the card into the SD Card slot 2 Wait for the SD LED to turn solid green gt lt Large memory sized cards may take a few minutes to mount During this time the LED flashes green and orange Also if you request a DIR command the receiver generates an lt ERROR DISK Busy response SPAN SE User Manual Rev 1 53 Chapter 3 SPAN SE Operation 3 9 2 Prepare the Card To prepare the SD Card in the SPAN SE for data logging 1 Connect to the receiver through the serial USB or Ethernet ports 2 Ifnecessary format the card using the command FORMAT SD During the format process the SD LED flashes alternating green and orange The LED turns solid green when formatting is complete During the format process if you request a DIR command the receiver generates a lt ERROR Disk Busy response WARNING Formatting the card deletes any data that is on the SD Card Ensure that all data is copied to another location before formatting At this stage if you only need data for post processing the logging button located to the right of the card behind the access door can be pressed to start logging of a pre defined list of logs required for post processing applications to an automatically named file in the root directory of the SD Card see Sect
219. lation and Operation User Manual Abbreviated ASCII Syntax Message ID 494 RTKSOURCE type ID Factory Default rtksource auto any Abbreviated ASCII Examples 1 Specify the format before specifying the base station IDs RTKSOURCE RTCMV3 5 RTKSOURCE RTCM 6 lt The RTKSOURCE command supports both RTCM and RTCMV3 while the PSRDIFFSOURCE commands supports only RTCM 2 Select only SBAS RTKSOURCE NONE PSRDIFFSOURCE NONE SBASCONTROL ENABLE AUTO 3 Enable OmniSTAR HP and VBS RTKSOURCE OMNISTAR PSRDIFFSOURCE OMNISTAR 4 Enable RTK and PSRDIFF from RTCM with a fall back to SBAS RTKSOURCE RTCM ANY PSRDIFFSOURCE RTCM ANY SBASCONTROL ENABLE AUTO SPAN SE User Manual Rev 1 125 Appendix B Commands ASCII Binary Binary Binary Binary WEE Value Description Format Bytes Offset 1 RTKSOURCE This field contains the H 0 header command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 type See Table 26 DGPS ID Type Enum 4 H Type on Page 120 3 ID Char 5 or ANY ID string Char 5 ai H 4 1 If you choose ANY the receiver ignores the ID string Specify a Type when you are using base station IDs 2 Inthe binary log case an additional 3 bytes of padding are added to maintain 4 byte alignment 126 SPAN SE User Manual Rev 1 Commandes Appendix B B 4 23 RVBCALIBRATE Vehicle to Body Rotation Con
220. le 69 on ULong 4 H 56 Page 261 17 V2stat pri OEMV 2 status priority mask ULong 4 H 60 18 V2stat set OEMV 2 status event set mask ULong 4 H 64 19 V2stat clear OEMV 2 status event clear mask ULong 4 H 68 20 Next status code offset H 8 stats x 16 variable xXxxx 32 bit CRC ASCII and Binary only Hex 4 H 8 stats x 64 variable CR LF Sentence terminator ASCII only 262 SPAN SE User Manual Rev 1 Data Logs Appendix C C 4 48 RXSTATUSEVENT Status Event Indicator This log is used to output event messages as indicated in the RXSTATUS log An event message is automatically generated for all receiver errors which are indicated in the receiver error word In addition event messages can be generated when other conditions which are indicated in the receiver status and auxiliary status words are met On start up the receiver is set to log the RXSTATUSEVENTA log ONNEW on all ports You can remove this message by using the UNLOG command see Page 151 When a fatal event occurs for example in the event of a receiver hardware failure a bit is set in the receiver error word part of the RXSTATUS log on Page 256 to indicate the cause of the problem Bit 0 is set in the receiver status word to show that an error occurred the error strobe is driven high and the LED flashes red and yellow showing an error code An RXSTATUSEVENT log is generated on all ports to show the cause of the error Receiver tracking is d
221. liseconds from the beginning of the 4 8 GPS week SPAN SE User Manual Rev 1 167 Appendix C Data Logs C 3 NMEA Standard Logs The National Marine Electronic Association NMEA logs in this manual are listed below GPALM ALMANAC DATA GPGGA GLOBAL POSITION SYSTEM FIX DATA AND UNDULATION GPGLL GEOGRAPHIC POSITION GPGRS GPS RANGE RESIDUALS FOR EACH SATELLITE GPGSA GPS DOP AN ACTIVE SATELLITES GPGST PSEUDORANGE MEASUREMENT NOISE STATISTICS GPGSV GPS SATELLITES IN VIEW GPZDA UTC TIME AND DATE The NMEA log structures follow format standards as adopted by the National Marine Electronics Association The reference document used is Standard For Interfacing Marine Electronic Devices NMEA 0183 Version 3 01 For further information see the Standards and References section of GNSS A Reference Guide available on our website at http www novatel com support docupdates htm The following table contains excerpts from Table 6 of the NMEA Standard which defines the variables for the NMEA logs The actual format for each parameter is indicated after its description The NMEA National Marine Electronics Association has defined standards that specify how electronic equipment for marine users communicate GPS receivers are part of this standard and the NMEA has defined the format for several GPS data logs otherwise known as sentences Each NMEA sentence begins with a followed by the prefix GP followed by a sequence of letters that define
222. ll report whatever the user entered as a command or the results of the RVBCALIBRATE process whichever is most recent The rotation values are used during kinematic alignment The rotation is used to transform the vehicle frame attitude estimates from GNSS into the SPAN frame of the IMU during the kinematic alignment If you use the APPLY VEHICLEBODYROTATION command on Page 90 the reported attitude in INSPVA or INSATT will be in the vehicle frame otherwise the reported attitude will be in the SPAN frame The uncertainty values report the accuracy of the angular offsets The VEHICLEBODYROTATION command sets the initial estimates for the angular offset The uncertainty values are optional Follow these steps 1 Start with the SPAN computation frame coincident with the vehicle frame 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 This angle is the alpha angle in the command 4 Finally rotate about the new Y axis This angle is the beta angle in the command The IMU should now be in its mounted position lt Enter rotation angles in degrees To apply the vehicle to body rotation angles to the output attitude in the INSPVA or INSATT logs the APPLY VEHICLEBODYROTATION command needs to be enabled please refer to Section B 4 1 APPLYVEHICLEBODYROTATION Enable vehicle to body rotation starting on Page 90 154 SPAN
223. llows gnsscardconfig card port rx_type tx_type baud com control parameters See Page 105 for a detailed description For example Via SPAN SE COM1 COM4 USB or ethernet RTCA gnsscardconfig rtca none 9600 RTCM gnsscardconfig rtcm none 9600 RTCMV3 gnsscardconfig rtcmv3 none 9600 CMR gnsscardconfig cmr none 9600 CMR gnsscardconfig cmr none 9600 same as CMR lt The baud rate of the rover must match the baud rate of the RTK correction data source SPAN SE User Manual Rev 1 39 Chapter 3 SPAN SE Operation 3 3 2 SPAN IMU Configuration 3 3 2 1 SPAN Configuration Manually 40 Follow these steps to enable INS as part of the SPAN system using software commands or see SPAN Configuration with CDU on Page 41 to see the preferred method using NovAtel s Control and Display Unit CDU software utility 1 Issue the SETIMUTYPE command to specify the type of IMU being used Basic configuration of the SPAN system is now complete The inertial filter starts once the GNSS solution reaches FINESTEERING status and the IMU is connected Dx A GNSS antenna must be connected and tracking satellites for operation 2 Issue the SETIMUTOANTOFFSET command to enter the distance from the IMU to the GNSS antenna see Page 136 The offset between the antenna phase centre and the IMU center of navigation must remain con stant and be known accurately m The X pitch Y roll and Z azimuth directions are clearly marked
224. ls see Page 18 2 Since several errors affecting signal transmission are nearly the same for two receivers near each other on the ground a base at a known location can monitor the errors and generate corrections for the rover to use This method is called Differential GPS and is used by surveyors to obtain millimeter accuracy Major factors degrading GPS signals which can be removed or reduced with differential methods are the atmosphere ionosphere satellite orbit errors and satellite clock errors Errors not removed include receiver noise and multipath Abbreviated ASCII Syntax Message ID 493 PSRDIFFSOURCE type ID Factory Default psrdiffsource auto any Abbreviated ASCII Examples 1 Select only SBAS RTKSOURCE NONE PSRDIFFSOURCE SBAS SBASCONTROL ENABLE AUTO 2 Enable OmniSTAR VBS and HP or XP RTKSOURCE OMNISTAR PSRDIFFSOURCE OMNISTAR 3 Enable RTK and PSRDIFF from RTCM with a fall back to SBAS RTKSOURCE RTCM ANY PSRDIFFSOURCE RTCM ANY SBASCONTROL ENABLE AUTO SPAN SE User Manual Rev 1 119 Appendix B Binary ASCII 0 RTCM 4 Commands Table 26 DGPS Type Description RTCM ID 0 lt RTCM ID lt 1023 or ANY RTCA 4 RTCA ID A four character string containing only alpha a z or numeric characters 0 9 or ANY CMR ID 0 lt CMRID lt 31 or ANY OMNISTAR 34 In the PSPRDIFFSOURCE command OMNISTAR enables OmniSTAR VBS and disables other DGPS types OmniSTAR VBS produces RTCM type
225. lues generally represent better position accuracy The role of DOP in GPS positioning however is often misunderstood A lower DOP value does not automatically mean a low position error The quality of a GPS derived position estimate depends upon both the measurement geometry as represented by DOP values and range errors caused by signal strength ionospheric effects multipath and so on lt If the DOP values exceed 9999 0 or there is an insufficient number of satellites to calculate a DOP value 9999 0 is reported for PDOP and HDOP VDOP is reported as 0 0 in this case Message ID 221 Log Type Synch Recommended Input log gpgsa ontime 1 Example 1 GPS only SGPGSA M 3 17 02 30 04 05 10 09 06 31 12 1 2 0 8 0 9 35 SPAN SE User Manual Rev 1 Data Logs Appendix C Field Structure Field Description Symbol Example 1 GPGSA Log header GPGSA 2 mode MA A Automatic 2D 3D M M M Manual forced to operate in 2D or 3D 3 mode 123 Mode 1 Fix not available 2 2D 3 3D x 3 4 15 prn PRN numbers of satellites used in solution null for unused KOX K an 18 03 13 fields total of 12 fields 25 16 GPS to 32 24 12 SBAS 33 to 64 add 87 for PRN number 20 55 GLO 65t0 96 16 pdop Position dilution of precision X X 1 5 17 hdop Horizontal dilution of precision X X 0 9 18 vdop Vertical dilution of precision X X 1 2 19 Xx Checksum hh 3F 20 CR LF Sentence terminator CR LF
226. ly Asked Question H Replacement Parts H 1 SPAN System eee H 2 Accessories and Options H 3 Manufacturer s Part Numbers Index SPAN SE User Manual Rev 1 S 277 278 279 280 281 282 283 284 285 286 287 289 289 289 290 291 Figures 1 SPAN SE E 22 2 SPAN System IMUS eet ieee eli sei ede nd ae dedi 22 3 Basic SPAN SE Set Up as i hihi ee el eed iid eed tes 27 4 SD Memory Garden geesde Zeie a aa enh eee aS 28 5 Receiver Enclosure Back Panel cccccccsececeeeeeeeeeeeeeeseaeeeeeeseaaeeeeesecaeeeeeeessnneeeeens 28 6 SPAN SW Power Button 32 7 L ocal LevelFrame EN sic csteccsesciccaschdensecescniseeacccanascepensanesssatsiaboasesesiebersanestoeaeerescie 34 8 The Enclosure Frame Zeene aa densities aris dee ea i eee ti ee a ee 35 9 Vehicle eu 36 10 SPAN SE LED Indicators 52 11 SD Card Access Door deer n ia edd EEGEN 53 12 Event Outs sce siet Zeg nisin ed ed edhe ec eg E eee 58 13 SPAN SE Power Cable eege EES NEEN L en e SEENEN 64 14 SPAN GE I O 1 Green Cable ccccccccecesseceseeeeeeeeeeesseeeeeceeeeeceeeeseaeeseeseeessnseessneeesenes 65 15 SPANCSE I O 2 Yellow Cable AAA 67 16 LN 200 IMU Enclosure Top Bottom Dimensions and Centre of Navigation 4 69 17 LN 200 Enclosure Side Dimensions cc ccccssceeeeneeeeeeeeeeeeeeceeeeeseaeeeseeeesseeeesseeess 70 18 LN 200 Interface Cable cccccccccccecesnecesseeeseneeeseaeeeeseaeeseaeeeeceneessaneeeseneees
227. mande 50 3 5 4 Logging Wheel Sensor Data from GPAN GE A 50 3 6 Data Collection for Post Processing cccccecceeeeeeseeeeeeeeeeeeeeeeeeeseeeeeaeeseaeeeaeessaeeeaeeeneeee 51 8 7 StatusilMNGicators ege Basch EEE T EEA A E SSES 52 SPAN SE User Manual Rev 1 ER EE 53 3 9 Logging Data to the SD Card eseeececceessececeeeseeeseeceaeeeseeseeeeeneeeneessaeseaeeeeeeneaesseeneaneeaes 53 SQ Insertthe SD Gar EE 53 3 9 2 Prepare the Gard EE 54 3 9 3 Select Logs to Send to the SD Card 55 3 9 4 Start and Stop LOGGING nineio ien E a aa aok 55 3 9 5 Log a Pre Defined List Of LOS pa a re a aeda 55 3 9 6 Auto Logging ON Gran 56 3 9 7 Reading data from the Can 56 3 10 Synchronizing External Equipment c ceceeeseeeseeeeeeeeeeseeeeeaeeeeeeeeaeeseeeeeaeessaeseeeeeeraas 57 3 10 1 Configuring a Synchronous Output Pulse ee eeceeeeeeeeeseneeeeeeeeeeesneeeeaeeeneereas 57 3 10 2 Configuring an Input Strobe eee ceeeeeeeeeneeseeeeeeeeseeseeeeeaeeeeeseeeeeaeeseeeeeaeeeaes 58 3 11 SPAN SE Ethernet Connection E 59 3 11 1 Configuring for TCP or UDP Operation eceeeceeeseeeeeeeeeeteeeeeaeeeeeeseeesaeeeeeeaes 59 3 11 2 Configuring the Ethernet Connection Gettings 60 3 11 3 Configuring Log Requests Destined for the Ethernet Port 60 3 11 4 Connecting to the Ethernet Port c cecceeeeceeceeeeeeeseeceeeeeeeeeeteaeeeaeesieeseaeeseeeaes 60 Appendices A Technical Specifications 61 e E EEN 61 AAASPAN SE RECGIVER 3 aioe cen SEENEN ai
228. mple SETINITATTITUDE 0 0 90555 In this example the initial roll and pitch has been set to zero degrees with a standard deviation of 5 degrees for both This means that the SPAN system is very close to level with respect to the local gravity field The azimuth is 90 degrees see the SETINITAZIMUTH example on Page 141 also with a 5 degrees standard deviation 140 SPAN SE User Manual Rev 1 Commandes Appendix B B 4 32 SETINITAZIMUTH Get initial azimuth and standard deviation This command allows you to start SPAN operation with a previously known azimuth Azimuth is the weakest component ofa coarse alignment and is also the easiest to know from an external source i e like the azimuth of roadway When using this command SPAN operation through alignment will appear the same as with a usual coarse alignment Roll and pitch will be determined using averaged gyro and accelerometer measurements The input azimuth will be used rather than what is computed by the normal coarse alignment routine e This alignment takes the same amount of time as the usual coarse alignment 60 s nominally 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 tothe SPAN frame
229. name or message header depending on whether command is abbreviated ASCII ASCII or binary respectively Appendix B Binary Binary Binary Format Bytes Offset port See Table 22 on Page 98 RS232 RS422 port to control Valid ports are COM1 COM2 COM3 and COM4 Enum signal RTS 0 DTR 1 TX 2 COM signal to control RTS DTR and TX See Table 21 on Page 97 Enum 4 H 4 control DEFAULT 0 Disables this command and returns the COM signal to its default state FORCEHIGH 1 Forces signal high FORCELOW 2 Forces signal low TOGGLE 3 Immediately toggles the current sate of the signal TOGGLEPPS 4 Toggles state of selected signal within 900 us after each 1PPS event State change of signal lags 1PPS by an average of 450 us Delay of each pulse varies by a uniformly random amount lt 900 us PULSEPPSLOW 5 Pulses the line low at a 1PPS event andto high 1 ms after it Not for TX PULSEPPSHIGH 6 Pulses line high for 1 ms at time of a 1PPS event Enum 4 H 8 mode RS232 0 RS 232 mode RS422 1 RS 422 mode N A 2 Used only for ETH1 and USB1 information Enum 4 H 12 SPAN SE User Manual Rev 1 99 Appendix B Commands BAS COMVOUT Turn power to the ports on or off 100 This command allows you turn power to the COM ports on or off all on or all off Power is supplied at the
230. nce terminator CR LF 1 The NMEA GLONASS PRN numbers are 64 plus the GLONASS slot number Current slot numbers are 1 to 24 which give the range 65 to 88 PRN numbers 89 to 96 are available if slot numbers above 24 are allocated to on orbit spares SPAN SE User Manual Rev 1 203 Appendix C C 4 17 GPVTG Track Made Good And Ground Speed Data Logs The GPVTG log outputs these messages without waiting for a valid almanac Instead it uses a UTC time calculated with default parameters In this case UTC status is set to WARNING since it may not be 100 accurate When a valid almanac is available the receiver uses the real parameters Then the UTC time is set to VALID Message ID Log Type 226 Synch Recommended Input log gpvtg ontime 1 Example 1 GPS only SGPVTG 172 516 T 155 295 M 0 049 N 0 090 K D 2B Example 2 Combined GPS and INS SINVTG 190 919 T 190 919 M 0 856 N 1 585 K A 31 lt If the NUEATALKER command see Page 159 is set to AUTO the talker the first 2 characters after the sign in the log header is set to GP GPS satellites only or IN GNSS INS solution Field Structure Field Description Symbol Example 1 GPVTG Log header GPVTG 2 tracktrue Track made good degrees True Ian is O l3 T Tmetackindictr O T T 4 track mag Track made good degrees Magnetic X X 24 168 5 M Magneti
231. nd control signals DO 2 2 Data output signal RS 422 DI 3 3 Data input signal RS 422 4 DGND 5 9 5 Digital ground 6 DIN 7 7 Data input signal RS 422 DON 8 8 Data output signal RS 422 9 I Mn e es d vee gr Lem F1 F2 Figure 26 FSAS SPAN SE Y Adapter Cable A 2 2 2 ilMU FSAS Odometer Cabling The iIMU FSAS with the O wheel sensor option provides wheel sensor input from the Distance Measurement Instrument DMI through the DB 9 connector labelled ODO on the IMU interface cable The IMU data goes through the IMU and then into the SPAN receiver through the serial communication line There are two DMI products that are compatible with the iIMU FSAS system e iIMWS 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 28 below e WPT Wheel Pulse Transducer from Corrsys Datron SPAN SE User Manual Rev 1 79 Appendix A Technical Specifications 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 27 on Page 80 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 conv
232. nd Signal Tracking Status Nibble Bit WET 4 Description Range Value 0 0x0001 Tracking State 0 Searching 1 Pull in 2 Tracking 3 Idle NO 1 0x0002 2 0x0004 3 0x0008 Reserved 4 0x0010 NI 5 0x0020 6 0x0040 Bit Timing Lock 0 Not Locked 1 Locked 7 0x0080 Phase Locked 0 Not Locked 1 Locked 8 0x0100 DC Offset Unlocked 0 Good 1 Warning N2 9 0x0200 AGC Unlocked 0 Good 1 Warning 10 0x0400 11 0x0800 Reserved 12 0x1000 N3 13 0x2000 14 0x4000 15 0x8000 Error 0 Good 1 Error SPAN SE User Manual Rev 1 225 Appendix C 226 Data Logs Table 51 OmniSTAR VBS Status Word Nibble Description 0 0x0001 Subscription Expired False T rue NO 1 0x0002 Out of Region False T rue 2 0x0004 Wet Error False T rue 3 0x0008 Link Error False T rue 4 0x0010 No Remote Sites False True NI 5 0x0020 No Almanac False True 6 0x0040 No Position False True 7 0x0080 No Time False True 8 0x0100 Reserved N2 9 0x0200 10 0x0400 11 0x0800 12 0x1000 N3 13 0x2000 14 0x4000 15 0x8000 Updating Data False True 1 Contact OmniSTAR for subscription support All other status values are updated by collecting OmniSTAR data for 20 35 minutes SPAN SE User Manual Rev 1 Data Logs Appendix C Table 52 OmniSTAR HP XP Additional Status Word
233. nised 213 power 31 100 147 PPS 102 prerequisites 21 processing 160 163 240 pseudorange error estimate 240 jump 240 measurement 200 243 244 noise statistic 200 solutions 171 PSRDIFFSOURCE command 119 pulse 236 PWD command 89 Q quality NMEA 200 quotation mark 159 295 Index R R model 271 range bias 165 compressed 245 measurement 240 residual 196 RANGE log 240 RANGECMP log 244 245 raw almanac 189 RAWEPHEM log 246 RAWIMU log 247 RAWIMUS log 252 reacquisition 241 real time kinematic RTK 171 receiver character 239 status 112 256 259 reference frames 34 replacement parts 289 290 reset complete 123 hardware 122 RESET command 122 reset hardware 104 residual 196 resolution 123 revision manual 300 RMDIR command 88 roll 133 136 177 206 root mean square RMS 201 rotation 90 127 RTCA 106 DGPS type 120 RTCM 106 DGPS type 120 RTCMV3 106 DGPS type 120 RTK filter 123 RTKCOMMAND command 123 RTKDYNAMICS command 124 RTKSOURCE command 125 RVB see vehicle to body rotation RVBCALIBRATE command 127 RXCOMFIG log 254 RXSTATUS log 256 RXSTATUSEVENT log 263 296 S S model 271 satellite active 198 in view 202 number of 245 range 196 raw 246 tracking 240 SAVECONFIG command 128 SBAS control 129 differential 119 system type 129 SBASCONTROL command 129 scale factor 244 scope 20 secure digital SD Card 53 self test 112 serial port 106 179 239 set up hardware 26 SET
234. not applied to the attitude output unless the APPLY VEHICLEBODYROTATION command is disabled Abbreviated ASCII Syntax Message ID 641 RVBCALIBRATE reset Binary Seat Binary Binary Binary Value Description Format Bytes Offset 1 Log This field contains the H 0 Header command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 Switch RESET 0 Control the vehicle ENUM 4 H DISABLE 1 body rotation computation ENABLE 2 Abbreviated ASCII Example RVBCALIBRATE RESET SPAN SE User Manual Rev 1 127 Appendix B Commands B 4 24 SAVECONFIG Save current configuration in NVM 128 This command saves the user s present configuration in non volatile memory The configuration includes the current log settings FIX settings port configurations and so on Its output is in the RXCOMFIG log see Page 254 See also the FRESET command Page 104 WARNING If you are using this command in CDU ensure that you have all windows other than the Console window closed Otherwise log commands used for the various windows are saved as well This will result in unnecessary data being logged Abbreviated ASCII Syntax Message ID 19 SAVECONFIG SPAN SE User Manual Rev 1 Commandes Appendix B B 4 25 SBASCONTROL Set SBAS test mode and PRN This command allows you to dictate how the receiver handles Satellite Based Augmentation System SBAS
235. ntenna Lever Am 177 C 4 4 COMCONFIG Current COM Port Confiouratton 178 C 4 5 COMPROTOCOL COM Port Protocol 180 C 4 6 DIRENT SD Card File Let 181 C 4 7 GLOCLOCK GLONASS Clock Information ecceeceeceeeneeeeeeteeeeeeeeeeeeeeetes 182 C 4 8 GLOEPHEMERIS GLONASS Ephemeris Data 184 SPAN SE User Manual Rev 1 C 4 9 GLORAWEPHEM Raw GLONASS Ephemeris Data 188 C 4 10 GPALM Almanac Data 189 C 4 11 GPGGA_ GPS Fix Data and Undulation 0 0 0 eeeeeeeeeneeeeeeeeeeeeneeeeeeeneetaes 191 C 4 12 GPGLL Geographic Position 00 0 0 eeeeeeeeceseeeeeeeeeeeeeeeeeseeeeeaeeeeeteaeeeeeeeeetenas 194 C 4 13 GPGRS GPS Range Residuals for Each Satellite c ceeecceeeeeeeeseeeeeees 196 C 4 14 GPGSA GPS DOP and Active Satellites AAA 198 C 4 15 GPGST Pseudorange Measurement Noise Statistics ccsccceeeeeeeeeeees 200 C 4 16 GPGSV GPS Satellites in View 202 C 4 17 GPVTG Track Made Good And Ground Speed A 204 C 4 18 GPZDA UTC Time and Date 00 0 cece cece eeneeeneeeeeeeeeeeseeseaeeseaeseeeeneeeeeeeaees 205 G4 19 INSATT INS Attitude eut EE EE EE 206 C 4 20 INSATTS Short INS Amtude AAA 207 C 4 21 INSCOV INS Covariance Matrices A 208 C 4 22 INSCOVS Short INS Covariance Log 210 C 4 23 INSPOS INS Positions nenen E E E iiaa 211 C 4 24 INSPOSS Short INS Position ee eee eee eeeeeeneeeneeeeaeeeeeeseaeeeaeeeeeeeeaeesseeeeaeenaes 212 C 4 25 INSPOSSYNC_ Time Synchronised INS Position eeeeeeeeeeeeeeeteeeneeeees 213 C 4
236. o the results and performance of the Software is assumed by you See product enclosure if any for any additional warranty 7 Indemnification NovAtel shall be under no obligation or liability of any kind in contract tort or oth erwise and whether directly or indirectly or by way of indemnity contribution or otherwise howsoever to the Licensee and the Licensee will indemnify and hold NovAtel harmless against all or any loss dam age actions costs claims demands and other liabilities or any kind whatsoever direct consequential special or otherwise arising directly or indirectly out of or by reason of the use by the Licensee of the Software whether the same shall arise in consequence of any such infringement deficiency inaccu racy error or other defect therein and whether or not involving negligence on the part of any person 8 Disclaimer and Limitation of Liability a THE WARRANTIES IN THIS AGREEMENT REPLACE ALL OTHER WARRANTIES EXPRESS OR IMPLIED INCLUDING ANY WARRANTIES OF MERCHANTABILITY OR FITNESS FOR A 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
237. ocity Velocity Up m s Double 8 H 28 7 Status INS status see Table 5 on Page 43 Enum 4 H 36 8 XXXX 32 bit CRC ASCII Binary andShort 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 014277009 0 013675287 0 024795257 INSSolutionGood 2f3fe011 SPAN SE User Manual Rev 1 221 Appendix C Data Logs C 4 33 LBANDINFO L band Configuration Information This log outputs configuration information for an L band service In the case of using the free CDGPS service no subscription is required and therefore the subscription fields report an UNKNOWN subscription status See also the examples below lt 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 Contact information may be found on the back of this manual or you can refer to the Customer Service section in the OEMV Family Installation and Operation User Manual Message ID 730 Log Type Asynch Recommended Input log Ibandinfoa ontime 1 ASCII Example 1 OmniSTAR HP LBANDINFOA COM2 0 81 5 FINESTEERING 1295 152639 184 00000240 c51d 34461 1547547 4800 c685 0 762640 EXPIRED 0 0 FIXEDTIME 1199 259199 0 8cc5e573 Abbreviated ASCII Example 2 CDGPS LBANDINFO COM1 0 45 5 FINESTEERING 129
238. od is used SPAN SE User Manual Rev 1 115 Appendix B Commands Description 1 LOG This field contains the command name or the message ASCII header depending on whether the command is abbreviated header ASCII or ASCII respectively 2 port See Table 18 COM Output port Enum Serial Port Identifiers on Page 95 3 message Any valid message Message name of log to output Char name with an optional A or B suffix 4 trigger ONNEW Output when message is updated not necessarily changed Enum see Footnote 1 on Page 115 ONCHANGED Output when the message is changed ONTIME Output on a time interval ONNEXT Output only the next message ONCE Output only the current message default 5 period Any positive double Log period for ONTIME trigger in seconds Double value larger than the default 0 receiver s minimum raw see Footnote 2 on Page 115 measurement period 6 offset Any positive double Offset for period ONTIME trigger in seconds If you Double value smaller than the wished to log data at 1 second after every minute you would period set the period to 60 and the offset to 1 default 0 7 hold NOHOLD Allow log to be removed by the UNLOGALL command Enum default HOLD Prevent log from being removed by the UNLOGALL command 116 SPAN SE User Manual Rev 1 Commands Appendix B B 4 16 LOGFILE Log Data to a File on the SD Card This command allows you to lo
239. odel Input Example spanmodel sj Message ID 1087 ect E Description Value Value P 1 SPANMODEL 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 model Max 16 character SPAN model name String Variable Variable null terminated max 16 string including the null 3 Reserved Ulong 4 Variable 1 Inthe binary log case additional bytes of padding are added to maintain 4 byte alignment 150 SPAN SE User Manual Rev 1 Commands Appendix B B 4 39 UNLOG Remove a log from logging control This command permits you to remove a specific log request from the system The port parameter is optional If port is not specified it is defaulted to the port on which the command was received This feature eliminates the need for you to know which port you are communicating on if you want logs to be removed on the same port as this command Abbreviated ASCII Syntax Message ID 36 UNLOG port datatype Abbreviated ASCII Example UNLOG COMI BESTPOSA UNLOG BESTPOSA lt The UNLOG command allows you to remove one or more logs while leaving other logs unchanged Field Binary Ca Field Binary Binary Field Name Value Description Type Bytes Offset 1 UNLOG See Table 34 Binary Message This field contains the H 0 binary Header Structure on Page 162 messag
240. og Each log has its own unique message ID and you can find as part of each log description in this chapter 6 Message Type Char Bits 0 4 Reserved 1 6 N Bits 5 6 Format 00 Binary 01 ASCII 10 Abbreviated ASCII NMEA 11 Reserved Bit 7 Response bit 0 Original Message 1 Response Message 7 Port Address Uchar See Table 18 on Page 95 1 7 N 8 Message Ushort The length in bytesof the body of 2 8 N Length the message This does not include the header nor the CRC 9 Sequence Ushort This is used for multiple related 2 10 N logs It is a number that counts down from N 1 to 0 where N is the number of related logs and 0 means itis the last one of the set Most logs only come out one ata time in which case this number is 0 Continued on Page 163 162 SPAN SE User Manual Rev 1 Data Logs Appendix C Binary Ignored Offset on Input Field Field Name Description 10 Idle Time Uchar The time that the processor isidle 1 12 Y in the last second between successive logs with the same Message ID Take the time 0 200 and divide by two to give the percentage of time 0 100 11 Time Status Enum Indicates the quality of the GPS 12 13 N time see Table 35 on Page 164 12 Week Ushort GPS week number 2 14 Nd 13 ms GPSec Milliseconds from the beginning 4 16 Nd of the GPS week 14 Receiver Ulong 32 bits representing the status of 4 20 Y Status various
241. oming IMU signals in such a way that a 5 mapping is achieved see Table 29 on Page 135 For example if the IMU is mounted with the X axis pointing UP and a mapping of is specified then this transformation of the raw IMU data is done XZ Y gt X Z gt Y where the default is X gt X NN Z 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 61 The example from the LN 200 is shown in Figure 32 TVW CENTER OF P gt NAVIGATION d Geh Figure 32 Frame of Reference SPAN SE User Manual Rev 1 133 Appendix B Commands Db 1 Azimuth is positive in a clockwise direction while yaw is positive in a counter clockwise direction when looking toward the axis origin Yaw follows the right handed system convention where as azimuth follows the surveying convention 2 The data in the RAWIMUS log is never mapped The axes referenced in the RAWIMUS log description form the IMU enclosure frame as marked on the enclosure Abbrev
242. ommand on Page 128 and if needed must be entered at startup lt 1 Azimuth is positive in a clockwise direction when looking towards the z axis origin 2 You do not have to use the SETIMUORIENTATION command see Page 133 unless you have your IMU mounted with the z axis not pointing up Then use the tables in the SETIMURIENTATION command on Pages 134 135 to determine the azimuth axis that SPAN is using Abbreviated ASCII Syntax Message ID 862 SETINITATTITUDE pitch roll azimuth pitchSTD rolISTD azSTD SPAN SE User Manual Rev 1 139 Appendix B Commands ASCII Binary inti Binary Binary Binary Value Value Description Format Bytes Offset 1 header This field contains the H 0 command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 pitch 360 to 360 Input pitch angle about the x Double 8 H axis in degrees 3 roll 360 to 360 Impit roll angle aboutth y Double 8 H 8 axis in degrees 4 azimuth 360 to 360 Input azimuth angle about the Double 8 H 16 z axis in degrees d ol 3 Input pitch standard deviation ey 5 pitchSTD 0 000278 to 180 STD angle in degrees Double 8 H 24 6 rollSTD Input roll STD angle in degrees Double 8 H 32 7 azSTD Input azimuth STD angle in Double 8 H 40 degrees 1 0 000278 is equal to 1 arc second Abbreviated ASCII Exa
243. ommand on Page 128 and the SETAUTOLOGGING command on Page 131 3 9 7 Reading data from the card You can read data from the SD Card in multiple ways after you stop logging 1 Remove the card from the receiver and read the data using a PC SD Card reader 2 Use the File Transfer Protocol FTP functionality built into the SPAN SE e The FTP functionality is available over the Ethernet port on the receiver The Internet Protocol IP address default mask and gateway settings for the receiver can be set using the IFCONFIG command e Only use FTP on a secure connection as this port has no security settings at this time lt FTP functionality is only available if the receiver is not writing files to the SD Card 56 SPAN SE User Manual Rev 1 SPAN SE Operation Chapter 3 3 Use the NovAtel Explorer inside CDU to download the files from the SD Card over any of the SPAN SE ports connected to a PC While all ports are supported for the fastest transfer use the USB connection A SD CARD IMPORTANT INFORMATION Do not remove the SD Card while data logging to the card is in progress This may result in damage to the card and loss of data Stop the logging using the LOG button or the LOGFILE command before removing the SD Card Do not unplug power to the receiver while data logging to the card is in progress Stop the logging before removing power or use the power button to power down 3 10 Synchronizing External Equipment The SPA
244. on the IMU enclosure The SETIMUTOANTOFFSET parameters are where the stan dard deviation fields are optional and the distances are measured from the IMU to the Antenna x_ offset y_offset z_offset x_stdev y_stdev z_stdev A typical RTK GNSS solution is accurate to a few centimeters For the integrated INS GNSS sys tem to have this level of accuracy the offset must be measured to within a centimeter Any offset error between the two systems shows up directly in the output position For example a 10 cm error in recording this offset will result in at least a 10 cm error in the output If it is impossible to measure the IMU to GNSS antenna offset precisely the offset can be esti mated by carrying out the Lever Arm Calibration Routine See Section 3 4 7 Vehicle to SPAN frame Angular Offsets Calibration Routine on Page 48 SPAN SE User Manual Rev 1 SPAN SE Operation Chapter 3 3 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 the current your CDU version 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
245. ong 4 H 36 OmniSTAR HP or XP expiration date 13 hp sub mode HP or XP subscription mode if the subscription is Ulong 4 H 40 valid 0 HP 1 XP 14 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 44 15 CR LF Sentence terminator ASCII only SPAN SE User Manual Rev 1 If the subscription type is COUNTDOWN see Field 7 above the expiration week and expiration seconds into the GPS week contain the amount of running time remaining in the subscription If the subscription type is COUNTDOWNOVERRUN the expiration week and expiration seconds into GPS week count the amount of the overrun time 223 Appendix C Data Logs C 4 34 LBANDSTAT L band Status Information This log outputs status information for a standard L band OmniSTAR XP Extra Precision or OmniSTAR HP High Performance service Db 1 In addition to a NovAtel receiver with L band capability a subscription to the OmniSTAR or use of the free CDGPS service is required Contact NovAtel for details 2 In binary the receiver outputs 48 bytes without the checksum when the LBANDSTATB log is requested Message ID 731 Log Type Asynch Recommended Input log Ibandstata ontime 1 ASCII Example LBANDSTATA COM1 0 73 5 FINESTEERING 1314 494510 000 00000000 c797 1846 1551488896 43 19 62 3 0 00 0082 0000 7235 11 0 0000 0001 7762 04000000 0 93 7d2af 224 SPAN SE User Manual Rev 1 Data Logs Appendix C Table 50 L ba
246. or its internal OEMV 3 without returning your SPAN SE to the factory our unique field upgradeable feature allows you to buy the equipment that you need today and upgrade them without facing obsolescence When you are ready to upgrade from one model to another call 1 800 NOVATEL to speak with our Customer Service Sales Personnel who can provide the SPAN authorization code that unlocks the additional features of your SPAN SE receiver This procedure can be performed at your work site and takes only a few minutes WARNING Removing a SPAN authorization code will cause the receiver to permanently lose this information Abbreviated ASCII Syntax Message ID 1086 SPANAUTH state part1 part2 part3 part4 part5 model date Abbreviated ASCII Examples SPANAUTH ADD 1234 5678 9ABC DEFO 1234 SJ 100131 SPANAUTH 1234 5678 9ABC DEFO 1234 SJ 148 SPAN SE User Manual Rev 1 Commande Field Type ASCII Value Binary Value Description Binary Format Appendix B Binary Binary Bytes Offset 1 SPAN This field contains the H 0 AUTH command name or the header message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 state REMOVE 0 Remove the SPAN authcode Enum 4 H from the system ADD 1 Add the SPAN authcode to the system default 3 port 4 digit hexadecimal Authorization code section 1 ULong 4 H 4 0 FFFF 4
247. or on the IMU card ensuring that the contacts on the flex cable mate with the contacts on the connector Figure 37 4 Check that the flex cable is locked in place Important Figure 38 shows an incorrect installation of the flex cable where it is bowed in the middle It will not operate properly in this position Figure 39 shows the proper installation of the flex cable Notice how theflex cable sits flush aganst the IMU surface Figure 38 Incorrect Bowed Flex Cable Installation Figure 39 Correct Flat Flex Cable Installation 280 SPAN SE User Manual Rev 1 HG1700 IMU Installation Appendix E 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 34 on Page 278 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 40 below Figure 40 HG1700 SPAN IMU SPAN SE User Manual Rev 1 281 Didde LN 200 IMU Installation 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 41 below The steps required for this procedure are e Disassemble the SPAN IMU Enclosure e Install the LN 200 Sensor Unit e Make Electrical Conne
248. or warning bits for example indicating invalid position or almanac When the system is running this should correct itself Abbreviated ASCII Syntax Message ID 1129 SETAUTOLOGGING switch Field ASCII Binary Binary Binary Binary Type Value Value Format 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 switch OFF 0 Enable or disable auto loggig Enum 4 H ON 1 on boot up Field Description Abbreviated ASCII Example SETAUTOLOGGING ON SPAN SE User Manual Rev 1 131 Appendix B Commands B 4 27 SETETHPROTOCOL Set Eth Protocol The SPAN SE has a 10 100 RJ 45 Ethernet port which has a MAC address hard coded into flash and user configurable IP information Port 3000 can be used for both TCP and UDP traffic but not simultaneously You must configure the system for either UDP or TCP communication and thesystem must be restarted The default is TCP To configure the ETH1 transport protocol use the SETETHPROTOCOL command with its one non optional parameter IMPORTANT You must manually reset the system for this setting to take effect using the RESET command or a power cycle See also the RESET command on Page 122 Abbreviated ASCII Syntax Message ID 1128 SETETHPROTOCOL IPProtocol Field ASCII Binary Binary Binary Binary Type Value Value Format Bytes Offset 1 h
249. ort not through a network follow these steps 1 Connect you PC Ethernet port to the SPAN SE Ethernet port using an Ethernet cross over cable 2 Set the static IP address on your PC to the following settings in the Local Area Connection Properties dialog box Local Area Connection Properties Internet Protocol TCP IP Properties p p General Authentication Advanced General Connect using You can get IP settings assigned automatically if your network supports this capability Otherwise you need to ask your network administrator for Sai Intel R PRO 1000 PL Network Conn the appropriate IP settings This connection uses the following items Obtain an IP address automatically rk and Printer Sharing for Microsoft Networks EN Use the following IP address SS 4 x v3 7 4 0 IP address 198 161 73 8 y ee v Subnet mask 255 255 255 0 E 2 J Default gateway 198 161 73 1 Description Transmission Control Protocol Intemet Protocol The default Use the folowing DNS server addresses wide area network protocol that provides communication Preferred DNS server across diverse interconnected networks See Altemate DNS server C Show icon in notification area when connected Notify me when this connection has limited or no connectivity 60 SPAN SE User Manual Rev 1 Lidder wm Technical Specifications This appendix details the technical specifi
250. otal number of messages minimum value 1 The second field identifies the order of this message message number minimum value 1 2 A variable number of PRN Elevation Azimuth SNR sets are allowed up to a maximum of four sets per message Null fields are not required for unused sets when less than four sets are transmitted Message ID 223 Log Type Synch Recommended Input log gpgsv ontime 1 Example Including GPS and GLONASS sentences SGPGSV 3 1 11 18 87 050 48 22 56 250 49 21 55 122 49 03 40 284 47 78 SGPGSV 3 2 11 19 25 314 42 26 24 044 42 24 16 118 43 29 15 039 42 7E SGPGSV 3 3 11 09 15 107 44 14 11 196 41 07 03 173 4D 202 SPAN SE User Manual Rev 1 Data Logs Appendix C Field Structure Field Description Symbol Example 1 GPGSV Log header GPGSV 2 msgs Total number of messages 1 9 x 3 3 msg Message number 1 9 x 1 4 sats Total number of satellites in view May be different XX 09 than the number of satellites in use see also the GPSGSA log on Page 198 5 prn Satellite PRN number XX 03 GPS 1 to 32 SBAS 33 to 64 add 87 for PRN s GLO 65t096 6 elev Elevation degrees 90 maximum XX 51 7 azimuth Azimuth degrees True 000 to 359 XXX 140 8 SNR SNR C No 00 99 dB null when not tracking XX 42 Next satellite PRN number elev azimuth SNR Last satellite PRN number elev azimuth SNR variable xx Checksum hh 72 variable CR LF Sente
251. p to 30 SPAN specific logs provided the requested data amount is less than the effective baud rate of the communication port logging the data If you attempt to log more than 30 logs at a time the receiver responds with an Insufficient Resources error 2 Maximum flexibility for logging data is provided to the user by these logs The user is cautioned however to recognize that each log requested requires additional CPU time and memory buffer space Too many logs may result in lost data Receiver overload can be monitored using the idle time field and buffer overload bits of the Receiver Status in any log header 3 Polled log types do not allow fractional offsets or ONTIME rates faster than 1Hz 4 Use the ONNEW trigger with the MARKxTIME or MARKxPVA logs see Page 235 5 Only the MARKxPVA logs or MARKxTIME logs and polled log types are generated on the fly at the exact time of the mark Synchronous and asynchronous logs output the most recently available data 6 If you do use the ONTIME trigger with asynchronous logs the time stamp in the header does not necessarily represent the time the data was generated but rather the time when the log is being transmitted If the log contains a time parameter in the message itself this time will be the time of validity of the data Abbreviated ASCII Syntax Message ID 1 LOG port message trigger period offset hold Factory Default log com1 rxstatuseventa onnew 0 0 hold log
252. pecific PRN using the ASSIGN command You can force the GNSS receiver to use the corrections from a specific SBAS PRN using the SBASCONTROL command Abbreviated ASCII Syntax Message ID 652 SBASCONTROL keyword system prn testmode Factory Default sbascontrol disable auto 0 none Abbreviated ASCII Example 1 SBASCONTROL ENABLE WAAS 0 ZEROTOTWO Table 28 System Types ASCII Binary Description NONE 0 Don t use any SBAS satellites AUTO 1 Automatically determine satellite system to use default ANY 2 Use any and all SBAS satellites found WAAS 3 Use only WAAS satellites EGNOS 4 Use only EGNOS satellites MSAS 5 Use only MSAS satellites SPAN SE User Manual Rev 1 129 Appendix B Commands Binary SEN Binary Binary Binary Value Description Format Bytes Offset 1 SBASCONTROL 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 keyword DISABLE 0 Receiver does not use the Enum 4 H SBAS corrections it receives ENABLE 1 Receiver uses the SBAS corrections it receives 3 system See Table 28 on Page 129 Choose the SBAS the Enum 4 H 4 receiver will use 4 prn 0 Receiver uses any PRN ULong 4 H 8 default 120 138 Receiver uses SBAS corrections only from this PRN 5 testmode NONE 0 Receiver interprets Type Enum 4 H 12 0 messages as they are inten
253. ped directly from the OEMV 3 In Table 65 SPAN Receiver Error on Page 257 and Table 66 SPAN Receiver Status on Page 259 OEMV 3 values are indicated in blue SPAN values are indicated in black and OEMV 3 values that cause the OEMV 3 LED to turn red are indicated in red When logging RXSTATUS the SPAN SE receiver data is displayed first error bits then status bits then the OEMV 3 status bits then the OEMV 2 status bits 3 Refer also to the chapter on Built In Status Tests in the OEMV Family Installation and Operation User Manual Message ID 93 Log Type Asynch Recommended Input log rxstatusa onchanged ASCII Examples An RXSTATUS log with a simple error RXSTATUSA COM1 0 98 5 F INESTEERING 1521 319258 697 40000020 0000 143 00000000 4 40000020 00000000 00000000 00000000 00000000 00000000 00000000 000 00000 00000020 00000000 00000000 00000000 00000000 00000000 00000000 00000000 cf7aa03a The status bit 00000020 indicates antenna open SPAN SE User Manual Rev 1 Data Logs Appendix C An RXSTATUS log with a component hardware error RXSTATUSA COM1 0 99 5 FINESTEERING 1521 319470 627 40000021 0000 143 80000000 4 40000021 00000000 00000000 00000000 00000000 00000000 00000000 000 00000 00000020 00000000 00000000 00000000 00000000 00000000 00000000 00000000 dd24b521 The error bit 80000000 indicates a component hardware error This means the OEMV 3 is not communicating This i
254. pendix describes in detail the commands needed to configure the receiver and request the data you need For information on other available commands refer to the OEMV Family Firmware Reference Manual B 1 Command Formats The receiver accepts commands in 3 formats e Abbreviated ASCII e ASCII e Binary Abbreviated ASCII is the easiest to use for your input The other two formats include a CRC for error checking and are intended for use when interfacing with other electronic equipment Here are examples of the same command in each format Abbreviated ASCII Example LOG COM1 BESTPOSB ONTIME 1 CR ASCII Example LOGA COM2 0 66 0 UNKNOWN 0 15 917 004c0000 5255 32858 COM1 BESTPOSB ONTIME 1 000000 0 000000 NOHOLD F95592DD CR Binary Example AA44121C 01000240 20000000 1D1D0000 29160000 00004C00 55525A80 20000000 2A000000 02000000 00000000 0000F03F 00000000 00000000 00000000 2304B3F 1 B 2 Using a Command as a Log All NovAtel commands may be used for data input as normal or used to request data output 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 86 SPAN SE Use
255. pliant 1934 0 226 00 0 00 5 ODU Straight Plug 230 0 25 00 0 00 1000 0 50 00 0 00 Green Bend Relief j 10 00 COM3 SE COM 3 Reference Description P1 ODU 30 pin P3 to P6 DB 9 Iy Figure 14 SPAN SE I O 1 Green Cable SPAN SE User Manual Rev 1 65 Appendix A 66 Technical Specifications Table 8 I O 1 Green Cable Connector Pin Outs P12 Remote Connectors Pin Function Connector Pin 2 12 CAN H1 Bare Wire BLACK 11 CAN L1 Bare Wire BLUE 22 CAN H2 Bare Wire RED 10 CAN L2 Bare Wire BROWN 29 GND Bare Wire GREEN 30 GND Bare Wire WHITE 17 RXD3 COM 3 16 TXD3 COM 2 23 GND COM3 5 15 RTS3 COM3 8 1 CTS3 COMS3 7 25 RXD4 COM4 3 13 TXD4 COM4 2 9 VDC OUT COM4 4 26 GND COM4 5 24 RTS4 COM4 8 14 CTS4 COM4 7 20 RXD_V2 OEMV2 3 21 TXD_V2 OEMV2 2 27 GND OEMV2 5 7 RTS_V2 OEMV2 8 6 CTS V2 OEMV2 7 4 RXD_V3 OEMV3 3 5 TXD_V3 OEMV3 2 8 VDC OUT OEMV3 4 28 GND OEMV3 5 19 RTS_V3 OEMV3 8 3 CTS V3 OEMV3 7 a Refer to connector numbers P1 through P6 in Figure 14 on Page 65 SPAN SE User Manual Rev 1 Technical Specifications Appendix A A 1 1 3 1 0 2 Yellow Cable NovAtel part number 01018133 This cable supplied with the SPAN SE see Figure 15 provides a means of connecting with communications and I O devices The cable is equipped with a
256. pply lt For advanced users If you have additional equipment to connect to your system requiring an output timing pulse or an input pulse into SPAN SE see Section 3 10 Synchronizing External Equipment starting on Page 57 See Section A 1 1 3 I O 2 Yellow Cable NovAtel part number 01018133 on Page 67 for its bare wire pin outs The jacket insulation is cut away slightly from the end but the insulation on each wire is intact Then refer to your device s documentation for information on its connectors and cables The arrow along the cable in the figure indicates a MARKIN pulse from the user device on the right to the SPAN SE I O port SPAN SE User Manual Rev 1 33 Chapter 3 SPAN SE Operation Before operating your SPAN system ensure that you have followed the installation and setup instructions in Chapter 2 SPAN SE Installation starting on Page 26 You can use NovAtel s CDU software to monitor data in real time SPAN system output is compatible with post processing software from NovAtel s Waypoint Products Group Visit our website at www novatel com for details 3 1 Definition of Reference Frames Within SPAN The reference frames that are most frequently used throughout this manual are the following e The Local Level Frame e The SPAN Computation Frame e The Enclosure Frame e The Vehicle Frame 3 1 1 The Local Level Frame ENU The definition of the local level coordinate frame is as follows z axis po
257. ption NovAtel Part Optional NovAtel GPSAntennas Model 532 for aerodynamic applications Model 702 for high accuracy applications Model 702L for L band applications Model 533 for high performance base station applications Optional RF Antenna Cable 5 meters 15 meters GPS 532 GPS 702 GPS 702L GPS 533 C006 C016 SPAN SE User Manual Rev 1 289 Appendix H Replacement Parts 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 Part Deutsch Part MIL Part 10 pin LEMO plug connector on the FGG 1K 310 CLAC60Z HG1700 interface cables Deutsch or MIL equivalent 13 pin 59064 11 35SF D38999 26B35SF connector on the LN 200 interface cable Deutsch or MIL equivalent 3 pin 59064 09 98SN D38999 26A98SN connector on the LN 200 power cable MIL 22 pin connector on the iIMU FSAS D38999 26WC35SA interface cable ODU USA 30 pin connector on the SPAN S23KAC T30MFG0 SE IMU cables 01CP ROHS 290 SPAN SE User Manual Rev 1 Numerics 1 61 2 D 199 3 D 199 50 Hz 271 A abbreviated ascii 86 accelerometers 247 accumulated doppler range ADR 240 accuracy 136 165 171 acquisition 241 ADR see accumulated doppler range AG11 AGS58 AG17 AG62 138 age solution 171 174 alignment 44
258. pulse occurs on the MK1I input MARK2POS is generated when a pulse occurs on a MK2I input and so on These logs allow you to measure the time when events are occurring in other devices such as a video recorder See also the SETMARKxOFFSET commands starting on Page 144 lt 1 Use the ONNEW trigger with this or the MARKxPVA logs 2 Only the MARKxPVA logs the MARKxTIME logs and polled log types are generated on the fly at the exact time of the mark Synchronous and asynchronous logs output the most recently available data MARKITIME Message ID 1130 MARK2TIME Message ID 616 MARK3TIME Message ID 1075 MARK4TIME Message ID 1076 Recommended Input log mark1timea onnew Example Log Type Asynch MARK1TIMEA COM1 0 98 0 FINESTEERING 1521 336487 000 00000000 0000 149 1521 3 36487 000000025 0 000000000 0 000000000 14 999999992 VALID 7597ecee MARK2TIMEA COM1 0 98 5 FINESTEERING 1521 336487 000 00000000 0000 149 1521 3 36487 000000025 0 000000000 0 000000000 14 999999992 VALID 8 d08ef6 MARK3TIMEA COM1 0 98 5 FINESTEERING 1521 336487 000 00000000 0000 149 1521 3 36487 000000025 0 000000000 0 000000000 14 999999992 VALID ed342 79 Clock Status Table 54 Clock Model Status Clock Status Binary ASCII Description 0 VALID The clock model is valid 1 CONVERGING The clock model is near validity 2 ITERATING The clock model is iterating towards validity
259. put I O 61 SATT log 206 SATTS log 207 SCOMMAND command 108 SCOV log 208 SCOVS log 210 La ee py 5 EE 293 Index 294 INSPOS log 211 INSPOSS log 212 INSPOSSYNC log 213 NSPVA log 214 NSSPD log 216 INSSPDS log 217 INSUPDATE log 218 INSVEL log 220 INSVELS log 221 INSZUPT command 109 interface cable 27 29 31 71 77 79 85 command 105 274 FSAS status 250 graphical 38 gyro time out 250 log and command 43 port specific 106 replacement parts 289 Internet Protocol IP 56 59 60 107 interrupt 239 introduction 22 J J model 271 K kinematic alignment 45 L L model 271 latency 171 latitude longitude 174 193 L band 91 119 222 224 LBANDINFO log 222 LBANDSTAT log 224 LED 52 lever arm 47 110 177 LEVERARMCALIBRATE command 110 link 238 link loss of 171 LN 200 cable 71 72 commands 138 dimensions 70 FAQ 287 models 24 performance 73 replacement parts 289 scale factors 253 sensor installation 279 282 284 286 specifications 69 local level coordinate frame 34 locktime current 243 L band 229 log list 230 trigger 158 type 158 LOG command 112 LOGFILE command 117 logging 53 86 157 LOGLIST log 230 M manual alignment 46 mark input pulse 236 Mark trigger 144 MARKxCOUNT log 234 MARKxPVA log 235 MARKxTIME 236 MARKxTIME log 236 mask priority 262 mean sea level 174 193 memory buffer space 112 non volatile 104 save configuration 128 message ascii
260. r Manual Rev 1 Commandes Appendix B locked out In ASCII this might be log com1 lockouta once Notice the a after lockout to signify you are looking for ASCII output lt The BESTPOS position log can be logged at rates up to 20 Hz directly from the OEMV port but is available at 1 Hz or 5 Hz from any SPAN SE port Other GNSS logs RANGE PSRPOS and so on can be logged up to 20 Hz from the SPAN ports The BESTGPSPOS log is available from SPAN SE only at 1 Hz or 5 Hz WARNING Ensure that all windows other than the Console are closed in CDU and then use the SAVECOMNFIG command to save settings in NVM Otherwise unnecessary data logging occurs and may overload your system B 3 DOS Commands The SPAN SE receiver accepts many traditional DOS commands for accessing the SD Card DOS commands that produce output logs do not conform to traditional NovAtel command log formats The resulting logs are output as simple ASCII as with normal DOS commands To display the results to another COM port the port must be passed as a parameter The default device and currently the only option for these commands is the internal SD Card see Table 16 below Most commands are acknowledged with an OK or an Error message However due to the length of time the FORMAT command can take it always responds with OK When the format is taking place the SD LED flashes green and orange If the format fails the LED blinks red indicating an error Not
261. r Units Channel Tracking 0 31 32 see Table 58 Channel Tracking Status Status on Page 242 Doppler Frequency 32 59 28 1 256 Hz Pseudorange PSR 60 95 36 1 128 m ADR 96 127 32 1 256 cycles StdDev PSR 128 131 4 see 2 m StdDev ADR 132 135 4 n 1 512 cycles PRN Slot 3 136 143 8 l S Lock Time 4 144 164 21 1 32 s C No gt 165 169 5 20 n dB Hz Reserved 170 191 22 244 SPAN SE User Manual Rev 1 Data Logs Appendix C ADR Accumulated Doppler Range is calculated as follows ADR_ROLLS RANGECMP_PSR WAVELENGTH RANGECMP_ADR MAX VALUE Round to the closest integer IF ADR_ROLLS lt 0 ADR_ROLLS ADR_ROLLS 0 5 ELSE ADR_ROLLS ADR_ROLLS 0 5 At this point integerise ADR_ROLLS CORRECTED ADR RANGECMP_ADR MAX VALUE ADR_ ROLLS where ADR has units of cycles WAVELENGTH 0 1902936727984 for GPS L1 Note GLONASS satellites emit LI and L2 carrier waves at WAVELENGTH 0 2442102134246 for GPS L2 a satellite specific frequency refer to GNSS A Ref MAX_VALUE 8388608 erence Guide for more on GLONASS frequencies Code StdDev PSR m 0 0 050 1 0 075 2 0 113 3 0 169 4 0 253 5 0 380 6 0 570 7 0 854 8 1 281 9 2 375 10 4 750 11 9 500 12 19 000 13 38 000 14 76 000 15 152 000 GPS 1 to 32 SBAS 120 to 138 and GLONASS 38 to 61 see Section 1 3 on Page 30 The Lock Time field of the RANGECMP log is constrained to a maximum value of 2 097 151 which represents a lock time of 65535 96875 s 2097151 32
262. re the receiver configuration reverts either to the factory default if no user configuration was saved or the last SAVECONFIG settings See also the FRESET command on Pages 104 The optional delay field is used to set the number of seconds the receiver is to wait before resetting lt The RESET command can be used to erase any unsaved changes to the receiver configuration Abbreviated ASCII Syntax Message ID 18 RESET delay Abbreviated ASCII Example RESET 120 Field ASCII Binary Binary Binary Binary Description Format Bytes Offset Type Value Value 1 RESET header This field contains the command H 0 name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 delay Seconds to wait before resetting Ulong 4 H default 0 122 SPAN SE User Manual Rev 1 Commandes Appendix B B 4 20 RTKCOMMAND Reset or set the RTK filter to its defaults This command provides the ability to reset the RTK filter and clear any set RTK parameters The RESET parameter causes the AdVance RTK algorithm to undergo a complete reset forcing the system to restart the ambiguity resolution calculations The USE_DEFAULTS command executes the following commands RTKDYNAMICS DYNAMIC RTKSVENTRIES 12 Abbreviated ASCII Syntax Message ID 97 RTKCOMMAND action Factory Default rtkcommand use_ defaults Abbreviated ASCII Example
263. red when the mode is set to binary only the command is ignored Only properly formatted binary messages are responded to and the response is a binary message 16 17 Reserved 18 GENERIC The portaccepts generates nothing SEND SENDHEX commands from another portgenerate data on this port Any incoming data on this port can be seen with OEMV PASSCOM logs on another port 20 MRTCA The port accepts Modified RTCA MRTCA data to output CDGPS positions This is useful on a receiver such as the OEMV 2 that does not track CDGPS You must use this feature in combination with a CDGPS cable receiver such as an OEMV 3 which can access the CDGPS signals and then rebroadcast them to MRTCA corrections 1 An output interface mode of RTCMNOCR is identical to RTCM but with the CR LF appended An input interface mode of RTCMNOCR is identical to RTCM and functions with or without the CR LF 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 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 SE User Manual Rev 1 Commandes Appendix B B 4 11 IFCONFIG Set IP information Use this command to configure Internet Protocol IP information See also Section 3 11 SPAN S
264. ry and Short Hex 4 H 20 Binary only 9 CR LF Sentence terminator ASCII only Recommended Input log timedwheeldataa onnew ASCII Example This example is from the iMAR iMWS wheel sensor TIMEDWHEELDATAA 1393 411345 001 58 0 215 814910889 0 0 1942255 3b5 a236 268 SPAN SE User Manual Rev 1 Data Logs Appendix C C 4 52 VEHICLEBODYROTATION Vehicle to SPAN Frame Rotation The VEHICLEBODYROTATION log reports the angular offset from the vehicle frame to the SPAN frame The SPAN computation frame is defined by the transformed IMU enclosure axis with Z pointing up see the SETIMUORIENTATION command on Page 133 If your IMU is mounted with the Z axis as marked on the IMU enclosure pointing up the IMU enclosure frame is the same as the SPAN computation frame This log reports whatever was entered using the VEHICLEBODYROTATION command Page 154 or whatever was solved for after invoking the RVBCALIBRATE command see Page 127 Recommended Input log vehiclebodyrotationa onchanged ASCII Example VEHICLEBODYROTATIONA COM1 0 36 5 FINESTEERING 1264 144170 094 00000000 bc 2 1541 1 5869999997474209 2 6639999995760122 77 6649999876392343 2 000000000000 0000 2 0000000000000000 5 0000000000000000 25f886cc SPAN SE User Manual Rev 1 269 Appendix C Data Logs C 4 53 VERSION Version Information 270 This log contains the version information for all components of a system A component may be hardw
265. s 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 GNSS Hotline at 1 800 NOVATEL North America or 403 295 4900 international Fax 403 295 4901 E mail support novatel ca Website _http www novatel com Write NovAtel Inc Customer Service Dept 1120 68 Avenue NE Calgary AB Canada T2E 8S5 ES Before contacting NovAtel Customer Service regarding software concerns please do the following 1 Establish communication with the receiver 2 Send the SETIMUTYPE command to re establish communication with the IMU see Table 30 on Page 138 3 Log the following data to a file on your PC for 30 minutes RXSTATUSB once RAWEPHEMB onchanged RANGECMPB ontime 1 BESTPOSB ontime 1 RXCONFIGA once VERSIONB once RAWIMUSB 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 18 SPAN SE User Manual Rev 1 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 SPAN SE User Manual Rev 1 19
266. s To log a pre defined list of logs needed for post processing follow these steps e Insert the SD Card e Prepare the SD Card by letting it complete its mounting or format the card if necessary When the SPAN SE User Manual Rev 1 55 Chapter 3 SPAN SE Operation card is ready for logging the SD LED turns solid green if the card is empty or orange if the card has lt 10 of free space remaining e Press the SD Logging button located behind theSD Card access door to open a new fileand start logging The SD LED starts blinking green if the card isempty orange if the card has lt 10 of freespace remaining when the file is opened The list of pre defined logs include the following e RAWIMUSB ONNEW e BESTGPSPOSB ONTIME 1 e RANGECMPB ONTIME 1 e RAWEPHEMB ONNEW e GLORAWEPHEMB ONNEW e Press the SD Logging button to stop logging or use the LOGFILE CLOSE command see Page 117 to close the file Note that this is not an UNLOGALL command and if you open a file again the profile will continue to log Also you must set the SETIMUTYPE command see Page 137 before the receiver logs RAWIMUSB data 3 9 6 Auto Logging on Start Up After configuring log output using the LOG commands configure the receiver to log the log profile on start up every time by issuing these two commands SETAUTOLOGGING ON SAVECONFIG Every time the receiver powers up the SD Card logging configuration you specified starts See also the SAVECONFIG c
267. s 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 18 After the addition of accessories an antenna and a power supply the SPAN system is ready to go The receiver utilizes a comprehensive user interface command structure which requires communications through its communications COM ports This manual also describes the INS specific commands and logs Referto the OEMV Family Firmware Reference Manual for information on the logs andcommands available for the OEMV 3 that is the GNSS engine of your SPAN SE Visit www novatel com to download any NovAtel product manual It is recommended that these documents be kept together for easy reference SPAN system output is compatible with post processing software from NovAtel s Waypoint Products Group Visit our website at www novatel com for details 20 SPAN SE User Manual Rev 1 Foreword What s new in Version 1 of this manual This manual introduces the SPAN SE an enclosure that enhances the powerful OEMV receiver with features that are critical to precision GNSS INS system integrators such as on board data logging Ethernet connectivity wheel sensor input and scalability for future GNSS advances Prerequisites The installation chapters of this document provide information concerning the installation requirements and considerations for the different parts o
268. s field 4 on Page 184 10 Reserved 1 H 18 11 Reserved 1 H 19 12 issue 15 minute interval number corresponding to Ulong 4 H 20 ephemeris reference time 13 health Ephemeris health where Ulong 4 H 24 0 GOOD 1 BAD 14 pos x X coordinate for satellite at reference time PZ 9 02 Double 8 H 28 in meters 15 pos y Y coordinate for satellite at reference time PZ 9 02 Double 8 H 36 in meters 16 pos z Z coordinate for satellite at reference time PZ 90 02 Double 8 H 44 in meters 17 vel x X coordinate for satellite velocity at reference time Double 8 H 52 PZ 90 02 in meters s 18 vel y Y coordinate for satellite velocity at reference time Double 8 H 60 PZ 90 02 in meters s Continued on Page 187 186 SPAN SE User Manual Rev 1 Data Logs Appendix C e E zai Binary Binary Field Field type Data Description Format Bytes Offset 19 vel z Z coordinate for satellite velocity at reference time Double 8 H 68 PZ 90 02 in meters s 20 LS acc x X coordinate for lunisolar acceleration at reference Double 8 H 76 time PZ 90 02 in meters s s 21 LS acc y Y coordinate for lunisolar acceleration at reference Double 8 H 84 time PZ 90 02 in meters s s 22 LS acc z Z coordinate for lunisolar acceleration at reference Double 8 H 92 time PZ 90 02 in meters s s 23 tau_n Correction to the nth satellite time t_n relative to Double 8 H 100 GLONASS time
269. s a non recoverable error for SPAN SE It indicates that the OEMV 3 has experienced a USB overrun or that the OEMV 3 is no longer powered Since SPAN SE controls the power to its internal OEMV 3 it is unlikely the OEMV 3 has lost power It is more likely that the user has overloaded the OEMV 3 USB with excessive log requests In this case the RXSTATUSEVENT log would show RXSTATUSEVENTA COM1 0 0 0 FINESTEERING 1521 319470 627 404c0028 0000 143 ERROR 31 SET Component Hardware Failure 79a2006b Table 65 SPAN Receiver Error Nibble Bit Mask Description NO 0 0x00000001 SDRAM Status OK Error 1 0x00000002 Firmware Status OK Error 2 0x00000004 ROM Status OK Error 3 0x00000008 FPGA Status OK Error NI A 0x00000010 Electronic Serial Number ESN access status OK Error 5 0x00000020 Authorization Code Status OK Error 6 0x00000040 Slow ADC Status OK Error 7 0x00000080 Supply Voltage Status OK Error N2 8 0x00000100 Thermometer Status OK Error 9 0x00000200 Temperature Status OK Error 10 0x00000400 MINOSS Status OK Error 11 0x00000800 PLL RF1 Hardware Status L1 OK Error N3 12 0x00001000 PLL RF2 Hardware Status L2 OK Error 13 0x00002000 REI Hardware Status L1 OK Error 14 0x00004000 RF2 Hardware Status L2 OK Error 15 0x00008000 NVM status OK Error Continued on Page 258 SPAN SE User Manual Rev 1 257 Appendix C Data Logs
270. s command allows you to apply the vehicle to body rotation to the output attitude which was entered with the VEHICLEBODYROTATION command see Page 148 This rotates the SPAN computation frame output in the INSPVA INSPVAS and INSATT logs to the vehicle frame APPLY VEHICLEBODYROTATION is disabled by default Abbreviated ASCII Syntax Message ID 1071 APPLY VEHICLEBODYROTATION switch Field ASCII Binary Binary Binary Binary Type Value Value Format Bytes Offset 1 header This field contains the H 0 command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively Field Description 2 switch Disable 0 Enable disable vehicle body Enum 4 H Enable 1 rotation using values entered in the vehiclebodyrotation command default disable Abbreviated ASCII Example APPLY VEHICLEBODYROTATION ENABLE SPAN SE User Manual Rev 1 Commandes Appendix B B 4 2 ASSIGNLBAND Set L band satellite communication parameters You must use this command to ensure that the receiver searches for a specified L band satellite at a specified frequency with a specified baud rate The factory parameter default is ASSIGNLBAND IDLE Db 1 In addition to a NovAtel receiver with L band capability a subscription to the OmniSTAR or use of the free CDGPS service is required Contact NovAtel for details see Page 18 2 The frequency assignment field 3 below
271. s parameters of the receiver s communication ports The receiver maintains a running count of a variety of status indicators of the data link This log outputs a report of those indicators Message ID 72 Log Type Polled Recommended Input log portstatsa once ASCII Example PORTSTATSA COM1 0 94 5 FINESTEERING 1521 319328 143 00000000 0000 149 7 COM1 101688 552 552 0 0 1074394 0 0 0 COM2 155749 331 331 0 0 2712888 0 0 0 COM3 1213 34 34 0 0 28728 0 0 0 COM4 936 36 36 0 0 22784 0 0 0 IMU 1194365 13190643 13190643 179423 0 0 0 0 0 USB1 0 0 0 0 0 0 0 0 0 ETH1 0 0 0 0 0 0 0 0 0 a54c453f SPAN SE User Manual Rev 1 Data Logs Appendix C er Binary Field Field type Data Description Format Offset 1 PORTSTATS Log header 0 header 2 port Number of ports with information to follow Long H 3 port Serial port identifier see Table 18 COM Serial Enum H 4 Port Identifiers on Page 95 4 rx chars Total number of characters received through this Ulong H 8 port 5 tx chars Total number of characters transmitted through Ulong H 12 this port 6 acc rx chars Total number of accepted characters received Ulong H 16 through this port 7 dropped chars Number of software overruns Ulong H 20 8 interrupts Number of interrupts on this port Ulong H 24 9 breaks Number of breaks Ulong H 28 This field does not apply for a USB port and is always set to 0 for
272. s with their sealing washers 3 Lift the top cover off the tube body and set it aside see Figure 35 on Page 279 4 Lift the tube body away from its base plate and set it aside see Figure 35 5 Remove the 3 ring spacer screws and set aside see Figure 35 278 SPAN SE User Manual Rev 1 HG1700 IMU Installation Appendix E Figure 35 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 36 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 36 SPAN IMU Re Assembly SPAN SE User Manual Rev 1 279 Appendix E HG1700 IMU Installation 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 Install the HG1700 Sensor Unit on Page 279 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 37 Figure 37 Attach Flex Cable 2 Tighten the screws to 4 in pounds 3 Connect the opposite end of the flex cable to the corresponding connect
273. sarily changed 1 ONCHANGED Outputs the current message and then continue to output when the message is changed 2 ONTIME Output on a time interval 3 ONNEXT Output only the next message 4 ONCE Output only the current message 7 period Valid values for the high rate Log period for ONTIME Double H 12 logging are 0 05 0 1 0 2 0 25 trigger in seconds and 0 5 For logging slower than 1Hz any integer value is accepted Continued on Page 115 114 SPAN SE User Manual Rev 1 Commande Field Field Namie Binary Value Description Appendix B Field Type Binary Binary Bytes Offset 8 offset A valid value is any integer Offset for period ONTIME Double 8 H 20 smaller than the period These trigger in seconds If you decimal values on their own wished to log data at 1 second are also valid 0 1 0 2 0 25 or after every minute you would 0 5 set the period to 60 and the offset to 1 9 hold 0 NOHOLD Allow log to be removed by Enum 4 H 28 the UNLOGALL command 1 HOLD Prevent log from being removed by the default UNLOGALL command 1 See also the MARKxPVA and MARKxTIME logs starting on Page 235 See Appendix A in the OEMV Family Installation and Operation User Manual for the maximum raw measurement rate to calculate the minimum period If the value entered is lower than the minimum measurement period the value is ignored and the minimum peri
274. see Figure 18 on Page 71 A 2 3 2 PERFORMANCE IMU IMU Performance IMU H58 Gyro Input Range 1000 degrees s Gyro Rate Bias 1 0 degree hr Gyro Rate Scale Factor 150 ppm Angular Random Walk 0 125 degrees rt hr Accelerometer Range 50g Accelerometer Linearity 500 ppm Accelerometer Scale Factor 300 ppm Accelerometer Bias 1 0 mg IMU H62 Gyro Input Range 1000 degrees s Gyro Rate Bias 5 0 degrees hr Gyro Rate Scale Factor 150 ppm Angular Random Walk 0 5 degrees rt hr Accelerometer Range 50g Accelerometer Linearity 500 ppm Accelerometer Scale Factor 300 ppm Accelerometer Bias 3 0 mg A 2 3 3 Electrical and Environmental IMU Power Consumption ELECTRICAL IMU H58 9 W max IMU H62 8 W max IMU Input Voltage 12 to 28 V DC Receiver Power Consumption ProPak V3 2 8 W typical System Power Consumption ProPak V3 14 8 W typical Data Connector on Enclosure 13 pin Deutsch P N 59065 11 35PF Power Connector on Enclosure 3 pin Deutsch P N 59065 09 98PN 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 290 SPAN SE User Manual Rev 1 85 Diels AC Commands This ap
275. seeessuseensaees 71 19 IMU Interface Cable Pin Out Probak VI 71 20 EN2200 Power Cables vs cia24 e ege ege EENEG EEN 72 21 IMU Power Cable Pin Out c ccesesccessseeeseeeeeeneeeeseecseeeeesaeeesseeeessaeeesseeeesseeesenaeees 72 22 IIMU FSAS Top Bottom Dimensions ecceeeceeeeeeeeeeeeeeeeeeseeeseeeeeaeeseaeeeaeeesaeeeeeetneeees 74 23 iIMU FSAS Enclosure Side Dimensions ceecceeeceeeeeeeteceeeeeaeeeaeeseaeeeaeeseaeeeeetneeees 75 24 IIMU FSAS Centre of Navigation ecececeseeeeeeeeseeeeeeeeeeeeeeeeseaeeeaeeseaeeeaeessaeeeeeeeneeee 76 25 iIMU Interface Cable Connections with a SPAN SE 0 eececceeceeeseeeeeeteeeeeeeeteeeeeeeeeeeees 77 26 FSAS SPAN SE Y Adapter Cable AAA 79 27 Corrsys Datron WRT 3 ee eet getest deefe 80 28 IMAR iIMWS Pre Installed ARA 80 29 IIMU FSAS Interface Cable ccccccccccecssseeeeeeeeeseeeeeeeaeeeeeeeeeceeeeseaeeeseeeeesenseessseensaes 81 30 HG1700 Top Bottom Dimensions cceeceeeceeeeeteeeeeeeeeeeeeeeeseeseaeeeaeeseeeseaeetieeeeaeeeneete 83 31 HG1700 Enclosure Side Dimensions eeeeeeeeeeeeeeeeeteneeeeeeeeteaeeteeeeneeteaeeeeeeeneeeeas 84 32 Frame of Reference iii ssc ied ee gees ee ca a Ss a 133 33 PROQUIFCO P AIS EE 277 34 Bolts and Allan Key 2 ted setesce SEENEN NEE RE eege eee 278 35 Lift Top Cover Tube Body and 3 Ring Spacer Screws eecceesceeeeeeeeeeeeeeteeeeeeeeeneens 279 36 SPAN IMU Re Assembly keete EE aia nee eee 279 37 Attach Flex Cable
276. 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 ASCII Binary Binary Binary Description Value Format Bytes Offset 1 header This field contains the H 0 command name or the messag header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 D 20 x offset m Double 8 H 3 y 20 y offset m Double 8 H 8 4 Z 20 z offset m Double 8 H 16 5 a 0 to 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 0 to 1 Uncertainty in z m Double 8 H 40 Defaults to 10 of the z offset to a minimum of 0 01 m Abbreviated ASCII Example SETIMUTOANTOFFSET 0 54 0 32 1 20 0 0
277. sitive events trigger on the rising edge When polarity is set to negative events trigger on the falling edge 2 Time Bias A constant time bias in ns can be applied to each event pulse Typically this is used to account for a transmission delay 3 Time Guard The time guard specifies the minimum number of milliseconds between pulses This is used to coarsely filter the input pulses The time of the input pulses is available from the MARKxTIME logs see Page 236 The solution synchronous with the event pulses is available from the MARKxPVA logs see Page 235 The logs required for input strobes are LOG MARKITIMEB ONNEW Output time for every pulse received LOG MARKIPVAB ONNEW Output time position velocity and attitude for every pulse received at the location specified by the SETMARK1OFFSET command The input signal levels are 3 75 V to 0 3 V Signal voltages outside these bounds damage the receiver The minimum detectable pulse duration must be greater than or equal to 1 microsecond 58 SPAN SE User Manual Rev 1 SPAN SE Operation Chapter 3 21021 Using the Input Strobe to Accumulate Counts You can also use an input strobe line to count the number of pulses over one second and report the total at the top of each second by setting the input event line to COUNT mode EVENTINCONTROL MARK1 COUNT When in count mode the polarity time bias and time guard entries in the EVENTINCONTROL log are ignored The max
278. ssary RTK resets Abbreviated ASCII Syntax Message ID 183 RTKDYNAMICS mode Factory Default rtkdynamics dynamic Abbreviated ASCII Example RTKDYNAMICS STATIC Table 27 Dynamics Mode ASCII Binary Description AUTO 0 Automatically determine dynamics mode STATIC 1 Static mode DYNAMIC 2 Dynamic mode ASCII Binary SES Binary Binary Binary Value Value Description Format Bytes Offset 1 RTKDYNAMICS This field contains the command H 0 header name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 mode See Table 27 Set the dynamics mode Enum 4 H 124 SPAN SE User Manual Rev 1 Commandes Appendix B B 4 22 RTKSOURCE Set the RTK correction source This command lets you identify from which base station to accept RTK RTCM RTCMV3 RTCA CMR and OmniSTAR HP XP differential corrections This is useful when the receiver is receiving corrections from multiple base stations See also the PSRDIFFSOURCE command on Page 119 To set up RTK differential corrections see the GNSSCARDCONFIG command on Page 105 lt To use OmniSTAR HP XP differential corrections a NovAtel receiver with L band capability and a subscription to the OmniSTAR service are required Contact NovAtel for details Contact information may be found on the back of this manual or you can refer to the Customer Service section in the OEMV Family Instal
279. stamp is set for each type of log lt 1 A SPAN SE user can request up to 25 logs from the OEMV 3 in addition to 30 SPAN specific logs If you attempt to log more than 30 logs at a time the receiver responds with an Insufficient Resources error 2 Asynchronous logs such as BESTLEVERARM should only be logged ONNEW Otherwise the most current data is not output when it is available This is especially true of the ONTIME trigger which may cause inaccurate time tags to result 3 Use the ONNEW trigger with the MARKxTIME or MARKxPVA logs Before the output of fields for ASCII and Binary logs there is an ASCII or binary header respectively See the ASCII and Binary Sections that follow There is no header information before Abbreviated ASCII output 158 SPAN SE User Manual Rev 1 Data Logs Appendix C C 1 1 ASCII ASCII messages are readable by both the user and a computer The structures of all ASCII messages follow the general conventions as noted here l 2 3 The lead code identifier for each record is Each log or command is of variable length depending on amount of data and formats All data fields are delimited by a comma wi th two exceptions The first exception is the last header field which is followed by a to denote the start of the data message The other exception is the last data field which is followed by a to indicate end of message data Each log ends with a hexadecimal number preceded
280. t A 136 B 4 30 SETIMUTYPE Set IMU YPE A 137 B 4 31 SETINITATTITUDE Get initial attitude of SPAN in degrees sseeeeseeeeeee 139 B 4 32 SETINITAZIMUTH Set initial azimuth and standard deviation cee 141 B 4 33 SETINSOFFSET Set INS offset AAA 143 B 4 34 SETMARK1OFFSET SETMARK2OFFSET SETMARK3O0FFSET SETMARK40OFFSET Set Mark oiteet 144 B 4 35 SETWHEELPARAMETERS Set wheel parameters eseeseeeeeeeeeeerreeeeeeeen 145 B 4 36 SOFTPOWER Power down the GPAN GE 147 B 4 37 SPANAUTH Add an authorization code for a new model 148 B 4 38 SPANMODEL Switch to a previously authorized model 150 B 4 39 UNLOG Remove a log from logging contra 151 B 4 40 UNLOGALL Remove all logs from logging Control 153 B 4 41 VEHICLEBODYROTATION Vehicle to SPAN frame rotation 154 B 4 42 WHEELVELOCITY Wheel velocity for INS augmentation s essesseeseeeeeeeeeee 156 C Data Logs 157 CA Log RRE 157 CAL ASC ienna E ee AET a E a e Ea 159 A TATE EE 161 Gal 3 GPS Time Status 3 1 8 ata edd a i aat 164 C 1 4 Message Time Giampe AE 165 C 1 5 Log Type Examples ccpeud geleed enti Ga Sade i date eet 166 C 2 Description of ASCII and Binary Logs with Short Headers AAA 167 G 3 NMEA Standard e DEE 168 G4 SPAN SE A eo AET hoe gin oh oie ok ees let tee ag ae cies eo 170 C 4 1 BESTPOS Best Position and BESTGPSPOS Best GPS Position 171 C 4 2 BESTVEL Best Available Velocity Data and BESTGPSVEL Best Available GPS Velocity Data 175 C 4 3 BESTLEVERARM IMU to A
281. t 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 1 250 SPAN SE User Manual Rev 1 Data Logs Appendix C Recommended Input log rawimua onnew ASCII Example RAWIMUA COM3 0 0 0 EXACT 1105 425384 180 00040000 b8ed 0 1105 425384 156166800 111607 43088060 430312 3033352 132863 186983 823 5aa97065 Table 63 shows how to change the bolded field IMU Status in the HG1700 example above into its binary equivalent and then how to read Table 60 HG1700 IMU Status on Page 248 as a result Table 63 HG1700 IMU Status Example Nibble N7 NO WE H S183 J 10880014 JOQUINN TOISIA AE auyesadway 194300130097 Dm LI mort Ae CC PUD L mag 1 For a complete list of hexadecimal and binary equivalents please refer to the section on Unit Con version in the GPS Reference Manual available on our website at http www novatel ca support docupdates htm SPAN SE User Manual Rev 1 251 Appendix C Data Logs C
282. t be bound to take legal proceedings against any third party in respect of any infringement of letters patent registered design or like instrument of privilege which may now or at any future time be owned by it However should NovAtel elect to take such legal proceedings at NovAtel s request Licensee shall co operate reasonably with NovAtel in all legal actions concerning this license of the Software under this Agreement taken against any third party by NovAtel to protect its rights in the Software NovAtel shall bear all reasonable costs and expenses incurred by Licensee in the course of co operating with NovAtel in such legal action 4 Restrictions You may not a copy other than as provided for in paragraph 2 distribute transfer rent lease lend sell or sublicense all or any portion of the Software except in the case of sale of the hardware to a third party b modify or prepare derivative works of the Software c use the Software in connection with computer based services business or publicly display visual output of the Software d transmit the Software over a network by telephone or electronically using any means except when downloading a purchased up grade from the NovAtel web site or e reverse engineer decompile or disassemble the Software You agree to keep confidential and use your best efforts to prevent and protect the contents of the Soft ware from unauthorized disclosure or use SPAN SE User Manual Rev 1
283. t_c in seconds 24 delta_tau_n Time difference between navigation RF signal Double 8 H 108 transmitted in L2 sub band and navigation RF signal transmitted in L1 sub band by nth satellite in seconds 25 gamma Frequency correction in seconds second Double 8 H 116 26 Tk Time of frame start since start of GLONASS day in Ulong 4 H 124 seconds 27 P Technological parameter Ulong 4 H 128 28 Ft User range Ulong 4 H 132 29 age Age of data in days Ulong 4 H 136 30 Flags Information flags seeTable 41 GLONASS Ephemeris Ulong 4 H 140 Flags Coding on Page 185 31 XXXX 32 bit CRC ASCH and Binary only Hex 4 H 144 32 CR LF Sentence terminator ASCII only SPAN SE User Manual Rev 1 187 Appendix C C 4 9 GLORAWEPHEM Raw GLONASS Ephemeris Data This log contains the raw ephemeris frame data as received from the GLONASS satellite Message ID Log Type Recommended Input Example GLORAWEPHEMA COM1 3 47 0 SATTIME 1340 398653 000 00000000 332d 2020 792 Asynch log glorawephema onchanged 38 9 0 1340 398653 080 4 0148d88460fcl1l15dbdaf78 0 0218e0033667aec83af2a5 0 038000b9031e14439c75ee 0 0404 22660000000000065 0 17 3dd17 GLORAWEPHEMA COM1 0 47 0 SATTIME 1340 398653 000 00000000 332d 2020 41 13 0 1340 398653 078 4 0108d812532805bfalcd2c 0 0208e0a36e8e0952b111da 0 03c02023b68c9a32410958 0 0401 da44000000000002a 0 0b6237405 Data Logs Binary Binary
284. tain a Fixed Ambiguity Solution GNSS Satellites GLO Satellites 4 5 192 SPAN SE User Manual Rev 1 Data Logs Appendix C Field Structure Field Description Symbol Example 1 GPGGA Log header GPGGA 2 utc UTC time of position hours minutes seconds hhmm ss ss 202134 00 decimal seconds 3 lat Latitude DDmm mm ULI 5106 9847 4 lat dir Latitude direction N North S South a N 5 lon Longitude DDDmm mm yyyyy yy 11402 2986 6 lon dir Longitude direction E East W West a W 7 GNSS qual SE Quality indicator x 1 fix not available or invalid GPS fix 2 C A differential GPS OmniSTAR HP OmniSTAR XP OmniSTAR VBS or CDGPS 4 RTK fixed ambiguity solution RT2 see also Table 44 on Page 192 5 RTK floating ambiguity solution RT20 OmniSTAR HP or OmniSTAR XP 6 Dead reckoning mode p Manual input mode fixed position 8 Simulator mode 9 WAAS 8 sats Number of satellites in use May be different to the XX 10 number in view 9 hdop Horizontal dilution of precision X X 1 0 10 alt Antenna altitude above below mean sea level X X 1062 22 11 a units Units of antenna altitude M meters M M 12 undulation Undulation the relationship between the geoid and x x 16 271 the WGS84 ellipsoid 13 u units Units of undulation M meters M M 14 age Age of Differential GPS data in seconds XX empty when no differential data is present 15 stn
285. tandard logging configuration for GNSS only post processing applications would be OG FILE RANGECMPB ONTIME 1 OG FILE RAWEPHEMB ONNEW OG FILE RAWIMUSB ONNEW OG FILE BESTLEVERARMB ONNEW 3 9 4 Start and Stop Logging To start or stop logging either use the button next to the SD Card access door or use the LOGFILE command see Page 117 Once a list of logshas been specified for logging press the Log button on the SPAN SE once to start the logging into an auto named logging file in the current working directory Press the button a second time to stop the logging and close the file Press the button a third time to re start the logging to a new file and so on The LOGFILE command lets you start and stop logging and specify the file name to use If no file name is entered in the command a new auto generated file name is created every time you open a file to write to it For example LOGFILE OPEN SD FIRSTFILE GPS Opena file in the current working directory called FIRSTFILE GPS and start logging If the file name entered already exists on the card the command returns an error When logging is enabled the SD LED flashes green When logging is stopped the SD LED is solid green When the card has 10 capacity remaining the SD LED turns orange When the card has less than 1 capacity remaining the SD LED turns red 3 9 5 Log aPre Defined List of Log
286. ter 5 101 416 46 664 923 B1 5 390 207 7 193 559 B2 5 495 499 SPAN Technology 5 809 064 6 721 657 B2 PAC Correlator 6 750 816 B1 6 243 409 B1 10 758 363 pending 5 414 729 10 932 497 pending Dual Frequency GPS 7 346 452 5 736 961 Anti Jamming Technology 5 734 674 OY Copyright 2009 Novatel Inc All rights reserved Unpublished rights reserved L di amp under International copyright laws Printed in Canada on recycled paper Recyclable 2 SPAN SE User Manual Rev 1 Table of Contents Proprietary Notice 2 Software License 11 Terms and Conditions 13 Warranty Policy 16 Customer Service 18 Notices 19 Foreword 20 1 Introduction 22 1 1 Fundamentals of GNSS INS annene ne 23 1 2 Models and Features kennncsmon oree deed EE EENEG 24 2 SPAN SE Installation 26 2 1 SPAN SE Hardware Description ecceecceseceeeeeeeeeeeeeeeeeeeeeeeeaeeseeeeeaeeseaeeeaeeseaeeeaeeeeeeed 26 2 2 SPAN SE Hardware Installation cccscccssceceeseeeceeeeeeeneeeeseneeeeeeeeeseaeeessaeeesseeeesenseeeees 29 ERC Mount Antena EE 29 2 2 2 Mount IMU EE 30 2 2 3 Connect Interface Cables iei ia a aaa eieaa iaee 30 2 2 4 Connect POWET igp eskena ata eaei aeaee eeggde Ee eaaa sede staves Eiaa TeRi 31 2 2 5 Power BUNOT ahenea R EE E A 32 3 SPAN SE Operation 34 3 1 Definition of Reference Frames Within SPAN ccccccceeeeceeeeeeeeeeneeeeseeeseseeeessneeeees 34 3 1 1 The Local Level Frame ENU ec ccceseeceseceeeeeee
287. ter 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 20 LN 200 Power Cable 1 2 T HSC 100010 m gp Si S gt gt 2 3 6 A Si EE Es i Se 4 Ka C A E 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 21 IMU Power Cable Pin Out ouork Go PY 72 SPAN SE User Manual Rev 1 Technical Specifications Appendix A A 2 1 3 IMU Performance PERFORMANCE IMU IMU LN200 Gyro Input Range 1000 degrees s Gyro Rate Bias 1 hr Gyro Rate Scale Factor 100 ppm Angular Random Walk 0 07 degrees rt hr Accelerometer Range 40g Accelerometer Linearity Accelerometer Scale Factor 300 ppm Accelerometer Bias 0 3 mg A 2 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 43 pin Deutsch P N 59065 11 35PF 2 Power Connector on Enclosure 3 pin Deutsch P N 59065 09 98PN 2 6 to 18 VDC IMU Interface RS 232 or RS 422 ENVIRONMENTAL
288. tes higher than 115 200 bps are not supported by standard PC hardware Special PC hardware may be required for higher rates including 230400 bps 460800 bps and 921600 bps Also some PC s have trouble with baud rates beyond 57600 bps Abbreviated ASCII Syntax Message ID 4 COM port bps parity databits stopbits handshake echo break Factory Default com com 9600 n 8 1 n off on com com2 9600 n 8 1 n off on com com3 9600 n 8 1 n off on com com4 9600 n 8 1 n off on Abbreviated ASCII Example COM COM1 57600 N 8 1 N OFF ON 94 SPAN SE User Manual Rev 1 Commandes Appendix B Table 18 COM Serial Port Identifiers Binary ASCII Description 1 COM COM ort P 1 2 COM2 COM ort P 2 3 COM3 COM ort P 3 7 FILE SD Card 13 USB1 USB Device 19 COM4 COM Port 4 20 ETH 10 100 Ethernet Table 19 Parity Binary ASCII Description 0 N No parity default 1 E Even parity 2 O Odd parity Table 20 Handshaking Binary ASCII Description 0 N No handshaking default 1 XON XON XOFF software handshaking 2 CTS CTS RTS hardware handshaking SPAN SE User Manual Rev 1 95 Appendix B Commands ASCII Binary GN Binary Binary Binary Value Value Description Format Bytes Offset 1 COM This field contains the command H 0 header name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respecti
289. 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 1 minute 3 4 3 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 GNSS velocity vector and injecting it into the SPAN filter as the initial system attitude Currently this alignment routine is meant only for ground based vehicles The assumptions used for the alignment may not hold for marine or airborne applications For the fast alignment routine to work optimally the course over ground s azimuth and pitch must match the SPAN computation frame s azimuth and pitch For example a plane being blown in the wind has a a large crab angle and the course over ground trajectory will not match the direction the IMU is pointing Additional configuration parameters are necessary to enable the kinematic alignment In order to simplify this configuration it is strongly suggested that you mount the IMU in parallel to the vehicle frame The Y axis marked on the IMU enclosure should point in the direction of travel Specify which IMU axes are most closely aligned with gravity using the SETIMUORIENTATION command If the IMU is mounted with t
290. the type of information contained in the sentence Data contained within the sentence is separated by commas and the sentence is terminated with a two digit checksum followed by a carriage return line feed Here is an example of an NMEA sentence that describes time position and fix related data SGPGGA 134658 00 5106 9792 N 11402 3003 W 2 09 1 0 1048 47 M 16 27 M 08 AAAA 60 This example and other NMEA logs are output the same no matter what GPS receiver is used providing a standard way to communicate and process GPS information 168 SPAN SE User Manual Rev 1 Data Logs Field Type Special Forma Symbol t Fields Appendix C Definition Status A Single character field A Yes Data Valid Warning Flag Clear V No Data Invalid Warning Flag Set Latitude III Fixed Variable length field degrees minutes decimal 2 fixed digits of degrees 2 fixed digits of mins and a variable number of digits for decimal fraction of mins Leading zeros always included for degrees and mins to maintain fixed length The decimal point and associated decimal fraction are optional if full resolution is not required Longitude YYYYY YY Fixed Variable length field degrees minutes decimal 3 fixed digits of degrees 2 fixed digits of mins and a variable number of digits for decimal fraction of mins Leading zeros always included for degrees and mins to maintain fixed length The decimal point and associated de
291. the wheel data not the time the TIMEDWHEELDATA log was output This is a short header log see also Section C 2 Description of ASCII and Binary Logs with Short Headers on Page 167 This log contains the wheel sensor information received from any of the three sources SPAN SE supports See also Section 3 5 SPAN Wheel Sensor Configuration on Page 49 Es If you are using an iMAR iMWS Magnetic Wheel Speed Sensor and Convertor connected directly to the iIMU FSAS Field 4 the float wheel velocity is filled instead of Field 3 the unsigned short wheel velocity When you send a WHEELVELOCITY command 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 Binary Binary Field Field Type Data Description Format Bytes Offset 1 Log Header Log 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 Bina
292. then be tied to a supply capable of at least 10 W for a single antenna or 12 W for dual antennas This cable is RoHS compliant For alternate power sources see Section 2 2 4 on Page 31 1500 50 00 0 00 __500 0 60 00 0 00 PIN4 IN 2 TI l pt o am t P1 NOVATEL 1 A FAR T PIN4 s PIN3 SCC d GND ET Vin ji CONNECTOR BAREWRE pi SIGNAL CoLor GND BLACK 50 0 45 0 Vin ajon Q E D BROWN Vin ORANGE Reference Description P1 ODU 4 pin Vin 9 to 28 V DC Figure 13 SPAN SE Power Cable 64 SPAN SE User Manual Rev 1 Technical Specifications Appendix A A 1 1 2 1 0 1 Green Cable NovAtel part number 01018134 This cable supplied with the SPAN SE see Figure 14 provides a means of connecting with communications and I O devices The cable is equipped with a 30 pin connector at the receiver end plus four DB 9 connectors at the other end one for each serial port The serial ports available on this cable are COM3 COM4 both used for command input and data output a direct connection to the internal OEMV 3 COM used for RTK correction input and a direct connection to the internal OEMV 2 COM1 There is also an end with six bare cables for CAN configurations See Table 8 I O 1 Green Cable Connector Pin Outs on Page 66 This cable is RoHS com
293. to the Date of Last Change field in that the value of the field has 2 decimal digits reserved for the hour followed by 2 decimal digits for the minutes and 2 decimal digits for the seconds Example Time of 16 01 25 Time of Last Change field when converted to a Ulong has a value of 160125 The following steps can be used to obtain the various parts of the Time of Last Change field Ulong Hour Ulong TimeOfLastChange 10000 Ulong Minutes Ulong TimeOfLastChange Hour 10000 100 Ulong Seconds Ulong TimeOfLastChange Hour 10000 Minutes 100 Structure Message ID 159 Log Type Polled Field Data Bytes Format Units Offset 1 Log Header 0 2 Filename 12 Char none H 3 Size bytes 4 Ulong bytes H 12 4 Size packets 4 Ulong packets H 16 5 Date of Last Change 4 Ulong yyyymmdd H 20 6 Time of Last Change 4 Ulong hhmmss H 24 SPAN SE User Manual Rev 1 181 Appendix C Data Logs C 4 7 GLOCLOCK GLONASS Clock Information 182 This log contains the time difference information between GNSS and GLONASS time as well as status flags The status flags are used to indicate the type of time processing used in the least squares adjustment GNSS and GLONASS time are both based on the Universal Time Coordinated UTC time scale with some adjustments GPS time is continuous and does not include any of the leap second adjustments to UTC applied since 1980 The result
294. trol The RVBCALIBRATE command is used to enable or disable the calculation of the vehicle frame to the SPAN computation frame angular offset These angular offsets must be known in the SPAN system before a kinematic alignment can be attempted The angular offset can be entered with the VEHICLEBODYROTATION command or solved for with the RVBCALIBRATE command This command should be entered when the IMU is re mounted in the vehicle or if the rotation angles available are known to be incorrect WARNING After the RVBCALIBRATE ENABLE command is entered there are no vehicle body rotation parameters present and a kinematic alignment is NOT possible 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 269 When the calibration is done the rotation values are fixed until the calibration is re run by entering the RVBCALIBRATE command again lt The solved rotation values are used only for a rough estimate of the angular offsets between the IMU and vehicle frames The offsets are used when aligning the system while in motion see Section 3 4 1 Configuration for Alignment starting on Page 44 The angular offset values are
295. ue Value Description Format Bytes Offset 1 header This field contains the H 0 command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 mark MARK 0 Choose which Event Out Enum 4 H MARK2 1 mark to use MARK3 2 3 switch DISABLE 0 Disables Event output Enum 4 H 4 ENABLE 1 4 polarity NEGATIVE 0 Negative polarity default Enum 4 H 8 POSITIVE 1 Positive polarity 5 active Active period ofthe Event Our Ulong 4 H 12 period signal in nanoseconds default 500 000 000 mininum 1000 maximum 999 999 000 6 not Not active period of the Event Ulong 4 H 16 active Out signal in nanoseconds period default 500 000 000 mininum 1000 maximum 999 999 000 Abbreviated ASCII Example EVENTOUTCONTROL MARK3 ENABLE 102 SPAN SE User Manual Rev 1 Commandes Appendix B BAS FORMAT Format the SD Card This command allows you to format the SC card in the SPAN SE Abbreviated ASCII Syntax Message ID 1057 FORMAT device volume Field ASCII Binary Binary Binary Binary Type Value Value Format Bytes Offset 1 header This field contains the H 0 command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively Field Description 2 device Choose a mass storage device Enum 4 H see Table 16 on Page 87 3 volume DOS volume label String 11 11 H 4
296. undulation 174 UNLOG command 151 UNLOGALL command 153 up 218 220 User Datagram Protocol UDP 59 60 using a command as a log 86 V validity clock model 236 receiver model 265 270 VBS OmniSTAR DGPS type 120 HP XP 229 initiate 93 subscription 223 VDOP see dilution of precision vector values 220 vehicle frame 35 vehicle to body rotation RVB 90 127 vehicle to SPAN frame angular offset cali bration 48 VEHICLEBODYROTATION comman d 148 VEHICLEBODYROTATION log 269 velocity 143 214 computation 220 INS 108 208 limit 173 mark 235 version 148 270 VERSION log 270 virtual address 160 W warning 148 230 255 anti static 19 cable 29 IMU internal 277 282 IMU manufacturer 16 kinematic alignment 49 297 Index 298 PC power settings 44 SAVECOMNFIG command 47 87 133 SD Card data 53 warranty 16 Waypoint Products Group 184 week reference 246 wheel sensor data 156 268 odometer 79 WHEELSIZE log 273 WHEELVELOCITY command 156 word raw ephemeris 246 status 256 264 week number 190 Y year 267 271 Z Zero Velocity Update ZUPT 109 SPAN SE User Manual Rev 1 Index SPAN SE User Manual Rev 1 299 amp amp Nolte Recyclable Printed in Canada on recycled paper OM 20000124 Rev 1 2009 03 25
297. vely 2 port See Table 18 on Page 95 Port to configure Enum 4 H 3 bps baud 300 600 900 1200 Communication baud rate bps ULong 4 H 4 2400 4800 9600 19200 Bauds of 460800 and 921600 are 38400 57600 115200 or also available on COMI of 230400 OEMV 2 based products 4 parity See Table 19 on Page 95 Parity Enum 4 H 8 5 databits 7 or 8 Number of data bits ULong 4 H 12 default 8 6 stopbits lor2 Number of stop bits ULong 4 H 16 default 1 7 handshake See Table 20 on Page 95 Handshaking Enum 4 H 20 8 echo OFF 0 No echo Enum 4 H 24 default ON 1 Transmit any input characters as they are received 9 break OFF 0 Disable break detection Enum 4 H 28 ON 1 Enable break detection default 96 SPAN SE User Manual Rev 1 Commandes Appendix B B 4 4 COMCONTROL Control the RS232 hardware control lines This command is used to control the hardware control lines of the COM ports On SPAN SE the mode of COM1 COM2 COM3 and COM4 can be configured to be RS232 or RS422 On OEMV products the mode is only hardware configurable The TOGGLEPPS mode of this command is typically used to supply a timing signal to a host PC computer by using the RTS or DTR lines The accuracy of controlling the COM control signals is better than 900 us As a SPAN SE user you have access to 3 event out lines that can provide precise PPS output The other modes are typically used to control custom peripheral devices Also
298. ver arm calibration runs for 600 s or until the estimated lever arm standard deviation is lt 0 05 m in each direction x y z whichever happens first Abbreviated ASCII Example 3 LEVERARMCALIBRATE OFF 0 This command stops the calibration The current estimate when the command was received is output in the BESTLEVERARM log and used in the SPAN computations SPAN SE User Manual Rev 1 111 Appendix B Commands B 4 15 LOG Request logs from the receiver Many different types of data can be logged using several different methods of triggering the log events The ONTIME trigger option requires the addition of the period parameter See Section C 1 Log Types starting on Page 157 for further information and a complete list of data log structures The LOG command tables in this section show the binary format followed by the ASCII command format The optional parameter hold prevents a log from being removed when the UNLOGALL command with its defaults is issued To remove a log which was invoked using the hold parameter requires the specific use of the UNLOG command see Page 151 To remove all logs that have the hold parameter use the UNLOGALL command with the held field set to 1 see Page 153 The port parameter is optional If port is not specified port is defaulted to the port that the command was received on lt 1 SPAN SE users can request up to 25 GNSS only logs that is logs generated on the internal OEMV 3 and u
299. wise from North 7 Status INS status see Table 5 on Page 43 Enum 4 H 36 8 XXXX 32 bit CRC ASCI Binary and Short Hex 4 H 40 Binary only 9 CR LF Sentence terminator ASCII only 1 Axis of the SPAN computation frame If the APPLY VEHICLEBODYROTATION command has been invoked it will be the axis of the vehicle frame See Section 3 1 Definition of Reference Frames Within SPAN on Page 34 for frame definitions Recommended Input log insattsa ontime 1 ASCII Example SINSATTSA 1105 425385 000 1105 425384 996167250 4 822147742 0 035766158 123 262113519 INSSolutionGood 3563a760 SPAN SE User Manual Rev 1 207 Appendix C Data Logs C 4 21 INSCOV INS Covariance Matrices The position attitude and velocity matrices in this log each contain 9 covariance values with respect to the local level frame For the attitude the x y z axis are of the SPAN Computational Frame See below for the format of the variance output variance about variance about X rotation Bees US Y rotation angle pitch eX xy Xz angle roll EE ZX Zy variance about Z rotation angle azimuth or yaw and are displayed within the log output as e XX XY XZ YX YY YZ ZX ZY ZZ oe These values are computed once per second and are only available after alignment See also Section 3 4 1 Configuration for Alignment starting on Page 44 and Section 3 1 Definition of Reference Frames Within SPAN on P
300. y name in the list and edit it to change it 36 SPAN SE User Manual Rev 1 SPAN SE Operation Chapter 3 Preferences Configurations s PA Startup Options FlexPak Jh Update Log Definitions 5 Select Serial or Network from the Type list and select the PC laptop port that the receiver is connected to from the Port list If selecting a network connection you should have configured an IP address into the receiver prior to connecting see SPAN SE Ethernet Connection on Page 59 Device Type Type Serial br Serial Settings Port Z J Passive Baud Rate 115200 DI Read Oniy I Hardware Handshaking 6 Select your desired baud rate from the Baud Rate list If you are logging high rate data we recommend using the highest baud rate that your hardware is able to support 7 Uncheck the Use hardware handshaking checkbox 8 Select OK to save the new device settings 9 Select the new configuration from the Available device configs area of the Open dialog 10 Select the Open button to open receiver communications Sku oe a igs COM1 at 115200 Bau Sis 11 As CDU establishes the communication session with the receiver a progress box is displayed 12 Select Tools Logging Control Window from the CDU main menu to control the receiver s log ging to files and serial ports Refer to CDU s on line Help for more information 13 Use the Console window to enter commands See also Section 3 6 Data Collection for
301. z A pr Binary Field Field type Data Description Format Offset 1 TIME Log header 0 header 2 clock status Clock model status not including current Enum H measurement data see Table 54 on Page 236 3 offset Receiver clock offset in seconds from GPS time A Double H 4 positive offset implies that the receiver clock is ahead of GPS time To derive GPS time use the following formula GPS time receiver time offset 4 offset std Receiver clock offset standard deviation Double H 12 5 utc offset The offset of GPS time from UTC time computed Double H 20 using almanac parameters UTC time is GPS time plus the current UTC offset plus the receiver clock offset UTC time GPS time offset UTC offset 6 utc year UTC year Ulong H 28 7 ute month UTC month 0 12 Uchar H 32 8 utc day UTC day 0 31 Uchar H 33 9 utc hour UTC hour 0 23 Uchar H 34 10 utc min UTC minute 0 59 Uchar H 35 11 utc ms UTC millisecond 0 60999 2 Ulong H 36 12 utc status UTC status Enum H 40 0 Invalid 1 Valid 13 XXXX 32 bit CRC ASCII and Binary only Hex H 44 14 CR LF Sentence terminator ASCII only 1 If UTC time is unknown the values for month and day are 0 2 Maximum of 60999 when leap second is applied SPAN SE User Manual Rev 1 267 Appendix C Data Logs C 4 51 TIMEDWHEELDATA Timed Wheel Data This log contains time stamped wheel sensor data The time stamp in the header is the time of validity for

SPAN-SE manual.book

Contents

Download Pdf Manuals

Related Search

Related Contents