Home

SPAN on OEM6 Firmware Reference Manual

1. Nibble Bit Mask Description Range Value NO 0 0x00000001 Reserved 1 0x00000002 2 0x00000004 3 0x00000008 N1 4 0x00000010 IMU Status 0 Passed 1 Failed 5 0x00000020 IMU Status 0 Passed 1 Failed 6 0x00000040 IMU Status 0 Passed 1 Failed 7 0x00000080 IMU Status 0 Passed 1 Failed N2 8 0x00000100 Reserved 9 0x00000200 10 0x00000400 11 0x00000800 N3 12 0x00001 000 Reserved 13 0x00002000 14 0x00004000 15 0x00008000 N4 16 0x00010000 Reserved 17 0x00020000 18 0x00040000 19 0x00080000 N5 20 0x00100000 Reserved 21 0x00200000 22 0x00400000 23 0x00800000 N6 24 0x01000000 IMU Status 0 Passed 1 Failed 25 0x02000000 Reserved 26 0x04000000 IMU Status 0 Passed 1 Failed 27 0x08000000 IMU Status 0 Passed 1 Failed 7 28 0x10000000 IMU Status 0 Passed 1 Failed 29 0x20000000 IMU Status 0 Passed 1 Failed 30 0x40000000 IMU Status 0 Passed 1 Failed 31 0x80000000 Reserved INS Logs SPAN on OEM6 Firmware Reference Manual Rev 7 INS Logs Nibble Chapter 5 Table 46 ADIS16488 IMU IGM A1 and SPAN IGM A1 IMU Status Bit Description Range Value NO 0 0x00000001 Alarm Status Flag 1 0x00000002 Reserved 2 0x00000004 3 0x00000008 SPI Communication Error 0 Passed 1 Faile
2. 15 Detailed PortlIdentifler eerte et ene tte qa 16 Short ASCII Message Header 19 Short Binary Message Header 19 Binary Message Response Structure eesssssssseseseeeen eene nnne nnne 21 Binary Message Sequence ie eicere eo iir etl et uuo D a ght c a Sn 22 GPS Reference Time 23 Response Messages siriana N aa E EEEE eves tee n e ea etched rep rente deg 27 SPAN Commands for OEMG Alphabetical ceeeccceeeeccee eee e eee eeeeeeceaaaeeeeeeeeeeeeeeeeeeeeeaaeeees 30 SPAN Commands for OEMG by 32 IMU Type itte cte rt ec moe eee tiep eot eene 39 EXTERNALPVAS Updates 48 EXTERNALPVAS Options Mask nnne nnne nnne nennen 49 Serial Port Interface Modes tiet rne ine t Rep RHET IRE 61 COM Serial Port Identifiers 2 recti 62 NMEARTAIK6tS obi rel iode o ntu ede 66 COMI Ports der eed ae rive i iode T 68 F ll Mapping Definitlons reed rr D Eee en E teres ets 75 INSOffset OptiOnS eR CERE diner ee Ee e oce
3. Field Field Type Description Format Bytes Offset 1 Log Header Log header short header H 0 2 Ticks Per Rev Number of ticks per revolution Ushort 2 H 3 Wheel Vel Wheel velocity in counts s Ushort 2 H 2 4 fWheel Vel Float wheel velocity in counts s Float 4 H 4 5 Reserved Ulong 4 H 8 6 Ulong 4 H 12 7 Cumulative Ticks Number of ticks Long 4 H 16 8 XXXX 32 bit CRC ASCII Binary and Short Binary only Hex 4 H 20 9 CR LF Sentence terminator ASCII only 194 SPAN OEM6 Firmware Reference Manual Rev 7 INS Logs Chapter 5 5 2 53 TSS1 TSS1 Protocol for Heave Roll and Pitch This log provides heave roll and pitch information in TSS1 protocol This message is in a different format than any other log output by the SPAN system To use this log make sure that Heave is enabled see HEAVEFILTER on page 52 e the INS status is greater than INS ALIGNMENT COMPLETE Message ID 1456 Log Type Synch Recommended Input log tssla ontime 1 Message Format XXAAAASMHHHHOMRRRRSMPPPP lt CR gt lt LF gt ASCII Example 00FFCA 0003F 0325 0319 Field Field Type Description Example 1 Log Header Log header 0 2 Horizontal Horizontal acceleration from 0 to 9 81m s XX 00 Acceleration Shown as a one byte unsigned hex number where the least significant bit 3 83 cm s 3 Vertical Vertical acceleration from 20 48 to 20 48 m s AAAA FF
4. 165 yD AO PAS IAP Le idet tees t 166 5 241 e t n brc Pd De Eva 167 5 12 42 RAW M U S css ortho sot te re EL 179 5 2 43 RAWIMUS X fr tr hcec i E a Ee cre vo e i e a a e e T e eet cnt 181 5 2 44 RAWIM WX IS redes dex cr edu EUR En do 183 2 arc ET DE EY e onde Ps 185 5 2 46 SY NGEIEAWVE ep e Re e n d Eh 187 5 2 AT SYNCRBELINSPVA eina It v ER e tim Fuera 188 5 248 9 aee er n c T EE aed 190 5 2 49 TAGGEDMARBNKO2BVA rtis itr D c cae e Div rc e s D 191 5 250 TAGGEDMARNKGSBVA tie ett e e deo re beatae a e ardet cates 192 5 2 51 2 193 5252 a e a greg 194 5 22 59 ESO reet E Rp E ee tesi read ou c 195 5 2 54 VARIABLELEVERARM 000000101 000 nn menn enn ne nnne nns sana sanas assassin nana 197 5 2 55 198 5250 WHEELSIZE
5. eb Pre he ao ee E a V EY T 145 b 2 22 INSBO SX toi rote rette ifta c n Peer veo Slave tex ru E E eue 146 52 EMPIRE ET 147 Mi c 148 5 2 25 INSPMAX ca SER a EE HR RR A DECR RE E Ae 149 22 CANSSPD 151 B22 4 INSSBP DS uere rer br Den D Ep SEE eC e TENE 152 5 2 28 INSUPDATE E iiin teet rc Dr Pe er tel e rd rH D EVE rd c gea eg a 153 5 229 4 NSVEL rae P E ra DN 155 5 2 30 INSVELS se oe rne eet i e tva ore pr a cn Pv E e A P Pe En Ca 156 5 2 3 INS VEL o eon 157 5 2 32 MARKTOONUNT uer eati re ener dev Fe TTL Ra edo Dub cen da P Dc eT 158 5 233 a a 159 5 2534 MARK2GOUN ea T e ER 160 5 2 95 MARKOP2PWVA 2 retinendi tes f a EE EL TC 161 5 2 36 MARBK9GOUNT ii d e 162 52 Ol hn nea e e E C Ede e una 163 5 2 38 Ra rad edes EE M M e Ra PO ET v ETE uA ERR 164 5 2 3 gt critico rone EE e
6. SPAN on OEM6 Firmware Reference Manual Rev 7 179 Chapter 5 INS Logs Binary Binary Formar Bytes Offset Field Field Type Description 9 Y Gyro Output Change in angle count around y axis Long 4 H 32 Right handed 10 X Gyro Output Change in angle count around x axis Long 4 H 36 Right handed 11 32 bit CRC ASCII Binary and Short Binary only Hex 4 H 40 12 CR I LF Sentence terminator ASCII only a The change in velocity acceleration scale factor for each IMU type can be found in Table 48 Raw IMU Scale Factors on page 180 Multiply the scale factor in Table 48 Raw IMU Scale Factors by the count in this field for the velocity increments b A negative value implies the output is along the positive y axis marked on the IMU A positive value implies the change is in the direction opposite to that of the y axis marked on the IMU c The change in angle gyro scale factor can be found in Table 48 Raw IMU Scale Factors on page 180 Multiply the appropriate scale factor in Table 48 Raw IMU Scale Factors by the count in this field for the angle increments in radians To obtain acceleration in m s 2 multiply the velocity increments by the output rate of the IMU e g 100 Hz for HG1700 HG1900 and HG1930 200 Hz for ISA 100 ISA 100C iMAR FSAS LN200 LCI 1 KVH1750 and ADIS16488 125 Hz for STIM300 Table 48 Raw IMU Scale Factors Gyr
7. 74 SPAN on OEM6 Firmware Reference Manual Rev 7 SPAN Commands Chapter 4 Table 21 Full Mapping Definitions IMU SPAN Frame SPAN Frame Enclosure IMU Enclosure Axis Frame Axis Frame X 4 Y 2 2 X X earn Y Li Z Z X Y 6 Y X lt N lt x x N N lt N N lt lt x x x lt N x lt x x x x x x x N N N N N N lt lt lt lt lt lt x Z SPAN on OEM6 Firmware Reference Manual Rev 7 75 Chapter 4 SPAN Commands 4 2 31 SETIMUPORTPROTOCOL Sets the Protocol Used for the IMU Serial Port Use the SETIMUPORTPROTOCOL command to force the IMU serial port to use either RS 232 or RS 422 protocol This overrides the default configured internally when the CONNECTIMU command is sent Before changing the IMU serial port protocol to RS 422 make sure the receiver port connected D to the IMU is capable of RS 422 protocol Refer to the OEM6 Family Installation and Operation User Manual OM 20000128 or ProPak6 User Manual 20000148 for information about the receiver serial ports Message D 1767 Abbreviated ASCII Syntax SETIMUPORTPROTOCOL SerialProtocol Abbreviated ASCII Example SETIMUPORTPROTOCOL RS422 Binary Binary Binary Format Bytes Offset Field ASCII Binary Field Description Type Value Value Contains the command name or message H 0 h
8. Field Field Type Value Value Desenption Format Bytes Offset 1 Header Contains the command name or H 0 message header depending on whether the command is abbreviated ASCII ASCII or binary 2 INSOffset Offset to change Enum 4 H See Table 22 INSOffset Options on page 86 3 Value1 100 metres or X axis offset Double 8 4 180 degrees 4 Value2 100 metres or Y axis offset Double 8 H 12 180 degrees 5 Value3 100 metres or Z axis offset Double 8 H 20 180 degrees 6 Value4 See Table 22 Optional X axis offset Double 8 H 28 INSOffset Options 7 Value5 See Table 22 Optional Y axis offset Double 8 H 36 INSOffset Options 8 Value6 See Table 22 Optional Z axis offset Double 8 H 44 INSOffset Options SPAN on OEM6 Firmware Reference Manual Rev 7 85 Chapter 4 ASCII PRIMARY SECONDARY Binary 1 SPAN Commands Table 22 INSOffset Options Description Offset from the IMU to the primary GNSS antenna These offsets are also known as the IMU to antenna lever arm Enter Value1 Value2 and Value3 in metres The values entered represent the vector from the IMU center of navigation to the primary antenna phase center in the IMU enclosure frame Measure these offsets as accurately as possible preferably to within millimeters especially for RTK operation Any error in the offset values will translate directly into an error in the INS position Enter Value4 Value5 and Value6
9. eter eei re rv D ee 199 6 Variable Lever Arm 200 6 1 Technical Description toi iE 200 6 2 How to Use Variable EeVver vigi vac 202 0 2 zrieliem x 202 6 2 2 Rotations and 0 0 00000000 203 6 ir Pto eie e a Es er roD 204 7 Relative INS 205 d Gonfigure Relative INS cermin c dence dee i o rade 206 SPAN on OEM6 Firmware Reference Manual Rev 7 NOOR WD Byte Arrangement S yntan enm na tefie umi rite eens 11 Frame of Reference 2 coto e tei veo Dr ER 74 IMU t Antenna eain terne re 79 Simple Configuration dee n e ce nsdn DER 201 Rotation Results nro eec 201 Vehicle Frame eco ox c E Fed Po FE Rae eee E E EY ETUR 204 Relative INS Example SPAN on OEMG Firmware Reference Manual Rev 7 10 ASCII Message Header 12 Receiver Status cuida Etage bei eo ient e acu 13 Binary Message Header
10. Field Field Type Description Format Bytes Offset 1 Log Header Log header H 0 2 Week GNSS week Ulong 4 H 3 Seconds GNSS seconds from week start Double 8 H 4 4 PitchRate About x axis rotation Double 8 H 12 5 RollRate About y axis rotation Double 8 H 20 6 YawRate About z axis rotation right handed Double 8 H 28 7 LateralAcc INS Lateral Acceleration along x axis Double 8 H 36 8 LongitudinalAcc INS Longitudinal Acceleration along y axis Double 8 H 44 9 VerticalAcc INS Vertical Acceleration along z axis Double 8 H 52 10 32 bit CRC Hex 4 H 56 11 CR LF Sentence Terminator ASCII only 128 SPAN on Firmware Reference Manual Rev 7 INS Logs Chapter 5 5 2 8 DELAYEDHEAVE Delayed Heave Filter This log contains the value of the delayed heave filter The heave filter must be enabled using the HEAVEFILTER command see page 52 before this log is available Message ID 1709 Log Type Synch Recommended Input log delayedheavea ontime 0 1 ASCII example SDELAYEDHEAVEA COM1 0 72 0 FINESTEERING 1769 237598 000 00000020 27a3 12597 0 000080643 0 086274510 85cdb46d Binary Binary Field Field Type Description Format Bytes Offset 1 Log Header Log Header H 0 2 Delayed Heave Delayed heave value Double 8 H 3 Std Dev Standard deviation of the delayed heave value Double 8 H 8 4 XXXX 32 bit CRC ASCII and
11. Log Log Format GNSS INS BESTPOS NovAtel YES BESTVEL NovAtel YES BESTUTM NovAtel YES BESTXYZ NovAtel YES GPGGA NMEA YES GPGLL NMEA YES GPVTG NMEA YES SPAN on OEM6 Firmware Reference Manual Rev 7 107 Chapter 5 INS Logs 5 2 INS Specific Logs INS specific logs provide attitude data such as roll pitch and azimuth Logging Restriction Important Notice Logging excessive amounts of high rate data can overload the system When configuring the output for SPAN NovAtel recommends that only one high rate gt 50Hz message be configured for output at a time It is possible to log more than one message at high rates but doing so could have negative impacts on the system Also if logging 100 125 200Hz data always use the binary format For optimal performance log only one high rate output at a time These logs could be Raw data for post processing RAWIMUXSB ONNEW 100 125 or 200 Hz depending on IMU RAWIMU logs are not valid with the ONTIME trigger The raw IMU observations contained in these logs are sequential changes in velocity and rotation As such you can only use them for navigation if they are logged at their full rate See details of these logs starting on page 181 Realtime INS solution INSPVASB ONTIME 0 01 or 0 005 maximum rate equals the IMU rate Other possible INS solution logs available at high rates are INSPOSSB INSVELSB INSATTSB The periods available when usi
12. 174 SPAN on OEM6 Firmware Reference Manual Rev 7 INS Logs Table 44 IMU KVH1750 IMU Status Chapter 5 Nibble Bit Mask Description Range Value NO 0 0x00000001 Gyro X Status 1 Valid 0 Invalid 1 0x00000002 Gyro Y Status 1 Valid 0 Invalid 2 0x00000004 Gyro Z Status 1 Valid 0 Invalid 3 0x00000008 Unused Set to 0 N1 4 0x00000010 Accelerometer X Status 1 Valid 0 Invalid 5 0x00000020 Accelerometer Y Status 1 Valid 0 Invalid 6 0x00000040 Accelerometer Z Status 1 Valid 0 Invalid 7 0x00000080 Unused Set to 0 N2 8 0x00000100 Unused 9 0x00000200 10 0x00000400 11 0x00000800 N3 12 0x00001000 13 0x00002000 14 0x00004000 15 0x00008000 N4 16 0x00010000 IMU temperature reading as follows 17 0x00020000 Signed 2 byte value SHORT 18 x00040000 Rounded to the nearest degree 19 0x00080000 Example N5 20 0x00100000 RAWIMU COM 0 75 0 FINESTEERING 1813 5i GUBUGUD 514207 000 00000020 fa9a 45836 1813 514207 000000000 00260077 32164 47 305 22 0x00400000 1 100 23 0x00800000 ME Bi JEOSGGGEOD IMU status 00260077 Temperatures bytes 0026 25 0x02000000 Decimal value 38 degrees C 26 0x04000000 27 0x08000000 N7 28 0x10000000 29 0x20000000 30 0x40000000 31 0x80000000 SPAN on OEM6 Firmware Reference Manual Rev 7 175 Chapter 5 176 Table 45 HG1900 and HG1930 IMU Status
13. 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 Message ID 1095 Log Type Asynch Recommended Input log mark3counta onnew ASCII Example MARK3COUNTA COM1 0 98 5 FINESTEERING 1520 515353 000 00000000 0000 137 1000000 1 1786750b Field type Description onc 1 MARKS3COUNT header Log header H 0 2 Period Delta time Ulong 4 H 3 Count Tick count Ushort 2 H 4 4 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 6 5 CR LF Sentence terminator ASCII only 162 SPAN on OEM6 Firmware Reference Manual Rev 7 INS Logs Chapter 5 5 2 37 MARKSPVA Position Velocity and Attitude at Mark3 This log is only available for SPAN systems with an OEM638 or ProPak6 receiver This log outputs position velocity and attitude information with respect to the SPAN frame when an event was received on the Mark3 input If the SETMARK3OFFSET command has been entered the MARK3PVA log will contain the solution translated and then rotated by the values provided in the command See the SETMARK3OFFSET command valid at the time on page 94 Message ID 1118 Log Type Synch Recommended Input log mark3pva onnew Abbreviated ASCII Example MARK3PVAA COM1 0 74 5 FINESTE ERING 1732 247232 271 0004002
14. 202 SPAN on OEM6 Firmware Reference Manual Rev 7 Variable Lever Arm Chapter 6 6 2 2 Rotations and Mapping For the information provided by the system to be meaningful the rotations have to be set up as desired by the user By default the system assumes that the IMU and camera mount are oriented to the SPAN standard of Y forward Z up and X right If this is not the case then additional commands are necessary to relate all of the different frames together using the commands below Table 50 Commands used with Variable Lever Arm Command Purpose SETIMUORIENTATION The IMU orientation is computed by the SPAN system when it is static using accelerometer data However it can also be entered if static data will not be available The IMU orientation identifies which IMU axis is aligned with gravity and whether it is down or up in relation to gravity This is required information before the SPAN system can complete an inertial alignment This command relates the IMU body frame b to the SPAN computational frame c SETGIMBALORIENTATION Similar to the IMU orientation if the camera mount axes are not in the default orientation the axis aligned with gravity must be identified Unlike the IMU orientation this cannot be determined automatically by the system This command relates the mount body frame mb to the mount computational frame mc VEHICLEBODYROTATION The default SPAN orientation assumes that the Y axis of the IMU
15. SPAN on OEM6 Firmware Reference Manual Rev 7 135 Chapter 5 INS Logs Table 31 Lever Arm Type Value Lever Arm Source ASCIl binary Description 0 LEVER ARM INVALID An invalid lever arm 1 LEVER ARM PRIMARY Primary lever arm entered for all SPAN systems 2 LEVER ARM SECONDARY Secondary lever arm entered for dual antenna SPAN systems Table 32 Lever Arm Source bind Lever Arm Source ASCII Description 0 LEVER_ARM_NONE No lever arm exists 1 LEVER_ARM_FROM_NVM Lever arm restored from NVM 2 LEVER_ARM_CALIBRATING Lever arm currently calibrating 3 LEVER_ARM_CALIBRATED Lever arm computed from calibration routine 4 LEVER ARM FROM COMMAND Lever arm entered via command 136 SPAN on OEM6O Firmware Reference Manual Rev 7 INS Logs Chapter 5 5 2 15 INSATT INS Attitude This log contains the most recent attitude measurements corresponding to the SPAN frame axis according to how the IMU was installed and configured The attitude measurements may not correspond to other definitions of the terms pitch roll and azimuth If the IMU z axis as marked on the enclosure is not pointing up the output attitude is with respect to the SPAN computational frame and not the frame marked on the enclosure See SETIMUORIENTATION on page 73 to determine what the SPAN computation frame will be given how your IMU is mounted To output the attitude in the vehicle frame
16. When you pass the data into the code that follows exclude the checksum shown in bold italics above ASCII include lt iostream h gt include lt string h gt void main char i BESTPOSA COM2 0 77 5 FINESTEERING 1285 160578 000 00000020 5941 1164 SOL COMPUTED SINGLE 51 11640941570 114 03830951024 1062 6963 16 2712 WGS84 1 6890 1 2564 2 7826 0 000 0 000 10 10 0 0 0 0 0 0 unsigned long iLen strlen i unsigned long CRC CalculateBlockCRC32 iLen unsigned char i cout lt lt hex lt lt CRC endl BINARY include lt iostream h gt include lt string h gt int main unsigned char buffer 0xAA 0x44 0x12 Ox1C Ox2A 0x00 0x02 0x20 0x48 0x00 0 00 0x00 0x90 OxB4 0x93 0x05 OxBO OxAB OxB9 0x12 0x00 0x00 0x00 0x00 0 45 Ox61 OxBC Ox0A 0x00 0x00 0x00 0x00 0x10 0x00 0x00 0 00 Ox1B 0x04 0x50 OxB3 OxF2 Ox8E 0x49 0x40 0x16 OxFA Ox6B OxBE 0 7 0x82 Ox5C OxCO 0x00 0x60 0x76 Ox9F 0x44 Ox9F 0x90 0x40 OxA6 Ox2A 0x82 OxC1 Ox3D 0x00 0x00 0x00 Ox12 Ox5A OxCB Ox3F OxCD Ox9E 0x98 Ox3F OxDB 0x66 0x40 0x40 0x00 0x30 0x30 0x30 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 OxOB 0 0 0x00 0x00 0x00 0x06 0x00 0x03 unsigned long crc CalculateBlockCRC32 sizeof buffer buffer cout hex crc endl Please note that this hex needs to be reversed due to Big Endian o
17. 52 SPAN on OEM6 Firmware Reference Manual Rev 7 SPAN Commands Chapter 4 4 2 14 IMUCONFIGURATION Send one time configuration data to an IMU Certain IMUs have a factory default configuration that is incompatible with SPAN Use this command to have the receiver configure the IMU settings to the values required for SPAN v Use this command only with the IMU KVH 1750 Most SPAN supported IMUs are factory configured to work correctly with SPAN including IMU KVH1750s ordered from NovAtel If you ordered an IMU KVH1750 directly from KVH or if you have manually reset the configuration on your IMU KVH1750 you must use this command before the IMU will work with SPAN If ordering an IMU KVH 1750 directly from KVH you must specify commercial part number 01 0349 02 The IMU type and IMU port must already be configured before sending this command See CONNECTIMU on page 38 IMUs configured in this way only require configuration once this command does not need to be sent each time the receiver is reset Message ID 1745 Abbreviated ASCII Syntax IMUCONFIGURATION IMUType Abbreviated ASCII Example IMUCONFIGURATION IMU 1750 Binary Binary Binary Format Bytes Offset Field ASCII Binary Field Description Type Value Value 1 Header l Contains the command name or H 0 message header depending on whether the command is abbreviated ASCII ASCII or binary 2 IMUType Table 14 IMU Type IMU type En
18. Long 4 H 36 Right handed 11 32 bit CRC ASCII Binary and Short Binary only Hex 4 H 40 12 CR LF Sentence terminator ASCII only a The change in velocity acceleration scale factor for each IMU type can be found in Table 48 Raw IMU Scale Factors on page 180 Multiply the scale factor in Table 48 Raw IMU Scale Factors by the count in this field for the velocity increments b A negative value implies the output is along the positive y axis marked on the IMU A positive value implies the change is in the direction opposite to that of the y axis marked on the IMU c The change in angle gyro scale factor can be found in Table 48 Raw IMU Scale Factors on page 180 Multiply the appropriate scale factor in Table 48 Raw IMU Scale Factors by the count in this field for the angle increments in radians To obtain acceleration in m s 2 multiply the velocity increments by the output rate of the IMU e g 100 Hz for HG1700 HG1900 and HG1930 200 Hz ISA 100 ISA 100C iMAR FSAS LN200 LCI 1 KVH1750 and ADIS16488 125 Hz for STIM300 168 SPAN on OEM6O Firmware Reference Manual Rev 7 INS Logs Table 37 ilMU FSAS IMU Status Chapter 5 Nibble Bit Mask Description NO 0 0x00000001 Reserved 1 0x00000002 2 0x00000004 3 0x00000008 N1 4 0x00000010 Gyro warm up 0 Passed 1
19. nip ceret ert i hi REOR 4 2 SPAN Specific rie e Date Bde tt 4 24 ALIGNMENTMODE wis 3 n Eie Re e E 4 2 2 APPEYVEHICLEBODYBRBOTATIQON iiec entro rt adie Po Rc e eds 4 2 3 ASYNGHINSEGG GING 2 rie a te i e i rede RR ERU re 4 2 4 CONNEGCTIMU incite iterative dn eire saa RE ota sa S 4 2 5 2 4 2 6 5 4 2 7 4 2 8 EVENTINGONTROL eicere ee re eaa Rcs 4 2 9 EVENTOUTOCONTRODL Pee E ene ea i 4 2 10 EXTERNALPVAS rh cni ne rie fai ar ale ceri eb eae LR S 42 11 EXTBHDGOEESET tei ere eie eet ce gemere 212 GIMBALSPANRO TATION ERE e e MEER aa 4 24 3 EHEAVEEIETER ilit iti htt HH estt a petite etd Secon Hefe 4 2 14 IM GONEIGURATION 1 2 erre er Re Pei diee 4 2 15 INPUT GIMBALANGLE terri i io can do ue Ra un 4 22 16 INSGOMMAND iiie iit Ee ET EE e ie eG BEA RICH RES 4 2 17 INSTHRESHOLDS 2 ciere riter teer deed ace 4 2 91 42 20 INSZUPTGON TRBOL 2 5 Ii e Eee ent nier 42 21 INTEREAGEMODE 4 ru E e i en ERE e SPAN on OEM6 Firmware Referen
20. SPAN on OEM6 Firmware Reference Manual OM 20000144 Rev 7 January 2015 SPAN on 6 Firmware Reference Manual Publication Number OM 20000144 Revision Level 7 Revision Date January 2015 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 license 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 The information contained within this manual is believed to be true and correct at the time of publication NovAtel SPAN OEMG RT 2 ALIGN Inertial Explorer and Waypoint are registered trademarks of NovAtel Inc FlexPak6 SPAN IGM and IMU IGM are trademarks of NovAtel Inc All other product or brand names are trademarks of their respective holders Manufactured and protected under U S Patents 5 390 207 5 495 499 5 734 674 5 736 961 5 809 064 6 184 822 B1 6 211 821 B1 Copyright 2015 NovAtel Inc All rights reserved Unpublished rights reserved under International copyright laws 6 243 409 B1 6 608 998 B1 6 664 923 B1 6 721 657 B2 6 728 637 B2 6 750 816 B1 6 922 167 B2 7 193 559 B2 7 346 452 7 738 536 B2 7 738 606 B2 7 885 3
21. 30 0 40000000 31 0 80000000 Table 39 Mode Indication MDI3 MDI2 MDI1 MRF Current IMU Mode 0 0 0 0 Power On BIT PBIT 0 0 0 1 Standby Mode 0 1 1 0 Initiated BIT IBIT 0 1 1 1 IBIT Ready 1 1 0 1 Operational Mode 170 SPAN on OEM6 Firmware Reference Manual Rev 7 INS Logs Table 40 HG1700 IMU Status Nibble Bit Mask Description Range Value NO 0 0x00000001 Reserved 1 0x00000002 Reserved 2 0x00000004 Reserved 3 0x00000008 Reserved N1 4 0x00000010 IMU Status 0 Passed 1 Failed 5 0x00000020 IMU Status 0 Passed 1 Failed 6 0x00000040 IMU Status 0 Passed 1 Failed 7 0x00000080 IMU Status 0 Passed 1 Failed N2 8 0x00000100 Reserved 9 0x00000200 Reserved 10 0x00000400 Reserved 11 0x00000800 Reserved N3 12 0x00001000 Reserved 13 0x00002000 Reserved 14 0x00004000 Reserved 15 0x00008000 Reserved N4 16 0x00010000 Reserved 17 0x00020000 Reserved 18 0x00040000 Reserved 19 0x00080000 Reserved N5 20 0x00100000 Reserved 21 0x00200000 Reserved 22 0x00400000 Reserved 23 0x00800000 Reserved N6 24 0x01000000 Reserved 25 0x02000000 Reserved 26 0x04000000 Reserved 27 0x08000000 IMU Status 0 Passed 1 Failed 7 28 0 10000000 IMU Status 0 Passed 1 Failed 29 0x2
22. 4 2 eie Go fer ge ER nd 85 4 2 39 SETINSBOTATIQN Res a Er En be etti eda HA ei don 90 4 240 SETINSUPDATE 5 152 rite abs te qe i etie Hirt nL ibe ae 91 4 22 41 SETMABKTOPFESET iier ro ned etit ee 92 4 242 SETMABK2OEESET nacen Ideo eei eitis 93 4 2 43 SETMABKSOEESET tiit ne fee re ege i eee erates tid 94 4 2 44 SETMARKAOFESET nre ete a Ur a d ea E Ere 95 4 2 45 96 4 2 46 SETRELINSOUTPUTFRAME 97 4 2 47 SETUPSENSOR Mh eae tiny dt a 98 4 2 48 SETWHEELPARAMETERS 100 4 2 49 SETWHEELSOURCE cisse i n va e doe a s ae 101 4 2 50 1 eee teer e dr etienne e et 102 4 2 51 TIMEDEVENTPULSE iini I Dc ER nee ca 103 4 2 52 VEHICEEBODYROTATION iei om rote c re Uu te 104 4 2 53 ies iile net tie put RR eaten 106 5 INS Logs 107 5 1 Logs with INS or GNSS Data eire trt reo rere e tee eo E cres en 107 5 2 INS Specific seriei I tci o RR E LR s 108 bi2 BESTONSSBOS intet atendiendo adit racer et ei deett 114 5 2 2 BESTGNSSVEL uitio dle ee cR E ve n c RR des 122 5 2 9 BES TEE
23. Contains the command name or message E H 0 header depending on whether the command is abbreviated ASCII ASCII or binary 2 x 100 x offset m Double 8 H See Figure 3 IMU to Antenna Offset on page 79 3 y 100 y offset m Double 8 H 8 See Figure 3 IMU to Antenna Offset on page 79 4 2 100 z offset m Double 8 H 16 See Figure 3 IMU to Antenna Offset on page 79 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 Oto 1 Uncertainty in y m Double 8 H 32 Defaults to 10 of the y offset to a minimum of 0 01 m 7 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 80 SPAN on OEM6 Firmware Reference Manual Rev 7 SPAN Commands Chapter 4 4 2 35 SETINITATTITUDE Set Initial Attitude of SPAN in Degrees Use this command 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 This alignment is instantaneous based on the user input This allows for faster system startup however the input values must be accurate or SPAN does not perform well If uncertain about the standard deviation of the angles to enter err on the side of a larger standard deviation Sending SETINITATTITUDE resets the SPAN filter The alignment is instantaneous but some time and vehicle dynamics a
24. Hex 4 H 44 11 CR LF Sentence terminator ASCII only 122 SPAN on OEM6 Firmware Reference Manual Rev 7 INS Logs Chapter 5 5 2 3 BESTLEVERARM IMU to Antenna Lever Arm The BESTLEVERARM log contains the distance between the IMU center of navigation and the primary GNSS antenna phase center in the IMU enclosure frame and its associated uncertainties If the lever arm was entered using the SETIMUTOANTOFFSET command see SETIMUTOANTOFFSET on page 78 these values are reflected in this log When the lever arm calibration is complete see LEVERARMCALIBRATE on page 63 the solved values are also output in this log The values in the BESTLEVERARM log is also available in the IMUTOANTOFFSETS log see page 135 The default X pitch Y roll and Z azimuth directions of the IMU enclosure frame are clearly marked on the IMU see Figure 2 Frame of Reference on page 74 Message ID 674 Log Type Asynch 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 Binary Binary Field Field Type Description Format Bytes Offset 1 Log Header Log Header H 0 2 X Offset IMU Enclosure Frame m Double 8 H 3 Y Offset IMU Enclosure Frame m Double 8 H 8 4 Z Offset
25. Indonesia Bessel 1841 16 GEO49 84 22 209 Geodetic Datum 1949 New Zealand International 1924 17 GRB36 375 111 431 Do not use Use ID 76 instead Airy 1830 18 GUAM 100 248 259 Guam 1963 Guam Island Clarke 1866 19 HAWAII 89 279 183 Do not use Use ID 77 or ID 81 instead 2 Clarke 1866 20 KAUAI 45 290 172 Do not use Use ID 78 or ID 82 instead 2 Clarke 1866 21 MAUI 65 290 190 Do not use Use ID 79 or ID 83 instead 2 Clarke 1866 22 OAHU 56 284 181 Do not use Use IDs 80 or ID 84 instead Clarke 1866 23 HERAT 333 222 114 Herat North Afghanistan International 1924 24 HJORS 73 46 86 Hjorsey 1955 Iceland International 1924 25 HONGK 156 271 189 Hong Kong 1963 International 1924 26 HUTZU 634 549 201 This datum has been updated see ID 682 International 1924 27 INDIA 289 734 257 Do not use Use ID 69 or ID 70 instead 2 Everest EA 28 IRE65 506 122 611 Do not use Use ID 71 instead 4 Modified Airy 29 KERTA 11 851 5 Kertau 1948 West Malaysia and Singapore Everest EE 30 KANDA 97 787 86 Kandawala Sri Lanka Everest EA 31 LIBER 90 40 88 Liberia 1964 Clarke 1880 SPAN on OEM6 Firmware Reference Manual Rev 7 119 Chapter 5 INS Logs Table 30 Datum Transformation Parameters continued piov NAME DX DYP pz DATUM DESCRIPTIO
26. The old datum values can still be used for backwards compatibility d Use the corrected datum only with the higher ID as the old datum is incorrect e The original LUZON values are the same as for LUZA but the original has an error in the code SPAN on OEM6 Firmware Reference Manual Rev 7 121 Chapter 5 INS Logs 5 2 2 BESTGNSSVEL Best Available GNSS Velocity Data This log contains the best available GNSS velocity information without INS computed by the receiver In addition it reports a velocity status indicator which is useful to indicate whether or not the corresponding data is valid The velocity measurements sometimes have a latency associated with them The time of validity is the time tag in the log minus the latency value The velocity is typically computed from the average change in pseudorange over the time interval or the RTK Low Latency filter As such it is an average velocity based on the time difference between successive position computations and not an instantaneous velocity at the BESTGNSSVEL time tag The velocity latency to be subtracted from the time tag is normally half 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 seconds The latency is reduced by increasing the update rate of the positioning filter used by requesting the BESTGNSSVEL or BESTGNSSPOS messages at a rate higher than 2 Hz For exampl
27. This log is only available for SPAN systems with an OEM638 or ProPak6 receiver When the input mode is set to COUNT using the EVENTINCONTROL command see page 43 the logs become available D 1 Use the ONNEW trigger with this the MARKXTIME or the logs 2 Only the MARKxCOUNT 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 Message ID 1096 Log Type Asynch Recommended Input log mark4counta onnew ASCII Example MARK4COUNTA COM1 0 98 5 FINESTEERING 1520 515353 000 00000000 0000 137 1000000 1 1786750b Field type Description One 1 MARKACOUNT header Log header H 0 2 Period Delta time Ulong 4 H 3 Count Tick count Ushort 2 H 4 4 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 6 5 CR LF Sentence terminator ASCII only 164 SPAN on OEM6 Firmware Reference Manual Rev 7 INS Logs Chapter 5 5 2 39 MARKAPVA Position Velocity and Attitude at Mark4 This log is only available for SPAN systems with an OEM638 or ProPak6 receiver This log outputs position velocity and attitude information with respect to the SPAN frame when an event was received on the Mark4 input If the SETMARK4OFFSET command has been entered the log wil
28. a pulse counter When used as an event strobe an accurate GPS time or position is applied to the rising or falling edge of the input event pulse See the MARKxTIME or MARKxPOS logs in the OEM6 Family Firmware Reference Manual OM 20000129 and the MARKxPVA logs in NS Logs chapter of this manual Each input strobe is usually associated with a separate device therefore different solution output lever arm offsets can be applied to each strobe When used as a pulse counter an internal accumulator is incremented with each input pulse The accumulated count is output each second using the MARKxCOUNT logs and coordinated with 1PPS The accumulator begins counting from zero with each new second In some cases a pin on the connector may have more than one function The function is chosen using the TOCONFIG command see the OEM6 Family Firmware Reference Manual OM 200000129 Message ID 1637 Abbreviated ASCII Syntax EVENTINCONTROL mark switch polarity t bias t guard ASCII Example EVENTINCONTROL MARK1 ENABLE Binary Binary Binary Binary Field Field Type ASCII Value Value Description Format Bytes Offset 1 EVENTIN l This field contains the command H 0 CONTROL name or the message header header depending on whether the command is abbreviated ASCII ASCII or binary 2 mark MARK1 0 Choose which Event In Mark to Enum 4 H MARK 1 orange MARK3 2 This value must be s
29. on page 409 21 Galileoand Galileo and BeiDou signals used mask see Table 27 Galileo and Hex 1 H 70 BeiDou sig BeiDou Signal Used Mask on page 118 mask 22 GPS and GPS and GLONASS signals used mask see Table 28 GPS 1 H 71 GLONASS GLONASS Signal Used Mask on page 118 sig mask 23 32 bit CRC ASCII and Binary only Hex 4 H 72 24 Sentence terminator ASCII only a When using a datum other than WGS84 the undulation value also includes the vertical shift due to differences between the datum in use and WGS84 Table 25 Solution Status Binary ASCII Description 0 SOL_COMPUTED Solution computed 1 INSUFFICIENT_OBS Insufficient observations 2 NO_CONVERGENCE No convergence 3 SINGULARITY Singularity at parameters matrix 4 COV_TRACE Covariance trace exceeds maximum trace gt 1000 m 5 TEST_DIST Test distance exceeded maximum of 3 rejections if distance gt 10 km 6 COLD_START Not yet converged from cold start 7 V_H_LIMIT Height or velocity limits exceeded in accordance with COCOM export licensing restrictions 8 VARIANCE Variance exceeds limits 9 RESIDUALS Residuals are too large 10 12 Reserved 13 INTEGRITY WARNING Solution is flagged as questionable by RAIM 14 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 SPAN on OEM6 Firmw
30. without INS computed by the receiver In addition it reports several status indicators including differential age which is useful in predicting anomalous behavior brought about by outages in d correction was used ifferential corrections A differential age of 0 indicates that no differential With the system operating in an RTK mode this log reflects the latest low latency solution for up to 60 seconds after reception of the last base station observations After this 60 second period the position reverts to the best solution available and the degradation in accuracy is reflected in the standard deviation fields If the system is not operating in specified in the PSRDIFFTIMI OM 20000129 an RTK mode pseudo range differential solutions continue for the time EOUT command refer to the OEM6 Family Firmware Reference Manual BESTGNSSPOS a lways outputs positions at the antenna phase center Message ID 1429 Log Type Synch Recommended Input log bestgnssp ASCII Example SOL COMPUTED SINGLI 0 9535 2 7421 0 000 0 ESTGNSSPOSA COM1 0 92 5 FINE E 51 11635530655 114 03819448382 1064 6283 16 9000 WGS84 1 2612 osa ontime 1 STEERING 1692 332119 000 00000000 8505 43521 000 11 11 11 11 0 06 00 03 52d3 7c0 Binary Binary Field Field type Data Description Format Bytes Offset 1 header Log header H 0 2 Sol Status Solution s
31. 1429 BESTGNSSPOS Best available GNSS position without INS Synch 1430 BESTGNSSVEL Best available GNSS velocity information without INS Synch 1446 RELINSPVA Relative INSPVA log Asynch 1456 TSS1 Heave roll and pitch information in TSS1 protocol Synch 1457 INSATTX Most recent attitude roll pitch and azimuth measurements Synch roll pitch and azimuth with attitude standard deviation 1458 INSVELX Most recent North East and Up velocity vector values with Synch velocity standard deviation 1459 INSPOSX Most recent position measurements with position standard Synch deviation 1461 RAWIMUX IMU status indicator and the measurements from the Asynch accelerometers and gyros extended version for post processing 1462 RAWIMUSX IMU status indicator and the measurements from the Asynch accelerometers and gyros extended version for post processing with short header 1465 INSPVAX Most recent position velocity and attitude with position Synch velocity and attitude standard deviations 1708 SYNCHEAVE Synchronous log containing the instantaneous Heave value Synch 1709 DELAYEDHEAVE Log containing the value of the delayed heave filter Synch 1743 SYNCRELINSPVA Synchronous Relative INSPVA log Synch 1778 IMURATEPVA Most recent position velocity and attitude at full rate of IMU Asynch SPAN on OEM6 Firmware Reference Manual Rev 7 113 Chapter 5 5 2 1 BESTGNSSPOS INS Logs Best GNSS Position This log contains the best available GNSS position
32. 1763 RELINSAUTOMATION Enables or disables Relative INS on the rover receiver 1767 SETIMUPORTPROTOCOL Sets the protocol used for the IMU serial port 1775 SETRELINSOUTPUTFRAME Sets the Relative INS Output Frame 1796 SETINSROTATION Set the Rotation of the Attitude Output 1797 RELINSCONFIG Configure Relative INS 1800 SETMAXALIGNMENTTIME Set a Time Limit for Static Course Alignment 1821 SETINSUPDATE Enable Disable INS Filter Updates 34 SPAN on OEM6 Firmware Reference Manual Rev 7 SPAN Commands Chapter 4 4 2 1 X ALIGNMENTMODE Set the Alignment Mode Use this command to set the alignment method used by the SPAN system The default ALIGNMENTMODE is AUTOMATIC In this mode the first available method to align is used If the receiver is in single antenna operation only the UNAIDED option is available Sending the ALIGNMENTMODE command manually overrides the AUTOMATIC setting and allows a specific method to be used Message ID 1214 Abbreviated ASCII Syntax ALIGNMENTMODE mode Abbreviated ASCII Example ALIGNMENTMODE AIDED TRANSFER Binary Binary Binary Format Bytes Offset Binary ASCII Value Value Description Contains the command name H 0 or message header depending on whether the command is abbreviated ASCII ASCII or binary 2 mode UNAIDED 0 Regular SPAN static coarse or Enum 4 H kinematic alignment mode AIDED_STATIC 1 Seed the static coarse alignment with an initia
33. 4 20 9 X Accel Change in velocity count along x axis Long 4 24 10 Z Gyro Change in angle count around z axis Long 4 H428 Right handed 11 Gyro Change in angle count around y axis Long 4 32 Right handed 12 X Gyro Change in angle count around x axis Long 4 H436 Right handed 13 XXXX 32 bit CRC ASCII Binary and Short Binary only Hex 4 H 40 14 Sentence terminator ASCII only a The change in velocity acceleration scale factor for each IMU type can be found in Table 48 Raw IMU Scale Factors on page 180 Multiply the scale factor in Table 48 Raw IMU Scale Factors by the count in this field for the velocity increments b A negative value implies the output is along the positive y axis marked on the IMU A positive value implies the change is in the direction opposite to that of the y axis marked on the IMU c The change in angle gyro scale factor can be found in Table 48 Raw IMU Scale Factors on page 180 Multiply the appropriate scale factor in Table 48 Raw IMU Scale Factors by the count in this field for the angle increments in radians To obtain acceleration in m s 2 multiply the velocity increments by the output rate of the IMU e g 100 Hz for HG1700 HG1900 and HG1930 200 Hz ISA 100 ISA 100C iMAR FSAS LN200 LCI 1 KVH1750 and ADIS16488 125 Hz for STIM300 182 SPAN on OEM6 Firmware Reference Manual Rev 7 INS Logs Chapter 5 5 2 44 RAWIMUX IMU D
34. 8 East Velocity Velocity in an easterly direction ve value implies a westerly Double 8 H 44 direction m s 9 Up Velocity Velocity in an up direction m s Double 8 H 52 10 Roll Right handed rotation from local level around y axis in degrees Double 8 H 60 11 Pitch Right handed rotation from local level around x axis in degrees Double 8 H 68 12 Azimuth Left handed rotation around z axis in degrees clockwise from Double 8 H 76 North This is the inertial azimuth calculated from the IMU gyros and the SPAN filters 13 Status INS Status see Table 33 Inertial Solution Status on page 138 Enum 4 H 84 14 32 bit CRC Hex 4 H 88 15 Sentence Terminator ASCII only SPAN OEM6 Firmware Reference Manual Rev 7 133 Chapter 5 INS Logs 5 2 13 IMURATEPVAS Asynchronous INS Position Velocity and Attitude This log provides the same information as the INSPVAS log but is available asynchronously at the full rate of the IMU Using this log consumes significant system resources and should only be used by experienced users To use this log asynchronous logging must be enabled See ASYNCHINSLOGGING on page 37 Message ID 1305 Log Type Asynch Recommended Input log imuratepvas ASCII Example SIMURATEPVASA 1264 144059 000 1264 144059 002135700 51 116680071 114 037929194 515 286704183 277 896368884 84 915188605 8 488207941 0 759619515 2 892414901 6 179554750 I
35. AUXP XCOMS3 ALL 11 17 All virtual XCOM3 ICOM1_ALL 17 23 All virtual ports for ICOM1 ICOM2 ALL 18 24 All virtual ports for ICOM2 ALL 19 25 All virtual ports for ICOM3 NCOM1 ALL 1a 26 All virtual ports for NCOM1 2 ALL 1b 27 All virtual ports for NCOM2 ALL 1c 28 All virtual ports for NCOM3 COM1 20 32 COM1 virtual port 0 16 SPAN on OEM6 Firmware Reference Manual Rev 7 Messages ASCII Port Hex Port Value Decimal Port Value Description Chapter 2 1 1 21 33 COM virtual port 1 COM 1 31 3f 63 virtual port 31 COM2 40 64 COM2 virtual port 0 2 31 5f 95 COM2 virtual port 31 COM3 60 96 COM3 virtual port 0 COM3_31 Tf 127 COMS virtual port 31 SPECIAL a0 160 Unknown port virtual port O SPECIAL 31 bf 191 Unknown port virtual port 31 THISPORT cO 192 Current COM port virtual port O THISPORT 31 df 223 Current COM port virtual port 31 XCOM1 1a0 416 XCOM1 virtual port O 1 1 tal 417 XCOM1 virtual port 1 XCOM1_31 1bf 447 XCOM1 virtual port 31 XCOM2 2a0 672 XCOM2 virtual port 0 2 1 2 1 673 2 virtual port 1 2 31 2bf 703 XCOM2 virtual port 31 USB1 5a0 1440 USB1 virtual port 0 USB1 1 5 1 1441 USB1 virtual port 1 USB1 31 5bf 1471 USB1 virtual port 31 USB2 6a0 1696 USB2 virtual port 0 USB2_31 6bf 1727 USB2
36. Binary 01 ASCII 10 Abbreviated ASCII NMEA 11 Reserved Bit 7 Response bit see Responses on page 20 0 Original Message 1 Response Message 7 Port Uchar See Table 5 Detailed Port Identifier on 1 7 NP Address page 16 decimal values gt 32 may be used lower 8 bits only 8 Message Ushort The length in bytes of the body of the 2 8 N Length message not including the header nor the CRC 9 Sequence Ushort Used for multiple related logs It is a number 2 10 N that counts down from 1 to where N is the number of related logs and 0 means it is the last one of the set Most logs only come out one at a time in which case this number is 0 10 Idle Time Uchar Time the processor is idle in the last second 1 12 Y between successive logs with the same Message ID Take the time 0 200 and divide by two to give the percentage of time 0 10096 11 Time Status Enum Indicates the quality of the GPS reference time 4 13 Nd see Table 10 GPS Reference Time Status on page 23 12 Week Ushort GPS reference week number 2 14 Na 13 ms GPSec Milliseconds from the beginning of the GPS 4 16 Na reference week SPAN on OEM6 Firmware Reference Manual Rev 7 15 Chapter 2 Messages Field 2 424 Binary Binary Ignored Field Name Type Description Bytes Offset Input 14 Receiver Ulong 32 bits representing the status of various 4 20 Y Status hardware and software components of the receiver
37. Binary only Hex 4 H 16 5 CR LF Sentence Terminator ASCII only SPAN on OEM6 Firmware Reference Manual Rev 7 129 Chapter 5 5 2 9 INS Logs GIMBALLEDPVA Display Gimballed Position Use the GIMBALLEDPVA log to view the re calculated gimballed position velocity and attitude whenever a new INPUTGIMBALANGLE command is received The log is not output until the INS alignment is complete Message ID 1321 Log Type Asynch Recommended Input log gimballedpvaa onnew ASCII Example GIMBALLEDPVAA COM1 0 93 5 FINESTE ERING 1635 320568 514 00000000 0000 407 1635 320568 514000000 51 116376614 114 038259915 1046 112025828 0 000291756 0 000578067 0 030324466 0 243093917 0 127718304 19 495023227 INS ALIGNMENT COMPLETE 32fbb61b Field Field Type Description Format Be parr 1 Log Header Log Header H 0 2 Week GPS week Ulong 4 H 3 Seconds Seconds from week start Double 8 H 4 4 Latitude WGS84 latitude in degrees Double 8 H 12 5 Longitude WGS84 longitude in degrees Double 8 H 20 6 Height WGS84 ellipsoidal height Double 8 H 28 7 North Velocity Velocity in a northerly direction Double 8 H 36 8 East Velocity Velocity in an easterly direction Double 8 H 44 9 Up Velocity Velocity in an upward direction Double 8 H 52 10 Roll Right handed rotation from local level around the y Double 8 H 60 axis in de
38. Failed 5 0x00000020 Gyro self test active 0 Passed 1 Failed 6 0x00000040 Gyro status bit set 0 Passed 1 Failed 7 0x00000080 Gyro time out command interface 0 Passed 1 Failed N2 8 0x00000100 Power up built in test PBIT 0 Passed 1 Failed 9 0x00000200 Reserved 10 0x00000400 Interrupt 0 Passed 1 Failed 11 0x00000800 Reserved N3 12 0x00001 000 Warm up 0 Passed 1 Failed 13 0x00002000 Reserved 14 0x00004000 15 0x00008000 Initiated built in test IBIT 0 Passed 1 Failed N4 16 0x00010000 Reserved 17 0x00020000 18 0x00040000 Accelerometer 0 Passed 1 Failed 19 0x00080000 Accelerometer time out 0 Passed 1 Failed N5 20 0x00100000 Reserved 21 0x00200000 Gyro initiated BIT 0 Passed 1 Failed 22 0x00400000 Gyro self test 0 Passed 1 Failed 23 0x00800000 Gyro time out 0 Passed 1 Failed N6 24 0x01000000 Analog to Digital AD 0 Passed 1 Failed 25 0x02000000 Test mode 0 Passed 1 Failed 26 0x04000000 Software 0 Passed 1 Failed 27 0x08000000 RAM ROM 0 Passed 1 Failed N7 28 0x10000000 Reserved 29 0x20000000 Operational 0 Passed 1 Failed 30 0x40000000 Interface 0 Passed 1 Failed 31 0x80000000 Interface time out 0 Passed 1 Failed SPAN on OEM6 Firmware Reference Manual Rev 7 169 Chapter 5 INS Logs Table 38 Litef LCI 1 IMU Status Nibble Bit DEEST Y Description Range Value NO 0 0x00000001 IBIT Error Flag 0 Normal 1 IBIT Error 1
39. IMU Enclosure Frame m Double 8 H 16 5 IX 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 21 Full Mapping Definitions on page 75 Integer 4 H 48 9 XXXX 32 bit CRC Hex 4 H 52 10 CR LF Sentence Terminator ASCII only SPAN on OEM6 Firmware Reference Manual Rev 7 123 Chapter 5 INS Logs 5 2 4 BESTLEVERARM2 IMU to Antenna Lever Arm The BESTLEVERARM2 log contains the distance between the IMU center of navigation and the secondary GNSS antenna phase center in the IMU enclosure frame The second lever arm cannot be calibrated so must be entered using the SETIMUTOANTOFFSET2 command see SETIMUTOANTOFFSET2 on page 80 The values in the BESTLEVERARM 2 log is also available in the IMUTOANTOFFSETS log see page 135 The default X pitch Y roll and Z azimuth directions of the IMU enclosure frame are clearly marked on the IMU see Figure 2 Frame of Reference on page 74 Message ID 1256 Log Type Asynch Recommended Input log bestleverarm2a onchanged ASCII Example BESTLEVERARM2A 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 Binary Binary Field Field Type Description Format Bytes Offset 1
40. LCI 1 IMU Status on page 170 e Table 40 HG1700 IMU Status on page 171 e Table 41 LN200 IMU Status on page 172 e Table 42 ISA 100 ISA 100C IMU Status page 173 e Table 43 IMU CPT and SPAN CPT IMU Status on page 174 Table 44 IMU KVH1750 IMU Status on page 175 e Table 45 HG1900 and HG1930 IMU Status on page 176 e Table 46 ADIS16488 IMU IGM A1 and SPAN IGM A1 IMU Status on page 177 e Table 47 STIM300 IMU IGM S1 SPAN IGM S1 IMU Status on page 178 Also refer to Interface Control Documentation as provided by Honeywell or Northrop Grumman 7 2 Change in velocity count along Z axis Long 4 H 16 8 Y Accel Change in velocity count along y axis P Long 4 H 20 9 X Accel Change in velocity count along x axis Long 4 H 24 10 Z Gyro Change in angle count around z axis Long 4 28 Right handed 11 Gyro Change in angle count around y axis P Long 4 H 32 Right handed 12 XGyro Change in angle count around x axis Long 4 H 36 Right handed 13 XXXX 32 bit CRC ASCII Binary and Short Binary only Hex 4 H 40 14 CR LF Sentence terminator ASCII only a The change in velocity acceleration scale factor for each IMU type can be found in Table 48 Raw IMU Scale Factors on page 180 Multiply the scale factor in Table 48 Raw IMU Scale Factors by the count in this field for the velocity increments b A
41. 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 7 Uncertainty Double 8 H 40 8 iMapping See Table 21 Full Mapping Definitions on page 75 Integer 4 H 48 9 XXXX 32 bit CRC Hex 4 H 52 10 CR LF Sentence Terminator ASCII only 124 SPAN on OEM6O Firmware Reference Manual Rev 7 INS Logs Chapter 5 5 2 5 BESTPOS Best Position This log contains the best available combined GNSS and Inertial Navigation System INS if available position in metres computed by the receiver In addition it reports several status indicators including differential age which is useful in predicting anomalous behavior brought about by outages in differential corrections A differential age of 0 indicates that no differential correction was used With the system operating in an RTK mode this log reflects the latest low latency solution for up to 60 seconds after reception of the last base station observations After this 60 second period the position reverts to the best solution available the degradation in accuracy is reflected in the standard deviation fields If the System is not operating in an RTK mode pseudo range differential solutions continue for the
42. Message 7 Port Address Uchar See Table 5 Detailed Port Identifier on page 16 1 7 5 8 Message Ushort The length in bytes of the body of the message 2 8 2 Length not the CRC lt m 9 Sequence Ushort Normally O 2 10 m 10 Idle Time Uchar Idle time 1 12 11 Time Status Enum Table 10 GPS Reference Time Status on page 23 4 a 13 12 Week Ushort GPS reference week number 2 14 13 ms GPSec Milliseconds into GPS reference week 4 16 14 Receiver Ulong Table 3 Receiver Status on page 13 4 20 Status 15 Reserved Ushort Reserved for internal use 2 24 16 Receiver Ushort Receiver software build number 2 26 S W Version 17 Response ID Enum The output format of the messages is dependent 4 28 on the format of the input command If the command is input as abbreviated ASCII the 2 output will be abbreviated ASCII The same rule applies for both ASCII and binary formats Table 11 Response Messages on page 27 18 Response Hex String containing the ASCII response in hex variable 32 I m coding to match the ID above for example Ox4F4B OK a This ENUM is not 4 bytes long but as indicated in the table is only 1 byte SPAN on OEM6 Firmware Reference Manual Rev 7 21 Chapter 2 Messages Table 9 Binary Message Sequence Direction Sequence Data To LOGCommand AA44121C 01000240 20000000 1D1D0000 29160000 00004C00 55525A80 Receiver Header LOG 20000000 2A000000 02000000 000
43. REQUIRED TO USE THE REQUESTED IMU SETIMUTYPE OR CONNECTIMU COMMAND TRIGGER BUFFER IS FULL SETUPSENSOR COMMAND IS LOCKED 161 THE TIMEDEVENTPULSE LIMIT OF 10 EVENTS HAS BEEN REACHED AND A NEW EVENT CANNOT BE SET UNTIL AN EVENT IS CLEARED 163 THE SETUPSENSOR COMMAND CANNOT BE MODIFIED BECAUSE THERE ARE REMAINING TRIGGER EVENTS QUEUED SPAN on OEM6 Firmware Reference Manual Rev 7 29 Chapter 4 SPAN Commands 4 1 The SPAN specific commands are described in this chapter For information about other available com RELINSPVAA COM1 0 61 0 FINESTEERING 1805 245074 000 00000000 2338 45757 BODY 9 28595 8662 0 755483058 0 079229338 0 001739020 0 000126304 0 00152584 8 0 321033045 0 669367786 4 466250181 0 000000000 b81V INS_ALIGNMENT_COMPLETE B20C IN S ALIGNMENT COMPLETE NARROW INT 00000000 a114ce3cmands refer to the OEM6 Family Firmware Reference Manual OM 20000129 Using a Command as a Log All NovAtel commands may be used for data input or used to request data output INS specific commands can be in Abbreviated ASCII ASCII or Binary format Consider the Lockout command with the syntax lockout prn You can put this command into the receiver to de weight an undesirable satellite in the solution or use the lockout command as a log to see if there is a satellite PRN already locked out In ASCII this might be log coml lockouta once Notice the a after Lockout to signify you are looking
44. Status on page 141 11 Time Since Update Elapsed time since the last ZUPT or position update Ushort 2 H 48 seconds 11 xxxx 32 bit CRC ASCII and Binary only Hex 4 H 50 12 CR LF Sentence terminator ASCII only SPAN on OEM6 Firmware Reference Manual Rev 7 157 Chapter 5 INS Logs 5 2 32 MARK1COUNT Count for Mark1 Input This log is only available for SPAN systems with an OEM638 or ProPak6 receiver This log contains the tick count for the EVENT1 input When the input mode is set to COUNT using the EVENTINCONTROL command see page 43 the logs become available D 1 Use the ONNEW trigger with this the MARKXTIME or the logs 2 Only the MARKxCOUNT 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 Message ID 1093 Log Type Asynch Recommended Input log marklcounta onnew ASCII Example MARK1COUNTA COM1 0 98 5 FINESTEERING 1520 515353 000 00000000 0000 137 1000000 1 1786750b Field type Description on 1 MARK1COUNT header Log header H 0 2 Period Delta time Ulong 4 H 3 Count Tick count Ushort 2 H 4 4 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 6 5 CR LF Sentence terminator ASCII only
45. are instantaneous incremental values in units of radians for the attitude rate and m s for the accelerations To get the full attitude rate and acceleration values multiply the values in the CORRIMUDATAS log by the data rate of your IMU in Hz CORRIMUDATAS can be logged with the ONTIME trigger up to the full data rate of the IMU of the IMU the corrected IMU data is received at the epoch closest to the requested time interval D Since the CORRIMUDATA values are instantaneous if you log at a rate less than full data rate For asynchronous full rate data see IMURATECORRIMUS on page 132 If the IMU is mounted with the z axis pointed up as marked on the enclosure the SPAN computation frame is the same as the IMU enclosure frame The x y and z axes referenced in this log are of the SPAN computational frame by default For more information on how the SPAN computational frame relates to the IMU enclosure frame see the relevant SPAN User Manual and the SETIMUORIENTATION command on page 73 If the APPLYVEHICLEBODYROTATION command has been enabled see page 36 the values in CORRIMUDATAS log are in the vehicle frame not the SPAN computation frame Message ID 813 Log Type Synch Recommended Input log corrimudatasb ontime 0 01 Example log SCORRIMUDATASA 1581 341553 000 1581 341552 997500000 0 000000690 0 000001549 0 000001654 0 000061579 0 000012645 0 000029988 770 6232 Binary Binary
46. between successive logs with the same Message ID see Table 3 Receiver Status on page 13 15 Reserved Ushort Reserved for internal use 2 24 Y 16 Receiver Ushort A value 0 65535 representing the receiver 2 26 Y S W Version software build number a 8 bit size means you will only see to OxBF when the top bits are dropped from a port value greater than 8 bits For example ASCII port USB1 will be seen as OxAO in the binary output b Recommended value is THISPORT binary 192 This ENUM is not 4 bytes long but as indicated in the table is only 1 byte d 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 O O O o Table 5 Detailed Port Identifier ASCII Port Hex Port Decimal Port Description Name Value NO_PORTS 0 0 No ports specified COM1_ALL 1 1 All virtual ports for COM1 COM2_ALL 2 2 All virtual ports for COM2 COM3_ALL 3 3 All virtual ports for COM3 THISPORT ALL 6 6 All virtual ports for the current port ALL_PORTS 8 8 All virtual ports for all ports XCOM1_ALL 9 9 All virtual ports for XCOM1 2 ALL 10 10 All virtual ports for XCOM2 USB1 ALL d 13 All virtual ports for USB1 USB2 ALL e 14 All virtual ports for USB2 USB3 ALL f 15 All virtual ports for USB3 AUX ALL 10 16 All virtual ports for the
47. differences between the datum in use and WGS84 126 SPAN on OEM6O Firmware Reference Manual Rev 7 INS Logs Chapter 5 5 2 6 CORRIMUDATA Corrected IMU Measurements The CORRIMUDATA log contains the RAWIMU data corrected for gravity the earth s rotation and estimated sensor errors The values in this log are instantaneous incremental values in units of radians for the attitude rate and m s for the accelerations To get the full attitude rate and acceleration values multiply the values in the CORRIMUDATA log by the data rate of the IMU in Hz The short header format CORRIMUDATAS is recommended as it is for all high data rate logs CORRIMUDATA can be logged with the ONTIME trigger up to the full data rate of the IMU Since the CORRIMUDATA values are instantaneous if you log at a rate less than full data rate of the IMU the corrected IMU data is received at the epoch closest to the requested time interval For asynchronous full rate data see IMURATECORRIMUS on page 132 If the IMU is mounted with the z axis pointed up as marked on the enclosure the SPAN computation frame is the same as the IMU enclosure frame The x y and z axes referenced in this log are of the SPAN computational frame by default For more information on how the SPAN computational frame relates to the IMU enclosure frame see the relevant SPAN User Manual and the SETIMUORIENTATION command on page 73 If the APPLYVEHICLEBODYROTATION com
48. field contains the command H 0 name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 Selection 0 NOPORT Specify which serial port should ENUM 4 H be used to communicate with an 1 COM 1 external ALIGN capable receiver m eos Selecting NOPORT disables 3 COM3 automatic dual antenna 19 com4 configuration 31 5 32 COM6 34 COM7 35 COM8 36 COM9 37 10 40 SPAN on OEM6 Firmware Reference Manual Rev 7 SPAN Commands Chapter 4 4 26 ENCLOSURECOMSELECT Sets the External COM Port to COMS3 or USB This command enables either COM3 or USB communications on a SPAN IGM enclosure D The ENCLOSURECOMSELECT command is for use with only the SPAN IGM enclosure Do not use this command on other SPAN receivers Message ID 1536 Abbreviated ASCII Syntax ENCLOSURECOMSELECT ComSelect Abbreviated ASCII Example ENCLOSURECOMSELECT USB Binary Binary Binary Format Bytes Offset ASCII Binary Value Value Field Field Type Description 1 Header Contains the command name or H 0 message header depending on whether the command is abbreviated ASCII ASCII or binary 2 ComSelect 0 The COMS port is enabled on the AUX Enum 4 H connector on the SPAN IGM USB 1 The USB port is enabled on the AUX connector on the SP
49. for ASCII output Ensure all windows other than the Console are closed in NovAtel Connect and then use the SAVECONFIG command to save settings in NVM Otherwise unnecessary data logging occurs and may overload the system 4 22 SPAN Specific Commands Table 12 SPAN Commands for OEM6 Alphabetical ASCII Name Description Message ID ALIGNMENTMODE Sets the Alignment Mode 1214 APPLYVEHICLEBODYROTATION Enables or disables vehicle body rotation 1071 ASYNCHINSLOGGING Enables or disables the asynchronous INS logs 1363 CONNECTIMU Connects an IMU to a port 1428 DUALANTENNAPORTCONFIG Select dual antenna source port 1356 ENCLOSURECOMSELECT Sets the external COM port to COM3 or USB 1536 ENCLOSUREWHEELSENSOR Control Wheel Sensor Data 1535 EVENTINCONTROL Control Event In properties 1637 EVENTOUTCONTROL Control Event Out properties 1636 EXTERNALPVAS External PVA update 1463 30 SPAN on OEM6 Firmware Reference Manual Rev 7 SPAN Commands Chapter 4 ASCII Name Description Message ID EXTHDGOFFSET Set the angular offset 1204 GIMBALSPANROTATION Gimbal frame to SPAN frame rotation 1319 HEAVEFILTER Enables or disables heave filtering 1427 IMUCONFIGURATION Send one time configuration data to an IMU 1745 INPUTGIMBALANGLE Enters gimbal angles into the receiver 1317 INSCOMMAND Enables or disables INS positioning 379 INSTHRESHOLDS Cha
50. from week start Double 8 H 4 4 Position Covariance Position covariance matrix in local level frame List of 9 72 H 12 metres squared Doubles 5 Attitude Covariance Attitude covariance matrix in local level frame List of 9 72 H 84 degrees squared rotation around the given axis Doubles 6 Velocity Covariance Velocity covariance matrix in local level frame List of 9 72 H 156 metres second squared Doubles XXXX 32 bit CRC ASCII Binary and Short Binary only Hex 4 H 228 CR LF Sentence terminator ASCII only 142 SPAN on OEM6 Firmware Reference Manual Rev 7 INS Logs Chapter 5 5 2 19 INSCOVS Short INS Covariance Log This is the short header version of the NSCOV log page 142 These values are computed once per Second Message ID 320 Log Type Synch Recommended Input log inscovsa ontime 1 ASCII Example SINSCOVSA 1105 425385 020 1105 425385 000000000 0 0997319969301073 0 0240959791179416 0 0133921499963209 0 0240959791179416 0 1538605784734939 0 0440068023663888 0 0133921499963210 0 0440068023663887 0 4392033415009359 0 0034190251365443 0 0000759398593357 0 1362852812808768 0 0000759398593363 0 0032413999569636 0 0468473344270137 0 1362852812808786 0 0468473344270131 117 5206493841025100 0 0004024901765302 0 0000194916086028 0 0000036582459112 0 0000194916086028 0 0004518869575566 0 0000204616202028 0 0000036582459112 0 0000204616202028 0 0005095575483948 1 c92787 Binary
51. in Local Level degrees Double 8 H 68 13 Azimuth Azimuth in Local Level degrees Double 8 H 76 This is the inertial azimuth calculated from the IMU gyros and the SPAN filters 14 Lato Latitude standard deviation degrees Float 4 H 84 15 Longo Longitude standard deviation degrees Float 4 H 88 16 Height o Height standard deviation m Float 4 H 92 17 North Velo North velocity standard deviation m s Float 4 H 96 SPAN on OEM6 Firmware Reference Manual Rev 7 149 Chapter 5 Field Field Type Data Description INS Logs Binary Offset 150 18 East Velo East velocity standard deviation m s Float 4 H 100 19 Up Velo Up velocity standard deviation m s Float 4 H 104 20 Rollo Roll standard deviation degrees Float 4 H 108 21 Pitcho Pitch standard deviation degrees Float 4 H 112 22 Azimuth Azimuth standard deviation degrees Float 4 H 116 23 Ext sol stat Extended solution status Hex 4 H 120 See Table 35 Extended Solution Status on page 141 24 Time Since Update Elapsed time since the last ZUPT or position update Ushort 2 H 124 seconds 25 32 bit CRC ASCII and Binary only Hex 4 H 126 26 Sentence terminator ASCII only SPAN on OEM6O Firmware Reference Manual Rev 7 INS Logs Chapter 5 5 2 26 INSSPD INS Speed This log contains the most recent speed measurements in the horizontal and vertical directions and include
52. is mounted forward aligned with the forward axis of the vehicle If this is not true then this command can be entered to rotate the output so that this is true This command is applied after the raw data is re mapped according to the SETIMUORIENTATION command so usually only a rotation about Z is required For this to take effect the APPLYVEHICLEBODYROTATION command must also be sent This command relates the SPAN computation frame c to the vehicle frame v GIMBALSPANROTATION Similar to the VEHICLEBODYROTATION command the system must know if the mapped axes of the SPAN system and mount do not match For example if the X axis of the camera mount is aligned with the Y axis of the SPAN system This command relates the mount computational frame mc to the SPAN computational frame c SPAN on OEM6 Firmware Reference Manual Rev 7 203 Chapter 6 Variable Lever Arm 6 3 The Vehicle Frame The definition of the vehicle frame is as follows e z axis points up through the roof of the vehicle perpendicular to the ground e y axis points out the front of the vehicle in the direction of travel e x axis completes the right handed system out the right hand side of the vehicle when facing forward Figure 6 Vehicle Frame Z 204 SPAN on OEM6 Firmware Reference Manual Rev 7 Chapter 7 Relative INS 205 Novatel s Relative INS technology generates a position velocity and full attitude vector between t
53. must be sent to the receiver before attempting a kinematic alignment The INS filter is reset anytime the SETIMUORIENTATION command is sent regardless of whether the orientation is changed Ensure that all windows other than the Console are closed in NovAtel Connect and then use the SAVECONFIG command to save settings Otherwise unnecessary data logging occurs and may overload the system This orientation command serves to transform the incoming IMU signals in such a way that a 5 mapping is achieved see Table 21 Full Mapping Definitions on page 75 For example if the IMU is mounted with the X axis pointing up and a mapping of 1 is specified then this transformation of the raw IMU data is done gt 2 Y gt X Z gt Y where the default is XX Y gt Y 2 4 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 relevant SPAN User Manual for the IMU choices and their technical specifications The example from the LN 200 is shown in Figure 2 Frame of R
54. negative value implies the output is along the positive y axis marked on the IMU A positive value implies the change is in the direction opposite to that of the y axis marked on the IMU c The change in angle gyro scale factor can be found in Table 48 Raw IMU Scale Factors on page 180 Multiply the appropriate scale factor in Table 48 Raw IMU Scale Factors by the count in this field for the angle increments in radians To obtain acceleration in m s 2 multiply the velocity increments by the output rate of the IMU e g 100 Hz for HG1700 HG1900 and HG1930 200 Hz ISA 100 ISA 100C iMAR FSAS LN200 LCI 1 KVH1750 and ADIS16488 125 Hz for STIM300 184 SPAN on OEM6 Firmware Reference Manual Rev 7 INS Logs Chapter 5 5 2 45 RELINSPVA Relative INSPVA log This log provides the relative offset between the Master and Remote Inertial Solutions The output solution provides the offset of where the local station is with respect to the other station Message ID 1446 Log Type Asynch Recommended Input LOG RELINSPVAA ONNEW ASCII example RELINSPVAA COM1 0 61 0 FINESTEERING 1805 245074 000 00000000 2338 45757 BODY 9 285958662 0 755483058 0 079229338 0 001739020 0 000126304 0 001525848 0 321033045 0 669367786 4 466250181 0 000000000 b81V INS ALIGNMENT COMPLETE B20C INS ALIGNMENT COMPLETE NARROW 00000000 114 3 Binary Binary Field Field Des
55. of 0 01 m 6 b Oto 1 Uncertainty in y m Double 8 H 32 Defaults to 10 of the y offset to a minimum of 0 01 m SPAN on OEM6 Firmware Reference Manual Rev 7 SPAN Commands Chapter 4 Field ASCII Binary Binary Binary Binary Field Type Value Value Description Format Bytes Offset 7 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 Figure 3 IMU to Antenna Offset Z Offset This example assumes a default mounting configuration and shows a X offset Y offset and Z offset SPAN on OEM6 Firmware Reference Manual Rev 7 79 Chapter 4 SPAN Commands 4 2 34 SETIMUTOANTOFFSET2 Set IMU to GNSS2 Antenna Offset Use the SETIMUTOANTOFFSET2 command to set the lever arm for the secondary GNSS antenna Preferably the primary GNSS antenna is set up behind the IMU forward axis and the secondary GNSS antenna is set up ahead of the IMU forward axis Entering both lever arms will automatically compute the angular offset between the ALIGN antennas and the IMU axes The format of this command is identical to the SETIMUTOANTOFFSET command Message ID 1205 Abbreviated ASCII Syntax SETIMUTOANTOFFSET2 x y z a b c Abbreviated ASCII Example SETIMUTOANTOFFSET2 0 24 0 32 1 20 0 03 0 03 0 05 Field ASCII Binary Binary Binary Binary Field Format Bytes Offset Description Type Value Value 1 Header
56. or binary 2 switch DISABLE ENABLE Enable disable vehicle to body rotation Enum 4 H using values entered in the VEHICLEBODYROTATION command The default value is DISABLE 36 SPAN on OEM6 Firmware Reference Manual Rev 7 SPAN Commands Chapter 4 4 2 3 ASYNCHINSLOGGING Enable Asynchronous INS Logs Use this command to enable or disable the asynchronous INS logs IMURATECORRIMUS and IMURATEPVAS The asynchronous INS logs are highly advanced logs for users of SPAN 6 The rate wv controls that limit the output of logs are not applicable to these logs allowing the user to drive the idle time to zero Users of the IMURATECORRIMUS or IMURATEPVAS logs should be limited to those who must have full rate INS solution data or full rate corrected IMU data without possible shifts in log time that are present in the synchronous version of these logs The asynchronous INS logs are only available at the full rate of the IMU Message ID 1363 Abbreviated ASCII Syntax ASYNCHINSLOGGING switch Abbreviated ASCII Example ASYNCHINSLOGGING ENABLE Binary Binary Binary Format Bytes Offset Field ASCII Type Value Description Field Contains the command name or H 0 message header depending on whether the command is abbreviated ASCII 1 Header ASCII or binary 2 Switch DISABLE 0 Enable or disable the asynchronous IN
57. pass through logging and the COMCONFIG log The INTERFACEMODE of the receiver is also configured for the serial port dedicated to the IMU This mode changes automatically upon sending a CONNECTIMU command and the change is reflected when logging this command This is normal operation When the CONNECTIMU command see page 38 is used to configure the IMU connected to v the receiver the correct interface mode for the IMU port is automatically set The IMU port should not be altered using the INTERFACEMODE command in normal operation Doing so may result in the loss of IMU communication Message ID 3 Abbreviated ASCII Syntax INTERFACEMODE port rxtype txtype responses ASCII Example INTERFACEMODE COM1 RTCA NOVATEL ON ASCII Binary Binary Binary Binary Field Field Type Value Value Description Format Bytes Offset 1 Header Contains the command name or H 0 message header depending on whether the command is abbreviated ASCII ASCII or binary 2 Port See Table 18 COM port identifier Enum 4 H Serial Port Identifiers default THISPORT on page 62 3 Rxtype See Table 17 Serial Receive interface mode Enum 4 H 4 4 co een Monia Transmit interface mode Enum 4 H 8 on page 61 5 Responses OFF 0 Turn response generation off Enum 4 H 12 ON 1 Turn response generation on default 60 SPAN on OEM6 Firmware Refer
58. port that is configured to use RS 422 Refer to the OEM6 Family Installation and Operation User Manual OM 200001 29 for information about which receiver ports support RS 422 and instructions for enabling RS 422 For systems with a ProPak6 receiver the COM3 IMU port must be used For systems with an OEM638 receiver the COMG port must be used 38 SPAN on OEM6 Firmware Reference Manual Rev 7 SPAN Commands Table 14 IMU Type Binary ASCII Description 0 IMU UNKNOWN Unknown IMU type default 1 IMU HG1700 AG11 Honeywell HG1700 AG11 2 8 Reserved 4 IMU HG1700 AG17 Honeywell HG1700 AG17 5 IMU HG1900 CA29 Honeywell HG1900 CA29 6 7 Reserved 8 IMU LN200 Litton LN 200 200 Hz model 9 10 Reserved 11 IMU HG1700 AG58 Honeywell HG1700 AG58 12 IMU HG1700 AG62 Honeywell HG1700 AG62 13 IMU_IMAR_FSAS iMAR iIMU FSAS 14 15 Reserved 16 IMU_KVH_COTS KVH IMU CPT 17 18 Reserved 19 IMU LCI1 Northrop Grumman Litef LCI 1 20 IMU HG1930 AA99 Honeywell HG1930 AA99 21 25 Reserved 26 IMU ISA100C Northrop Grumman Litef ISA 100C 27 IMU HG1900 50 Honeywell HG1900 CA50 28 IMU HG1930 50 Honeywell HG1930 CA50 29 30 Reserved 31 IMU ADIS16488 Analog Devices ADIS16488 32 IMU_STIM300 Sensonor STIM300 33 IMU_KVH_1750 KVH1750 IMU 34 IMU_ISA100 Northrop Grumman Litef ISA 100 35 37 Reserved 38 IMU_ISA100_400HZ Northrop Grumman Litef ISA 100 400 Hz 39 IMU_ISA100C_400H
59. rate of the IMU It can also be logged on time at lower rates This log also includes information about the estimated accuracy of the heave value through the standard deviation of the heave You must have an inertial solution to use this log The heave filter must be enabled using the HEAVEFILTER command see page 52 before this log is available Message ID 1708 Log Type Synch Recommended Input log syncheavea ontime 0 05 ASCII example SYNCHEAVEA COM1 0 50 0 FINESTEERING 1770 245720 925 00000020 552e 12622 0 045410579 0 436800622 b8c14286 Binary Binary Field Field Type Description Format Bytes Offset 1 Log Header Log Header H 0 2 Heave Instantaneous heave value Double 8 H 3 Std Dev Standard deviation of the heave value Double 8 H 8 4 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 16 5 CR LF Sentence Terminator ASCII only SPAN on OEM6 Firmware Reference Manual Rev 7 187 Chapter 5 INS Logs 5 2 47 SYNCRELINSPVA Synchronous Relative INSPVA log This log provides the relative offset between the master and remote inertial solutions The output solution provides the offset of where the local station is with respect to the other station Message ID 1743 Log Type Synch Recommended Input LOG SYNCRELINSPVAA ONTIME 1 ASCII example SYNCRELINSPVAA COM1 0 72 5 FINESTEERING 1805 247243 000 00000000 69c7 1
60. see page 36 for information about the APPLYVEHICLEBODYROTATION command Message ID 263 Log Type Synch Recommended Input log insatta ontime 1 ASCII Example INSATTA USB2 0 14 5 FINESTEERING 1541 487970 000 00040000 5535 37343 1541 487970 000549 050 1 876133508 4 053672765 328 401460897 INS SOLUTION GOOD ce4ac533 i m Binary Field Field Type Data Description Offset 1 Log Header Log header H 0 2 Week GNSS Week Ulong 4 H 3 Seconds into Week Seconds from week start Double 8 H 4 4 Roll Right handed rotation from local level around y axis Double 8 H 12 in degrees 5 Pitch Right handed rotation from local level around x axis Double 8 H 20 in degrees 6 Azimuth Left handed rotation around z axis in degrees Double 8 H 28 clockwise from North This is the inertial azimuth calculated from the IMU gyros and the SPAN filters 7 Status INS status see Table 33 Inertial Solution Status on Enum 4 H 36 page 138 XXXX 32 bit CRC ASCII Binary and Short Binary only Hex 4 H 40 9 CR LF Sentence terminator ASCII only SPAN on OEM6 Firmware Reference Manual Rev 7 137 Chapter 5 INS Logs Table 33 Inertial Solution Status 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 HIGH VARIANCE The INS solution is in navig
61. time specified in the PSRDIFFTIMEOUT command refer to the OEM6 Family Firmware Reference Manual 20000129 BESTPOS always outputs positions at the antenna phase center Message ID 42 Log Type Synch Recommended Input log bestposa ontime 1 ASCII Example 1 BESTPOSA COM1 0 83 5 FINESTEERING 1419 336148 000 00000040 6145 2724 SOL COMPUTED SINGLE 51 11636418888 114 03832502118 1064 9520 16 2712 WGS84 1 6961 1 3636 3 6449 0 000 0 000 8 8 0 0 0 06 0 03 6 63a93d ASCII Example 2 TBESTPOSA COM1 0 78 5 FINESTEERING 1419 336208 000 00000040 6145 2724 SOL COMPUTED NARROW INT 51 11635910984 114 03833105168 1063 8416 16 2712 WGS84 0 0135 0 0084 0 0172 AAAA 1 000 0 000 8 8 8 8 0 01 0 03 3d9 bd48 Field Field type Data Description Format Ba onc 1 BESTPOS Log header H 0 header 2 sol stat Solution status see Table 25 Solution Status on page 115 Enum 4 H pos type Position type see Table 26 Position or Velocity Type on Enum 4 H 4 page 116 4 Latitude degrees Double 8 H 8 5 Longitude degrees Double 8 H 16 6 hgt Height above mean sea level metres Double 8 H 24 7 undulation Undulation the relationship between the geoid and the Float 4 H 32 ellipsoid m of the chosen datum 8 datum ids Datum ID number see Table 30 Datum Transformation Enum 4 H 36 Parameters on page 119 9 Latitude standard deviation metres
62. to the output frame BODY along the Y axis ECEF along the Y axis Local level Easting 8 DeltaVelZ Difference in velocity between the two receivers m s Double 8 H 44 The position difference is relative to the output frame BODY along the Z axis ECEF along the Z axis Local level Up 9 DeltaRoll Difference in roll between the two receivers degrees Double 8 H 52 10 DeltaPitch Difference in pitch between the two receivers degrees Double 8 H 60 11 DeltaHeading Difference in heading between the two receivers degrees Double 8 H 68 12 Diff Age Differential age in seconds Float 4 H 76 13 Remote ID Remote receiver ID string Char 4 4 H 80 14 Remote INS status of the remote receiver Enum 4 H 84 INSStatus See Table 33 Inertial Solution Status on page 138 15 Master ID Master receiver ID string Char 4 4 H 88 16 Master INS status of the master receiver Enum 4 H 92 INSStatus See Table 33 Inertial Solution Status on page 138 17 RTK Status Status of the current RTK vector between master and Enum 4 H 96 remote See Table 26 Position or Velocity Type on page 116 18 ExtStatus Extended solution status Hex H 100 20 32 bit CRC ASCII and Binary only Hex H 104 21 CR LF Sentence terminator ASCII only 186 SPAN on OEM6 Firmware Reference Manual Rev 7 INS Logs Chapter 5 5 2 46 SYNCHEAVE Synchronous Log Containing the Instantaneous Heave Value Synchronous heave is available up to the
63. value implies Double 8 H 44 westerly direction at Mark1 Up Velocity Velocity in an up direction at Mark1 Double 8 H452 10 Roll Right handed rotation from local level around y axis in Double 8 H 60 degrees at Mark1 11 Pitch Right handed rotation from local level around x axis in Double 8 H 68 degrees at Mark1 12 Azimuth Left handed rotation around z axis in degrees clockwise Double 8 H 76 from North at Mark1 13 Status INS Status see Table 33 Inertial Solution Status on Enum 4 H 84 page 138 at Mark1 14 32 bit CRC Hex 4 H 88 15 CR LF Sentence Terminator ASCII only SPAN on OEM6 Firmware Reference Manual Rev 7 159 Chapter 5 INS Logs 5 2 34 MARK2COUNT Count for Mark2 Input This log is only available for SPAN systems with an OEM638 or ProPak6 receiver This log contains the tick count for the EVENT2 input When the input mode is set to COUNT using the EVENTINCONTROL command see page 43 the logs become available D 1 Use the ONNEW trigger with this the MARKXTIME or the logs 2 Only the MARKxCOUNT MARKXxPVA 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 Message ID 1094 Log Type Asynch Recommended Input log mark2counta onnew ASCII Example MARK2COUNTA COM1 0 98 5 FINESTEERI
64. virtual port 31 USB3 7a0 1952 USB3 virtual port 0 USB3 31 7bf 1983 USB port 3 virtual port 31 AUX 8a0 2208 AUX port virtual port 0 P SPAN on OEM6 Firmware Reference Manual Rev 7 17 Chapter 2 Messages ASCII Port Hex Port Decimal Port Description Name Value Value AUX_31 8bf 2239 AUX port virtual port 31 P 9 0 2464 XCOMS virtual port 0 XCOM3_31 9bf 2495 XCOMSG virtual port 31 ICOM1 0 4000 ICOM1 virtual port 0 1 31 fbf 4031 ICOM1 virtual port 31 ICOM2 10a0 4256 ICOM2 virtual port 0 2 31 10bf 4287 ICOM2 virtual port 31 ICOM3 11a0 4512 ICOMS virtual port 0 ICOMS 31 11bf 4543 ICOMS virtual port 31 NCOM1 12a0 4768 NCOM1 virtual port 0 NCOM1_31 12bf 4799 NCOM1 virtual port 31 NCOM2 13a0 5024 2 virtual port 0 2 31 13bf 5055 2 virtual port 31 14a0 5280 NCOMS virtual port 0 31 14bf 5311 NCOMS virtual port 31 a Decimal port values 0 through 16 are only available to the UNLOGALL command and cannot be used in the UNLOG command or in the binary message header see Table 4 Binary Message Header Structure on page 15 b The AUX port is only available on specific products COM1 ALL COM2 ALL ALL THISPORT ALL ALL PORTS USB1 ALL USB2 ALL USB3 ALL ALL ICOM1 ALL ICOM2 ALL ICOM3 ALL NCOM1 ALL NCOM2 ALL XCOM1 ALL X
65. 0 2425 12002 1732 247232 271459820 51 11693179023 114 03885206704 1047 4529 0 0004 0 0011 0 0007 0 837101074 1 134127754 278 346498557 INS SOLUTION GOOD 08209ec0 Binary Field Field Type Description Offset 1 Log Header Log header H 0 2 Week GNSS Week at Mark3 request Ulong 4 H 3 Seconds Seconds from week at Mark3 Double 8 H 4 4 Latitude Latitude WGS84 at Mark3 Double 8 H 12 5 Longitude Longitude WGS84 at Mark3 Double 8 H 20 6 Height Height WGS84 at Mark3 Double 8 H 28 7 North Velocity Velocity in a northerly direction a ve value implies Double 8 H 36 southerly direction at Mark3 8 East Velocity Velocity in an easterly direction a ve value implies a Double 8 H 44 westerly direction at Mark3 Up Velocity Velocity in an up direction at Mark3 Double 8 H 52 10 Roll Right handed rotation from local level around y axis in Double H 60 degrees at Mark3 11 Pitch Right handed rotation from local level around x axis in Double 8 H 68 degrees at Mark3 12 Azimuth Left handed rotation around z axis in degrees clockwise Double 8 H 76 from north at Mark3 13 Status INS Status see Table 33 Inertial Solution Status on Enum 4 H 84 page 138 at Mark3 14 32 bit CRC Hex 4 H 88 15 CR LF Sentence Terminator ASCII only SPAN on OEM6 Firmware Reference Manual Rev 7 163 Chapter 5 INS Logs 5 2 38 MARK4COUNT Count for Mark4 Input
66. 00000 0000 00000000 00000000 Parameters 00000000 Checksum 2304B3F1 From LOG Response AA44121C 01008220 06000000 FFB4EE04 605A0513 00004C00 FFFF5A80 Receiver Header Log Response 01000000 4F4B Data Checksum DA8688EC From BESTPOSB 44121 2A000220 48000000 90B49305 BOABB912 00000000 4561 Receiver Header BESTPOSB 00000000 10000000 1B0450B3 F28E4940 16FA6BBE 7 825 0 0060769F Data 449F9040 62 82 1 30000000 125ACB3F CD9E983F DB664040 00303030 00000000 00000000 00060003 Checksum 42DC4C48 2 3 GLONASS Slot and Frequency Numbers When a PRN in a log is in the range 38 to 61 then that PRN represents a GLONASS Slot where the Slot shown is the actual GLONASS Slot Number plus 37 Similarly the GLONASS Frequency shown in logs is the actual GLONASS Frequency plus 7 For example SATVISA COM1 0 53 5 FINE TRU E TRUE 46 STE ERING 1363 234894 000 00000000 0947 2277 2 0 0 73 3 159 8 934 926 934 770 43 8 0 0 4 163 7 4528 085 4527 929 3 0 0 79 9 264 3 716 934 716 778 b94813d3 where 2 and 3 are GPS satellites and 43 is a GLONASS satellite It s actual GLONASS Slot Number is 6 The SATVIS log shows 43 6 37 It s actual GLONASS frequency is 1 The SATVIS log shows 8 1 7 Refer to An Introduction to GNSS available on our website at www novatel com an introduction to gnss for more information 22 SPAN on OEM6 Firmware Refere
67. 0000000 IMU Status 0 Passed 1 Failed 30 0x40000000 IMU Status 0 Passed 1 Failed 31 0x80000000 IMU Status 0 Passed 1 Failed SPAN on OEM6 Firmware Reference Manual Rev 7 Chapter 5 171 Chapter 5 172 Table 41 LN200 IMU Status Nibble Bit Mask Description Range Value NO 0 0x00000001 IMU Status 0 Passed 1 Failed 1 0x00000002 IMU Status 0 Passed 1 Failed 2 0x00000004 IMU Status 0 Passed 1 Failed 3 0x00000008 IMU Status 0 Passed 1 Failed N1 4 0x00000010 IMU Status 0 Passed 1 Failed 5 0x00000020 IMU Status 0 Passed 1 Failed 6 0x00000040 IMU Status 0 Passed 1 Failed 7 0x00000080 IMU Status 0 Passed 1 Failed N2 8 0x00000100 IMU Status 0 Passed 1 Failed 9 0x00000200 IMU Status 0 Passed 1 Failed 10 0x00000400 IMU Status 0 Passed 1 Failed 11 0x00000800 IMU Status 0 Passed 1 Failed N3 12 0x00001 000 IMU Status 0 Passed 1 Failed 13 0x00002000 IMU Status 0 Passed 1 Failed 14 0x00004000 IMU Status 0 Passed 1 Failed 15 0x00008000 Reserved N4 16 0x00010000 Reserved 17 0x00020000 Reserved 18 0x00040000 Reserved 19 0x00080000 Reserved N5 20 0x00100000 Reserved 21 0x00200000 Reserved 22 0x00400000 Reserved 23 0x00800000 Reserved N6 24 0x01000000 IMU Status 0 Passed 1 Failed 25 0x02000000 IMU Status 0 Passed 1 Fai
68. 0275e6a0 938223252 3a9dc0 4ece6f 794a0000090394ee 8b05 50a189aa6ff 925386228f 97eabf9c8047e34a70ec5al0e486e794a7a 850550a18a2effc2 80061c 2fffc267cd09f 1d5034d43537affa28b6ff0eb 7a22 279 SPAN on OEM6 Firmware Reference Manual Rev 7 Messages Chapter 2 Table 3 Receiver Status Nibble Bit Description NO 0 0x00000001 Error flag No error Error 1 0x00000002 Temperature status Within specifications Warning 2 0x00000004 Voltage supply status OK Warning 3 0x00000008 Antenna power status Powered Not powered N1 4 0x00000010 LNA Failure 5 0x00000020 Antenna open flag OK Open 6 0x00000040 Antenna shorted flag OK Shorted 7 0x00000080 CPU overload flag 2 No overload Overload N2 8 0x00000100 COM buffer overrun flag No overrun Overrun 9 0x00000200 COM2 buffer overrun flag No overrun Overrun 10 0x00000400 COMS buffer overrun flag No overrun Overrun 11 0x00000800 Link overrun flag No overrun Overrun N3 12 0x00001000 Reserved 13 0x00002000 Aux transmit overrun flag No overrun Overrun 14 0x00004000 AGC out of range 15 0x00008000 Reserved N4 16 0x00010000 INS Reset No Reset INS filter has reset 17 0x00020000 Reserved 18 0x00040000 Almanac flag UTC known Valid Invalid 19 0x00080000 Position solution flag Valid Invalid N5 20 0x00100000 Position fixed flag Not fixed Fixed 21 0x00200000 C
69. 0312 3033352 132863 186983 823 5aa97065 Binary Binary Bytes Offset Field Field Type Description Format Log Header Log header H 0 Week GNSS Week Ulong Seconds into Week Seconds from week start Double IMU Status The status of the IMU This field is given in a fixed length Long n array of bytes in binary but in ASCII or Abbreviated ASCII is converted into 2 character hexadecimal pairs For the raw IMU status see one of the following tables e 37 IIMU FSAS IMU Status on page 169 e Table 38 Litef LCI 1 IMU Status on page 170 e Table 40 HG1700 IMU Status on page 171 e Table 41 LN200 IMU Status on page 172 e Table 42 ISA 100 and ISA 100C IMU Status page 173 e Table 43 IMU CPT and SPAN CPT IMU Status on page 174 Table 44 IMU KVH1750 IMU Status page 175 e Table 45 HG1900 and HG1930 IMU Status on page 176 e Table 46 ADIS16488 IMU IGM A1 and SPAN IGM A1 IMU Status on page 177 e Table 47 STIM300 IMU IGM S1 SPAN IGM S1 IMU Status on page 178 Also refer to Interface Control Documentation as provided by Honeywell or Northrop Grumman BR Ww N o A I A Z Accel Output Change in velocity count along z axis Long H 16 Y Accel Output Change in velocity count along y axis gt Long H 20 X Accel Output Change in velocity count along x axis Long H 24 A 2 Gyro Output Change in angle count around z axis 2 Long 28 Right handed
70. 0x00000002 CBIT Error Flag 0 Normal 1 CBIT Error 2 0x00000004 Calibration Status Flag 0 IMU Uncalibrated 1 IMU Calibrated 3 0x00000008 Not used N1 4 0x00000010 Mode Read Flag Mode in Trans O Refer to Mode Trans Ready 1 Table 39 5 0x00000020 IMU Mode Indication 1 0 Not Set 1 Set Mode 6 0x00000040 IMU Mode Indication2 0 Not Set 1 Set bee dr M 7 0x00000080 IMU Mode Indication 3 0 Not Set 1 Set N2 8 0x00000100 Master NoGo 0 Normal 1 NoGo 9 0x00000200 IMU NoGo 0 Normal 1 NoGo 10 0x00000400 Accelerometer Z NoGo 0 Normal 1 NoGo 11 0x00000800 Accelerometer Y NoGo 0 Normal 1 NoGo N3 12 0x00001000 Accelerometer X NoGo 0 Normal 1 NoGo 13 0x00002000 Gyroscope Z NoGo 0 Normal 1 NoGo 14 0x00004000 Gyroscope Y NoGo 0 Normal 1 NoGo 15 0x00008000 Gyroscope X NoGo 0 Normal 1 NoGo N4 16 0x00010000 Master Warning 0 Normal 1 Warning 17 0x00020000 IMU Warning 0 Normal 1 Warning 18 0x00040000 Accelerometer Z Warning 0 Normal 1 Warning 19 0x00080000 Accelerometer Y Warning 0 Normal 1 Warning N5 20 0x00100000 Accelerometer X Warning 0 Normal 1 Warning 21 0x00200000 Gyroscope Z Warning 0 Normal 1 Warning 22 0x00400000 Gyroscope Y Warning 0 Normal 1 Warning 23 0x00800000 Gyroscope X Warning 0 Normal 1 Warning N6 24 0x01000000 Not Used 25 0x02000000 26 0x04000000 27 0x08000000 N7 28 0 10000000 29 0 20000000
71. 0x00004 ZUPT Update No fields required in the EXTERNALPVAS command for this update 3 0x00008 Reserved 4 0x00010 Reserved 5 0x00020 External Position Update This update is entered using Position1 to Position3 in the EXTERNALPVAS command 6 0 00040 Reserved 7 0 00080 Reserved 8 0 00100 Reserved 9 0x00200 Reserved 10 0x00400 Reserved 11 0x00800 Reserved 12 0x01000 Reserved 13 0x02000 Reserved 48 SPAN on OEM6 Firmware Reference Manual Rev 7 SPAN Commands Chapter 4 Bit Mask Description 14 0x04000 External Velocity Update This update is entered using Velocity1 to Velocity3 in the EXTERNALPVAS command 15 0x08000 External Attitude Update This update is entered using Attitude1 to Attitude3 in the EXTERNALPVAS command 16 0 10000 External Heading Update This update is entered using Attitude3 in the EXTERNALPVAS command 17 0 20000 External Height Update This update is entered using Position3 in the EXTERNALPVAS command If both the External Position Update and External Height Update bits are set only the External Position Update will be applied If both the External Attitude Update and External Heading Update bits are set only the External Attitude Update will be applied Table 16 EXTERNALPVAS Options Mask Bit Mask Description 0 1 If this bit is set the position and velocity input frame is se
72. 158 SPAN on OEM6 Firmware Reference Manual Rev 7 INS Logs Chapter 5 5 2 33 MARK1PVA Position Velocity and Attitude at Mark1 This log outputs position velocity and attitude information with respect to the SPAN frame when an event is received on the Mark1 input If the SETMARK10FFSET command has been entered the MARK1PVA log will contain the solution translated and then rotated by the values provided in the command See the SETMARK1OFFSET command valid at the time on page 92 Message ID 1067 Log Type Synch Recommended Input log marklpva onnew Abbreviated ASCII Example MARK1PVAA COM1 0 74 5 FIN ESTE ERING 1732 247231 455 00040020 5790 12002 1732 247231 454623850 51 11693182283 114 03885213810 1047 4525 0 0004 0 0004 0 0006 0 847121689 1 124640813 278 577037489 INS SOLUTION GOOD 5a6b060e 2 uis Binary Binary Field Field Type Description Format Bytes Offset 1 Log Header Log header H 0 2 Week GNSS Week at Mark1 request Ulong 4 H 3 Seconds Seconds from week at Mark1 Double 8 H 4 4 Latitude Latitude WGS84 at Mark1 Double 8 H 12 5 Longitude Longitude WGS84 at Mark1 Double 8 H 20 6 Height Height WGS84 at Mark1 Double 8 H 28 7 North Velocity Velocity in a northerly direction a ve value implies a Double 8 H 36 southerly direction at Mark1 8 East Velocity Velocity in an easterly direction a ve
73. 17 B2 8 442 097 B2 8 467 433 2 SPAN on OEM6 Firmware Reference Manual Rev 7 Table of Contents Customer Support 1 Introduction 1 T About this Manual Maced eos 1 2 Related Documents and Information esee nns nnn nnns nns 1 9 Gonventlorns E E A tente ehe 2 Messages BUILT M AS CIT iini ord CR Eh e Ri AREE e ata 2 1 2 Abbrevilated ASCII sicci i ur er ecc e Ag oz 2 1 3 Binary dete deti igustdoeiui cu itunes 2 1 4 Description of ASCII and Binary Logs with Short Headers 2 2 Responses oo E Reed 2 2 1 edna beaa da nnns ns nnn 2 2 2 AS CIl ReSpOnSS iiiter ed seit re 2 2 3 Binary ResporisSe see etie 2 3 GLONASS Slot and Frequency 2 4 GPS Reference Time Status a rnc eh iis Enni n e ede aede 2 5 Message Time Stamps oec ioo re diee e repro A rhe e p E d eal ea 2 6 Decoding of the GPS Reference Week 22 32 BIE ORO xai icai tin BE eet ea e a eet 3 Responses 4 SPAN Commands 41 Usirig d Comrmarid as a
74. 3005 BODY 8 141080733 2 779177478 2 045421773 0 001464009 0 001038329 0 002323548 0 409467974 0 715633909 6 204731538 0 000000000 B81V INS ALIGNMENT COMPLETE B20C INS ALIGNMENT COMPLETE INS_PSRSP 00000000 270 5 8 Binary Binary Field Field Description Format Bytes Offset 1 Log Header Log header x H 0 2 Output Frame The current output frame IMU body ECEF or local level Enum 4 H frame The output frame is specified using the SETRELINSOUTPUTFRAME command See Section 4 2 46 SETRELINSOUTPUTFRAME on page 97 3 DeltaPosX Difference in the position between the two receivers m Double 8 H 4 The position difference is relative to the output frame BODY along the X axis ECEF along the X axis Local level Northing 4 DeltaPosY Difference in the position between the two receivers m Double 8 H 12 The position difference is relative to the output frame BODY along the Y axis ECEF along the Y axis Local level Easting 5 DeltaPosZ Difference in the position between the two receivers m Double 8 H 20 The position difference is relative to the output frame BODY along the Z axis ECEF along the Z axis Local level Up 6 DeltaVelX Difference in velocity between the two receivers m s Double 8 H 28 The position difference is relative to the output frame BODY along the X axis ECEF along the X axis Loca
75. 4 0 OK 1 Z channel 3 0x00000008 0 OK 1 Error in measurement channel Bits 0 2 flag the error channels N1 4 0x00000010 0 OK 1 Overload Bits 0 2 flag the error channels 5 0x00000020 0 OK 1 Outside operating conditions 6 0x00000040 0 OK 1 Startup 7 0x00000080 0 OK 1 System integrity error N2 8 0x00000100 Accelerometer 0 OK 1 X channel 9 oxoo000200 Status 0 OK 1 Y channel 10 0x00000400 0 OK 1 Z channel 11 0x00000800 0 OK 1 Error in measurement channel Bits 0 2 flag the error channels N3 12 0x00001000 0 OK 1 Overload Bits 0 2 flag the error channels 13 0x00002000 0 OK 1 Outside operating conditions 14 0x00004000 0 OK 1 Startup 15 0x00008000 0 OK 1 System integrity error N4 16 0x00010000 Temperature of the X gyro sensor 17 0x00020000 0 C 0x0000 18 0xo0040000 1LSB 2 C 19 0x00080000 NS 20 0x00100000 21 0x00200000 22 0x00400000 23 0x00800000 N6 24 0x01000000 25 0x02000000 26 0x04000000 27 0x08000000 N7 28 0x10000000 29 0x20000000 30 0x40000000 31 0x80000000 178 SPAN on OEM6 Firmware Reference Manual Rev 7 INS Logs Chapter 5 5 2 42 RAWIMUS Short Raw IMU Data This log is the short header version of the RAWIMU log page 167 Message ID 325 Log Type Asynch Recommended Input log rawimusa onnew ASCII Example S RAWIMUSA 1105 425384 180 1105 425384 156166800 111607 43088060 43
76. 567 SETIMUORIENTATION Sets the IMU axis that is aligned with gravity 641 RVBCALIBRATE Enables or disables the calculation of the vehicle to SPAN body angular offset 642 VEHICLEBODYROTATION Set the angular offsets between the vehicle frame and the SPAN body frame 647 INSWHEELUPDATE Enables or Disables Use of a Wheel Sensor 675 LEVERARMCALIBRATE Controls the IMU to antenna lever arm calibration 676 SETINSOFFSET Sets an offset from the IMU for the output position and velocity of the INS solution 847 SETWHEELPARAMETERS Sets the wheel parameters 861 NMEATALKER Sets the NMEA Talker ID 32 SPAN on OEM6 Firmware Reference Manual Rev 7 SPAN Commands Chapter 4 Message ID ASCII Name Description 862 SETINITATTITUDE Sets the initial attitude of the SPAN system in degrees 863 SETINITAZIMUTH Sets the initial azimuth and standard deviation 1069 SETMARK1OFFSET Sets the offset to the Mark1 trigger event 1070 SETMARK2OFFSET Sets the offset to the Mark2 trigger event 1071 APPLYVEHICLEBODYROTATION Enables or disables vehicle body rotation 1116 SETMARKSOFFSET Sets the offset to the Mark3 trigger event 1117 SETMARKAOFFSET Sets the offset to the Mark4 trigger event 1204 EXTHDGOFFSET Set the angular offset 1205 SETIMUTOANTOFFSET2 Sets the IMU to antenna offset for the secondary antenna 1214 ALIGNMENTMODE Sets the Alignment Mode 1257 TAGNEXTMARK Tags the n
77. 84 degrees Double 8 H 12 5 Longitude Longitude WGS84 degrees Double 8 H 20 6 Height Ellipsoidal Height WGS84 m Double 8 H 28 7 North Velocity Velocity in a northerly direction a ve value implies Double 8 H 36 southerly direction m s 8 East Velocity Velocity in an easterly direction a ve value implies a Double 8 H 44 westerly direction m s Up Velocity Velocity in an up direction m s Double 8 H 52 10 Roll Right handed rotation from local level around y axis in Double 8 H 60 degrees 11 Pitch Right handed rotation from local level around x axis in Double 8 H 68 degrees 12 Azimuth Left handed rotation around z axis in degrees clockwise Double 8 H 76 from North This is the inertial azimuth calculated from the IMU gyros and the SPAN filters 13 Status INS Status see Table 33 Inertial Solution Status on Enum 4 H 84 page 138 14 xxxx 32 bit CRC Hex 4 H 88 15 CR LF Sentence Terminator ASCII only SPAN on OEM6 Firmware Reference Manual Rev 7 147 Chapter 5 INS Logs 5 2 24 INSPVAS Short INS Position Velocity and Attitude This log is the short header version of the INSPVA log page 147 Message ID 508 Log Type Synch Recommended Input log inspvasa ontime 1 ASCII Example SINSPVASA 1264 144059 000 1264 144059 002135700 51 116680071 114 037929194 515 286704183 277 896368884 84 915188605 8 488207941 0 759619515 2 892414901 6 179554750 INS ALIGNMENT COMPLE
78. 86 SPAN Logs for OEMG Alphabetical 108 SPAN Logs for OEMG by 111 Solution Status a imitemur i steer e rc m dtes 115 Postion or Velocity Type tite eiecti dea ete LS ee es 116 Galileo and BeiDou Signal Used 118 GPS GLONASS Signal Used 4 118 Extended Solutiori Status nere ttt ette pete ee 118 Datum Transformation 119 Lever Ar Type asiste eve nie een cie beu tice ed ie ics 136 Lever Armi SOURCE ish Re boe nel e reti Tete ee Pert eae ide 136 Inertial Solution Status oboe ae ase dehet ner 138 Position or Velocity Type ue een ti dd be aee tari Lr eee cionis 141 Extended Solution Status tna ete ib the aereis 141 Heading Update Values Itin ode Comet dale oen peius 154 iIMU ESAS IMUJ Status pner bec e en Pe a ar 169 Liter ECI T IMU Status eet o terna eoe ete roO eU REEL o uei algae 170 Mode Indicationc s toit iier Aet Pene eb edam tede ph 170 FG1700IMU Status 171 2 8 dte ees 172 ISA 100 ISA 100C IMU Status 173 IMU CPT and SPAN CPT IMU 174 IMU KVEL 750 IMU Status Ie e iege atte e etes 175 HG 900 and
79. AN IGM Issuing the command ENCLOSURECOMSELECT COM3 disables the EVENT 1 input See the OEM6 Family Installation and Operation User Manual OM 20000128 for more information about user selectable port configurations SPAN on OEM6 Firmware Reference Manual Rev 7 41 Chapter 4 SPAN Commands 4 2 7 ENCLOSUREWHEELSENSOR Control Wheel Sensor Data Use this command to enable or disable wheel sensor data from a SPAN IGM This command must be disabled if the wheel sensor information is received from a source other than the MIC For example the wheel sensor is connected directly to the IMU Message ID 1535 Abbreviated ASCII Syntax ENCLOSUREWHEELSENSOR switch Reserved Abbreviated ASCII Example ENCLOSUREWHEELSENSOR ENABLE ASCII Binary Binary Binary Field Field Value Description Format Bytes Offset 1 Header Contains the command name or H 0 message header depending on whether the command is abbreviated ASCII ASCII or binary 2 switch Disable 0 Disable wheel sensor data default Enum 4 H Enable 1 Enable wheel sensor data 3 Reserved Reserved Ulong 4 H 4 42 SPAN on OEM6 Firmware Reference Manual Rev 7 SPAN Commands Chapter 4 4 2 8 EVENTINCONTROL Control Event In Properties This command controls up to four Event In input triggers Each input can be used as either an event strobe or
80. ASCII Only SPAN on OEM6 Firmware Reference Manual Rev 7 131 Chapter 5 INS Logs 5 2 11 IMURATECORRIMUS Asynchronous Corrected IMU Data This log provides the same information as the CORRIMUDATA log but is available asynchronously at the full rate of the IMU Using this log consumes significant system resources and should only be used by experienced users To use this log asynchronous logging must be enabled See ASYNCHINSLOGGING on page 37 Message ID 1362 Log Type Asynch Recommended Input log imuratecorrimus Example log SIMURATECORRIMUSA 1581 341553 000 1581 341552 997500000 0 000000690 0 000001549 0 000001654 0 000061579 0 000012645 0 000029988 770 6232 ore Binary Binary Field Field Type Description Format Bytes Offset 1 Log Header Log header H 0 2 Week GNSS week Ulong 4 H 3 Seconds GNSS seconds from week start Double 8 H 4 4 PitchRate About x axis rotation m s sample Double 8 H 12 5 RollRate About y axis rotation m s sample Double 8 H 20 6 YawRate About z axis rotation right handed Double 8 H 28 m s sample 7 LateralAcc INS Lateral Acceleration along x axis Double 8 H 36 m s sample 8 LongitudinalAcc INS Longitudinal Acceleration along y axis Double 8 H 44 m s sample 9 VerticalAcc INS Vertical Acceleration along z axis Double 8 H 52 m s sample 10 XXXX 32 bit CRC Hex 4 H 56 11 CR LF Sentence Terminat
81. BALANGLE command is not received for over 1 second then the system will return to using the static lever arm In addition to using the variable lever arm internally the following information is available to the user Table 49 Logs used with Variable Lever Arm Log Description VARIABLELEVERARM This log displays the calculated variable lever arm The format of this log is similar to the BESTLEVERARM logs except that the mapping field is not displayed The mapping field is not shown because the VARIABLELEVERARM log is output in SPAN Computation frame rather than the IMU body frame that is used by all the other logs This makes the mapping field irrelevant for the VARIABLELEVERARM log GIMBALLEDPVA This log has the same format as the INSPVA log but displays the position velocity and attitude related back to the camera mount frame The INSPVA log always displays where the IMU is truly pointing adjusted by the VEHICLEBODYROTATION command When the camera mount is in its zero locked position the GIMBALLEDPVA log will match the standard INSPVA log INSPVA The INSPVA log is synchronous so does not depend on the entry of INPUTGIMBALANGLE logs However when the Gimbal angles are non zero the INSPVA log no longer represents the orientation of the camera mount vehicle but rather the current orientation of the unlocked camera If the orientation of the camera mount vehicle are important use the GIMBALLEDPVA log
82. BESTPOS log which incorporate GNSS INS solutions as well The default GPS NMEA message NMEATALKER GP outputs GP as the talker ID regardless of the position type given in position logs such as BESTPOS The NMEATALKER auto command switches the talker ID between GP GN and IN according to the position type given in position logs If nmeatalker is set to auto and there are both GPS and GLONASS satellites in the solution two sentences with the GN talker ID are output The first sentence contains information about the GPS satellites in the solution and the second sentence contains information about the GLONASS satellites in the solution If nmeatalker is set to auto and there are only GLONASS satellites in the solution the talker ID of this message is GL If the solution comes from SPAN the talker ID is IN Message ID 861 Abbreviated ASCII Syntax NMEATALKER ID Factory Default NMEATALKER gp ASCII Example NMEATALKER auto Field ASCII Binary Binary Binary Binary Type Value Value Description Format Bytes Offset 1 Header Contains the command name or H 0 message header depending on whether the command is abbreviated ASCII ASCII or binary 2 ID GP 0 GPS GP only Enum 4 H AUTO 1 GPS Inertial IN and or GLONASS GPGSY is for information on GNSS satellites and its output always uses the GP ID Table 19 NMEA Ta
83. Binary Field Field Type Description Format Bytes Offset 1 Log Header Log header H 0 2 Week GNSS Week Ulong 4 H Seconds into Week Seconds from week start Double 8 H 4 4 Position Covariance Position covariance matrix in local level frame List of 9 72 H 12 metres squared 2 2 2 2 22 Doubles 5 Attitude Covariance Attitude covariance matrix of the SPAN frame to the List of 9 72 H 84 local level frame See page 142 for an example Doubles degrees squared rotation around the given axis 2 2 2 2 22 6 Velocity Covariance Velocity covariance matrix in local level frame List of 9 72 H 156 metres second squared 2 2 2 2 22 Doubles XXXX 32 bit CRC ASCII Binary and Short Binary only Hex 4 H 228 CR LF Sentence terminator ASCII only SPAN on OEM6 Firmware Reference Manual Rev 7 143 Chapter 5 INS Logs 5 2 20 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 center unless the SETINSOFFSET command is issued see page 84 Message ID 265 Log Type Synch Recommended Input log insposa ontime 1 ASCII Example INSPOSA USB2 0 18 0 FINESTEERING 1541 487977 000 00040000 17cd 37343 1541 487977 000549050 51 121315135 114 042311349 1038 660737046
84. CA Acceleration Shown as a two byte hex number where the least significant bit 0 0625 cm s Space Character space delimiter S Heave Polarity Space if positive M Minus sign if negative 6 Heave Heave value from 99 99 to 499 99 m HHHH 0003 Shown as a four digit integer where the least significant bit 0 01 m 7 Status Flag F if INS Active Q F H if INS has not completed an alignment 8 Roll Polarity Space if positive M Minus sign if negative 9 Roll Roll value from 99 99 to 99 99 degrees RRRR 0325 Shown as a four digit integer where the least significant bit 2 0 01 degrees 10 Space Character space delimiter S SPAN on OEM6 Firmware Reference Manual Rev 7 195 Chapter 5 INS Logs Field Field Type Description Symbol Example 11 Pitch Polarity Space if positive M Minus sign if negative 12 Pitch Pitch value from 99 99 to 99 99 degrees PPPP 0319 Shown as a four digit integer where the least significant bit 0 01 degrees 13 Sentence terminator lt CR gt lt LF gt 196 SPAN on OEM6 Firmware Reference Manual Rev 7 INS Logs Chapter 5 5 2 54 VARIABLELEVERARM Display Variable Lever Arm Details Use this log to redisplay the re calculated variable lever arm whenever a new INPUTGIMBALANGLE command is received 1 This log is not output until the INS alignment is complete Message ID 1320 Log Type Asynch Recomm
85. CLEBODYROTATION command on page 36 the reported attitude is in the vehicle frame otherwise the reported attitude is in the SPAN frame See the Note on page 89 Enter Value4 Value5 and Value6 in degrees Range is 0 to 45 degrees These values are used to enter any uncertainty in the rotational measurements The uncertainty values are optional Note Regardless of system configuration and IMU orientation the SETIMUORIENTATION and SETINSOFFSETS RBV commands must be sent to the receiver before attempting a kinematic alignment Note NovAtel recommends entering SETIMUORIENTATION first then SETINSOFFSETS RBV 88 SPAN on OEM6 Firmware Reference Manual Rev 7 SPAN Commands ASCII RBM Binary Description 12 Rotational offset from the IMU enclosure frame to the gimbal mount frame Chapter 6 Variable Lever Arm on page 200 for details on frame definitions Enter Value1 Value2 and Value3 in degrees Enter Value4 Value5 and Value6 in degrees Range is 0 to 180 degrees These values are used to enter any uncertainty in the rotational measurements The uncertainty values are optional Chapter 4 This command must be used if the gimbal mount frame and IMU enclosure frame do not match after the mapping from SETGIMBALORIENTATION is applied to the mount See D If the IMU is not mounted with the Z axis approximately up check the new computational a
86. COM2 ALL XCOMS3 ALL and ALL are only valid for the UNLOGALL command 18 SPAN on OEM6 Firmware Reference Manual Rev 7 Messages Chapter 2 2 1 4 Description of ASCII and Binary Logs with Short Headers These logs are set up in the same way as normal ASCII or binary logs except a normal ASCII or binary header is replaced with a short header see Table 6 Short ASCII Message Header Structure on page 19 and Table 7 Short Binary Message Header Structure on page 19 Table 6 Short ASCII Message Header Structure Field Field Name Description ype 1 Char symbol Message Char This is the name of the log Week Number Ushort GNSS week number AJOJN Milliseconds Ulong Milliseconds from the beginning of the GNSS week Table 7 Short Binary Message Header Structure Binary Binary Field Field Name Description Bytes Offset 1 Synch Char Hex OxAA 1 0 2 Synch Char Hex 0x44 1 1 3 Synch Char Hex 0x13 1 2 4 Message Length Uchar Message length not including header or CRC 1 3 5 Message ID Ushort Message ID number 2 4 6 Week Number Ushort GNSS week number 2 6 7 Milliseconds Ulong Milliseconds from the beginning of the GNSS 4 8 week SPAN on OEM6 Firmware Reference Manual Rev 7 19 Chapter 2 Messages 2 2 Responses By default if you input a message you get back a response If desired the INTERFACEMODE command can be used to disable resp
87. Default is 0 5 Y Uncertainty 0 180 Uncertainty of Y rotation in degrees Double 8 H 32 Default is 0 6 Z Uncertainty 0 180 Uncertainty of Z rotation in degrees Double 8 H 40 Default is 0 54 SPAN on OEM6 Firmware Reference Manual Rev 7 SPAN Commands Chapter 4 4 2 16 INSCOMMAND INS Control Command Use this command to enable or disable INS positioning When INS positioning is disabled no INS position velocity or attitude is output however IMU data is still available Also INS aiding of 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 the relevant SPAN User Manual for information about the SPAN alignment procedures Message ID 379 Abbreviated ASCII Syntax INSCOMMAND action Abbreviated ASCII Example INSCOMMAND ENABLE Field Binary a Binary Binary Binary Field Type ASCII Value Value Description Format Bytes Offset 1 Header Contains the command name or E H 0 message header depending on whether the command is abbreviated ASCII ASCII or binary 2 RESET 0 Resets the GNSS INS alignment Enum 4 H restarts the alignment initialization DISABLE 1 Disables INS positioning ENABLE 2 Enables INS positioning where alignment initialization starts again START NO 3 Raw IMU data will b
88. Description Format Bytes Offset 1 header Contains the command name or H 0 message header depending on whether the command is abbreviated ASCII ASCII or binary 2 X Angle 180 Right hand rotation around the SPAN Double 8 H frame X axis in degrees 3 YAngle 180 Right hand rotation around the SPAN Double 8 H 8 frame Y axis in degrees 4 Z Angle 180 Right hand rotation around the SPAN Double 8 H 16 frame Z axis in degrees 5 X Uncertainty 0 180 Uncertainty of X rotation in degrees Double 8 H 24 Default is 0 6 Y Uncertainty 0 180 Uncertainty of Y rotation in degrees Double 8 H 32 Default is 0 7 Z Uncertainty O 180 Uncertainty of Z rotation in degrees Double 8 H 40 Default is 0 SPAN on OEM6 Firmware Reference Manual Rev 7 51 Chapter 4 SPAN Commands 4 2 13 HEAVEFILTER Enables or Disables Heave Filtering Use this command to enable or disable the filter used for heave processing Message ID 1427 Abbreviated ASCII Syntax HEAVEFILTER switch Abbreviated ASCII Example HEAVEFILTER ENABLE Binary Binary Binary Format Bytes Offset Field ASCII Field Description Type Value 1 eo 1 Header Contains the command name or message header depending on whether the command is abbreviated ASCII ASCII or binary 2 switch DISABLE 0 Disables the Heave filter Enum 4 H ENABLE 1 Enables the Heave filter
89. EDE command must be entered at least 1 second prior to the requested event time Message ID 1337 Abbreviated ASCII Syntax TIMEDEVENTPULSE SensorID GPSWeek GPSSeconds Event ID Abbreviated ASCII Example TIMEDEVENTPULSE 1 1617 418838 100 ASCII m Binary Binary Binary Value Binary Value Description Format Bytes Offset Field Field Type 1 I Contains the command or message header depending on whether the command is abbreviated ASCII ASCII or binary 2 Sensor ID ALL 1 The sensor s affected by the Long 4 H OxFFFFFFFF trigger command SENSOR1 0x01 The decimal representation of 4 4 the combination of bits 0 2 can SENSOR 0x02 be used to select a combination SENSORS 0x04 of active sensors e g 5 101 will select sensors 1 and 3 3 GPS Week 0 MAX Ulong The GPS week that triggers the Ulong 4 H 4 event 4 GPS 0 604800 The GPS week seconds that Double 8 H 8 Seconds triggers the event 5 EventID 0 MAX Ulong The event s identifier used to tag Ulong 4 H 16 the TAGGEDMARKXxPVA logs if a sensor input is enabled Optional Default 0 1 Header SPAN on OEM6 Firmware Reference Manual Rev 7 103 Chapter 4 SPAN Commands 4 2 52 VEHICLEBODYROTATION 104 Vehicle to SPAN Frame Rotation Use the VEHICLEBODYROTATION command to set angular offsets between the vehicle frame direction of tr
90. ELD 9 A FIELD IS MISSING FROM THE INPUT MESSAGE ARRAY SIZE FOR FIELD X EXCEEDS 10 FIELD X CONTAINS MORE ARRAY ELEMENTS THAN MAX ALLOWED PARAMETER X IS OUT OF RANGE 11 FIELD X OF THE INPUT MESSAGE IS OUTSIDE THE ACCEPTABLE LIMITS TRIGGER X NOT VALID FOR THIS 14 TRIGGER TYPE X IS NOT VALID FOR THIS TYPE OF LOG LOG AUTHCODE TABLE FULL RELOAD 15 TOO MANY AUTHCODES ARE STORED IN THE SOFTWARE RECEIVER THE RECEIVER FIRMWARE MUST BE RELOADED INVALID DATE FORMAT 16 THIS ERROR IS RELATED TO THE INPUTTING OF AUTHCODES INDICATES THE DATE ATTACHED TO THE CODE IS NOT VALID INVALID AUTHCODE ENTERED 17 THE AUTHCODE ENTERED IS NOT VALID NO MATCHING MODEL TO REMOVE 18 THE MODEL REQUESTED FOR REMOVAL DOES NOT EXIST 27 Chapter 3 ASCII Message Binary Message ID Responses Meaning TYPE NOT VALID AUTH CODE FOR THAT 19 THE MODEL ATTACHED TO THE AUTHCODE IS NOT MODEL VALID CHANNEL IS INVALID 20 THE SELECTED CHANNEL IS INVALID REQUESTED RATE IS INVALID 21 THE REQUESTED RATE IS INVALID WORD HAS NO MASK FOR THIS 22 THE WORD HAS NO MASK FOR THIS TYPE OF LOG TYPE CHANNELS LOCKED DUE TO ERROR 23 CHANNELS ARE LOCKED DUE TO ERROR INJECTED TIME INVALID 24 INJECTED TIME IS INVALID COM PORT NOT SUPPORTED 25 THE COM OR USB PORT IS NOT SUPPORTED MESSAGE IS INCORRECT 26 THE MESSAGE IS INVALID INVALID PRN 27 THE PRN IS INVALID PRN NOT LOCKED OUT 28 THE PRN IS NOT L
91. Enum 4 H ENABLE 1 Enable INS zero velocity updates default SPAN on OEM6 Firmware Reference Manual Rev 7 59 Chapter 4 SPAN Commands 4 2 21 INTERFACEMODE Set Interface Type for a Port Use this command to specify what type of data a particular port on the receiver can transmit and receive The receive type tells the receiver what type of data to accept on the specified port The transmit type tells the receiver what kind of data it can generate As an example you could set the receive type on a port to RTCA in order to accept RTCA differential corrections It is also possible to disable or enable the generation or transmission of command responses for a particular port Disabling of responses is important for applications where data is required in a specific form and the introduction of extra bytes may cause problems for example RTCA RTCM RTCMV3 or CMR Disabling a port prompt is also useful when the port is connected to a modem or other device that will respond with data the receiver does not recognize When INTERFACEMODE port NONE NONE OFF is set the specified port is disabled from interpreting any input or output data Therefore no commands or differential corrections are decoded by the specified port Data can be passed through the disabled port and be output from an alternative port using the pass through logs PASSCOM PASSXCOM PASSAUX and PASSUSB Refer to the OEM6 Family Firmware Reference Manual OM 20000129 for information on
92. Firmware Reference Manual Rev 7 2 1 10 Message Types The receiver handles incoming and outgoing NovAtel data in three different message formats Abbreviated ASCII ASCII and binary This allows for a great deal of versatility in the way the OEM6 family of receivers can be used All NovAtel commands and logs can be entered transmitted output or received in any of the three formats The receiver also supports RTCA RTCMV3 RTCM CMR CMRPLUS and NMEA format messaging When entering an ASCII or abbreviated ASCII command to request an output log the message type is indicated by the character appended to the end of the message name A indicates the message is ASCII and B indicates binary No character means the message is Abbreviated ASCII When issuing binary commands the output message type is dependent on the bit format in the message s binary header refer to Binary on page 14 Table 1 Field Types describes the field types used in the description of messages Table 1 Field Types Binary Size Description bytes Char 1 The char type is an 8 bit integer in the range 128 to 127 This integer value may be the ASCII code corresponding to the specified character In ASCII or Abbreviated ASCII this comes out as an actual character UChar 1 The uchar type is an 8 bit unsigned integer Values are in the range from 0 to 255 In ASCII or Abbreviated ASCII this comes out as a numb
93. Float 4 H 40 SPAN on OEM6 Firmware Reference Manual Rev 7 125 Chapter 5 Field Field type Data Description Format INS Logs Binary Binary Offset Bytes 10 lonc Longitude standard deviation metres Float 4 H 44 11 hoto Height standard deviation metres Float 4 H 48 12 stnid Base station ID Char 4 4 H 52 13 diff age Differential age in seconds Float 4 H456 14 age Solution age in seconds Float 4 H 60 15 SVs Number of satellite vehicles tracked Uchar 1 H 64 16 solnSVs Number of satellites used in solution Uchar 1 H 65 17 solnL1SVs_ Number of satellites with L1 E1 B1 signals used in solution Uchar 1 H 66 18 solnMultiSVs Number of satellites with multi frequency signals used in Uchar 1 H 67 solution 19 Reserved Uchar 1 H 68 20 ext sol stat Extended solution status see Table 29 Extended Solution Hex 1 H 69 Status on page 118 21 Galileo and Galileo and BeiDou signals used mask see Table 27 Galileo Hex 1 H 70 BeiDou sig and BeiDou Signal Used Mask on page 118 mask 22 GPS and GPS and GLONASS signals used mask see Table 28 GPS and Hex 1 H 71 GLONASS sig GLONASS Signal Used Mask on page 118 mask 23 32 bit CRC ASCII and Binary only Hex 1 H 72 24 J CR ILF Sentence terminator ASCII only a When using a datum other than WGS84 the undulation value also includes the vertical shift due to
94. HGI930 IMU Status is itr prr tror Een 176 ADIS16488 IMU IGM A1 and SPAN IGM A1 IMU Status esee 177 STIM300 IMU IGM S1 SPAN IGM S1 IMU Status 0 40 40000 010 178 Raw IMU Scale Factorts n dr Rer erede er e i EROR Ua 180 Logs used with Variable Lever 40444 e a 202 Commands used with Variable Lever Arm 203 SPAN on OEM6 Firmware Reference Manual Rev 7 Customer Support NovAtel Knowledge Base If a technical issue is encountered browse to the NovAtel Web site at www novatel com support contact Use this page to search for general information about GNSS and other technologies information about NovAtel hardware and software and installation and operation issues Before Contacting Customer Support Before contacting NovAtel Customer Support about a software problem perform the following steps 1 Logthe following data to a file on your computer for 15 minutes RXSTATUSB once RAWEPHEMB onchanged RANGECMPB ontime 1 BESTPOSB ontime 1 RXCONFIGA once VERSIONB once RAWIMUSXB onnew INSPVASB ontime 1 INSCOVSB ontime 1 INSUPDATEB onchanged IMUTOANTOFFSETSB onchanged VEHICLEBODYROTATION once 2 Sendthe file containing the log to NovAtel Customer Support using either the NovAtel FTP site at ftp ftp novatel ca or through the support novatel com e mail addre
95. HIGH 2 High INS status threshold settings Reserved Double 8 H 4 Reserved Double 8 H 12 Reserved Double 8 H 20 56 SPAN on OEM6 Firmware Reference Manual Rev 7 SPAN Commands Chapter 4 4 2 18 INSWHEELUPDATE Enables or Disables Use of a Wheel Sensor Use this command to enable or disable wheel sensor functionality When enabled measurements from an attached wheel sensor are included in the SPAN solution Message ID 647 Abbreviated ASCII Syntax INSWHEELUPDATE trigger Abbreviated ASCII Example INSWHEELUPDATE ENABLE Field ASCII em Binary Binary Binary hoe Type Value Description Format Bytes Offset 1 Header Contains the command name or message H 0 header depending on whether the command is abbreviated ASCII ASCII or binary 2 trigger DISABLE 0 Disables use of wheel sensor functionality Enum 4 H ENABLE 1 Enables use of wheel sensor functionality default SPAN on OEM6 Firmware Reference Manual Rev 7 57 Chapter 4 SPAN Commands 4 2 19 INSZUPT 58 Request Zero Velocity Update Use this command to manually perform a Zero Velocity Update ZUPT NovAtel s SPAN Technology System does ZUPTs automatically It is not necessary to use this command under normal circumstances This command should only be used by advanced users of GNSS INS and only when the system C is truly stationary Applying a ZUPT
96. I only SPAN on OEM6 Firmware Reference Manual Rev 7 151 Chapter 5 INS Logs 5 2 27 INSSPDS Short INS Speed This log is the short header version of the INSSPD log page 151 Message ID 323 Log Type Synch Recommended Input log insspdsa ontime 1 ASCII Example SINSSPDSA 1541 487975 000 1541 487975 000549050 323 101450813 9 787233999 0 038980077 INS SOLUTION GOOD 105ba028 Field Field Type Description Format Binary Binary Bytes Offset Log Header Log header E H 0 Week GNSS Week Ulong 4 Seconds into Week Seconds from week start Double 8 H 4 8 N Trk gnd Actual direction of motion over ground track over Double ground with respect to True North in degrees The track over ground is determined by comparing the current position determined from the GNSS INS solution with the previously determined position Track over ground is best used when the vehicle is moving When the vehicle is stationary position error can make the direction of motion appear to change randomly 5 Horizontal Speed Magnitude of horizontal speed in m s where a positive Double 8 H 20 value indicates forward movement and a negative value indicates reverse movement 6 Vertical Speed Magnitude of vertical speed in m s where a positive Double 8 H 28 value indicates speed upward and a negative value indicates speed downward 7 Status INS status see Table 33 Inertial Solution S
97. INS Logs Chapter 5 5 2 51 TAGGEDMARK4PVA Position Velocity and Attitude at a Tagged Mark4 TAGGEDMARKAPVA contains the same information as MARK4PVA with the addition of a unique identifying number tag This log is available only on SPAN systems with an OEM638 or ProPak6 receiver The user specifies a TAG for the upcoming TAGGEDMARKPVA via the TAGNEXTMARK command That tag shows up at the end of this message which is otherwise identical to the MARK4PVA message Message ID 1328 Log Type Synch Recommended Input log taggedmark4pva onnew Abbreviated ASCII Example TAGGEDMARK4 PVAA COM1 0 73 0 FINESTEERING 1732 248347 693 000500a0 2ab3 12002 1732 248347 692695400 51 11693017508 114 03884746120 1046 3929 0 0009 0 0014 0 0015 0 559580646 1 121028629 255 541153133 INS SOLUTION GOOD 1234 1e97dd88 Field Field Type Description pid 1 Log Header Log Header 2 H 0 2 GNSS Week at Mark4 request Ulong 4 H 3 Seconds into Week GNSS Seconds at Mark4 request Double 8 H 4 4 Latitude Latitude at Mark4 request Double 8 H 12 5 Longitude Longitude at Mark4 request Double 8 H 20 6 Height Height at Mark4 request Double 8 H 28 7 North Velocity North Velocity at Mark4 request Double 8 H 36 8 East Velocity East Velocity at Mark4 request Double 8 H 44 9 Up Velocity Up Velocity at Mark4 request Double 8 H 52 10 Roll Roll at Ma
98. INS SOLUTION GOOD 2fffd557 Field Field Type Description 1 Log Header Log header H 0 2 Week GNSS Week Ulong 4 H 3 Seconds into Week Seconds from week start Double 8 H 4 4 Latitude Latitude WGS84 Double 8 H 12 5 Longitude Longitude WGS84 Double 8 H 20 6 Height Ellipsoidal Height WGS84 m Double 8 H 28 7 Status INS status see Table 33 Inertial Solution Status Enum 4 H 36 page 138 8 32 bit CRC ASCII Binary and Short Binary only Hex 4 H 40 9 CR LF Sentence terminator ASCII only 144 SPAN on OEM6O Firmware Reference Manual Rev 7 INS Logs Chapter 5 5 2 24 INSPOSS Short INS Position This log is the short header version of the NSPOS log page 144 Message ID 321 Log Type Synch Recommended Input log inspossa ontime 1 ASCII Example INSPOSSA 1541 487916 000 1541 487916 000549050 51 1157972777 114 037811065 1039 030700122 INS SOLUTION GOOD 5ca30894 Field Field Type Description Oa 1 Log Header Log header H 0 2 Week GNSS Week Ulong 4 H 3 Seconds into Week Seconds from week start Double 8 H 4 4 Latitude Latitude WGS84 Double 8 H 12 5 Longitude Longitude WGS84 Double 8 H 20 6 Height Ellipsoidal Height WGS84 m Double 8 H 28 7 Status INS status see Table 33 Inertial Solution Status Enum 4 H 36 page 138 8 32 bit CRC ASCII Binary and Short Binary
99. ISA 100C iMAR iMU FSAS or with a SPAN IGM unit the IMU option is used SETWHEELSOURCE IMU If the wheel sensor is connected externally using an EVENT line the MARK option is used For example if the wheel sensor is connected to the EVENTS line with a negative polarity tick SETWHEELSOURCE MARK3 NEGATIVE Message ID 1722 Abbreviated ASCII Syntax SETWHEELSOURCE input polarity Abbreviated ASCII Example SETWHEELSOURCE MARK1 POSITIVE Binary Binary Binary Description Format Bytes Offset 1 Header Contains the command name or H 0 message header depending on whether the command is abbreviated ASCII ASCII or binary 2 input IMU 0 Specify to which wheel sensor input Enum 4 H MARKI 1 the commana should be applied MARK 2 Default is IMU MARK3 3 MARK4 4 3 polarity NEGATIVE 0 Specify the polarity of the pulse to be Enum 8 H 4 POSITIVE 1 received on the Mark input optional This field is not used if the input is set to IMU Default is Positive 4 Reserved Reserved Enum 12 H 12 D Only MARK is available for the SPAN CPT MARKS are available only SPAN systems with an OEM638 or ProPak6 receiver SPAN on OEM6 Firmware Reference Manual Rev 7 101 Chapter 4 SPAN Commands 4 2 50 TAGNEXTMARK Tags the Next Incoming Mark Event Use this command to tag the next inco
100. If CLOCKADJUST is enabled the time status flag is set to FINESTEERING and the receiver time is continuously updated steered to minimize the receiver range bias When the backup system is used the time status is set to FINEBACKUPSTEERING If for some reason the position is lost and the range bias cannot be calculated the time status is degraded to FREEWHEELING Message Time Stamps All NovAtel format messages generated by the OEM6 family of receivers have a GPS reference time stamp in their header GPS reference time is referenced to UTC with zero point defined as midnight on the night of January 5 1980 The time stamp consists of the number of weeks since that zero point and the number of seconds since the last week number change 0 to 604 799 GPS reference time differs from UTC time since leap seconds are occasionally inserted into UTC and GPS reference time is continuous In addition a small error less than 1 microsecond can exist in synchronization between UTC and GPS reference time The TIME log reports both GNSS 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 reference 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 w
101. International 1924 54 TANAN 189 242 91 Tananarive Observatory 1925 Madagascar International 1924 55 TIMBA 689 691 46 This datum has been updated see ID 85 Everest EB 56 TOKYO 128 481 664 This datum has been updated see ID 86 Bessel 1841 57 TRIST 632 438 609 Tristan Astro 1968 Tristan du Cunha International 1924 58 VITI 51 391 36 Viti Levu 1916 Fiji Islands Clarke 1880 59 WAK60 101 52 39 This datum has been updated see ID 672 Hough 1960 60 WGS72 0 0 4 5 World Geodetic System 72 WGS72 61 WGS84 0 0 0 World Geodetic System 84 WGS84 62 ZANDE 265 120 358 Zanderidj Surinam International 1924 120 SPAN on OEM6 Firmware Reference Manual Rev 7 INS Logs Table 30 Datum Transformation Parameters continued Chapter 5 DATUM DESCRIPTION ELLIPSOID 63 USER 0 0 0 User Defined Datum Defaults User 64 CSRS Time variable 7 parameter transformation 65 ADIM 166 15 204 Adindan Ethiopia Mali Senegal amp Sudan Clarke 1880 66 ARSM 160 6 302 ARC 1960 Kenya Tanzania 2 Clarke 1880 67 ENW 102 52 38 Wake Eniwetok Marshall Islands 9 Hough 1960 68 HTN 637 549 203 Hu Tzu Shan Taiwan 9 International 1924 69 INDB 282 726 254 Indian Bangladesh d Everest EA 70 INDI 295 736 257 Indian India Nepal d Everest EA 71 IRL 506 122 611 Ireland 1965 4
102. K20FFSET 0 324 0 106 1 325 00 0 Field ASCII Binary Binary Binary Binary Field Format Bytes Offset Description Type Value Value 1 Header Contains the command name or H 0 message header depending on whether the command is abbreviated ASCII ASCII or binary 2 xoffset 100 Offset along the IMU enclosure frame Double 8 H X axis m for Mark2 3 yoffset 100 Offset along the IMU enclosure frame Double 8 H 8 Y axis m for Mark2 4 zoffset 100 Offset along the IMU enclosure frame Double 8 H 16 Z axis m for Mark2 5 180 Roll offset for Mark2 degrees Double 8 24 6 poffset 180 Pitch offset for Mark2 degrees Double 8 H 32 7 yoffset 180 Azimuth offset for Mark2 degrees Double 8 H 40 a Enter the roll pitch and azimuth offsets in the SPAN computation frame SPAN on OEM6 Firmware Reference Manual Rev 7 93 Chapter 4 SPAN Commands 4 2 43 SETMARKSOFFSET Set Mark3 Offset Use this command to set the offset to the Mark3 trigger event This command is only available for SPAN systems with an OEM638 or ProPak6 receiver Message ID 1116 Abbreviated ASCII Syntax SETMARK3OFFSET xoffset yoffset zoffset aoffset Boffset yoffset Abbreviated ASCII Example SETMARK3OFFSET 0 324 0 106 1 325 00 0 Field ASCII Binary Binary Binary Binary Field Format Bytes Offset Description Type Value Value 1 H
103. LE Single point position 17 PSRDIFF Pseudorange differential solution 18 WAAS Solution calculated using corrections from an SBAS 19 PROPOGATED Propagated by a Kalman filter without new observations 20 OMNISTAR OmniSTAR VBS position L1 sub meter 21 31 Reserved 32 L1 FLOAT Floating L1 ambiguity solution 33 IONOFREE FLOAT Floating ionospheric free ambiguity solution 34 NARROW FLOAT Floating narrow lane ambiguity solution 35 47 Reserved 116 SPAN on OEM6 Firmware Reference Manual Rev 7 INS Logs Chapter 5 Table 26 Position or Velocity Type continued Position Position Type Description Type binary ASCII 48 L1 INT Integer L1 ambiguity solution 49 WIDE INT Integer wide lane ambiguity solution 50 NARROW INT Integer narrow lane ambiguity solution 51 RTK DIRECT INS RTK status where the RTK filter is directly initialized from the INS filter 52 INS SBAS INS calculated position corrected for the antenna B 53 INS_PSRSP INS pseudorange single point solution no DGPS corrections 54 INS PSRDIFF INS pseudorange differential solution b 55 INS RTKFLOAT INS RTK floating point ambiguities solution 56 INS RTKFIXED INS RTK fixed ambiguities solution P 57 INS OMNISTAR INS OmniSTAR VBS position L1 sub meter 58 INS OMNISTAR HP INS OmniSTAR high precision solution 59 INS XP INS OmniSTAR extra precision solution 60 63 Reserved 64 OMNISTAR HP Om
104. LUTION GOOD 1234 1e97dd88 Field Field Type Description 1 Log Header Log Header H 0 2 Week GNSS Week at Mark2 request Ulong 4 H 3 Seconds into Week GNSS Seconds at Mark2 request Double 8 H 4 4 Latitude Latitude at Mark2 request Double 8 H 12 5 Longitude Longitude at Mark2 request Double 8 H 20 6 Height Height at Mark2 request Double 8 H 28 7 North Velocity North Velocity at Mark2 request Double 8 H 36 8 East Velocity East Velocity at Mark2 request Double 8 H 44 9 Up Velocity Up Velocity at Mark2 request Double 8 H 52 10 Roll Roll at Mark2 request Double 8 H 60 11 Pitch Pitch at Mark2 request Double 8 H 68 12 Azimuth Azimuth at Mark2 request Double 8 H 76 13 Status INS Status at Mark2 request Enum 4 H 84 14 Tag Tag ID from TAGNEXTMARK command if any Ulong 4 H 88 default 0 15 32 bit CRC ASCII Binary and Short Binary only Hex 4 H 92 16 CR LF Sentence Terminator ASCII only SPAN on OEM6 Firmware Reference Manual Rev 7 191 Chapter 5 INS Logs 5 2 50 TAGGEDMARKSPVA Position Velocity and Attitude at a Tagged Mark3 TAGGEDMARKS3PVA contains the same information as MARK3PVA with the addition of a unique identifying number tag This log is available only on SPAN systems with an OEM638 or ProPak6 receiver The user specifies a TAG for the upcoming TAGGEDMARKPVA via the TAGNEXTMARK command That tag shows up at the end o
105. LX INSSPD INSSPDS INSPVA INSPVAS and INSPVAX logs by the amount specified in metres with respect to the IMU enclosure frame axis Message ID 676 Abbreviated ASCII Syntax SETINSOFFSET xoffset yoffset zoffset Abbreviated ASCII Example SETINSOFFSET 0 15 0 15 0 25 ASCII Binary Value Value Binary Binary Binary Format Bytes Offset Description 1 Header l Contains the command name or H 0 message header depending on whether the command is abbreviated ASCII ASCII or binary 2 X offset 100 Offset along the IMU enclosure frame Double 8 H X axis m 3 Y offset 100 Offset along the IMU enclosure frame Double 8 H 8 Y axis m 4 Z offset 100 Offset along the IMU enclosure frame Double 8 H 16 Z axis m 84 SPAN on OEM6 Firmware Reference Manual Rev 7 SPAN Commands Chapter 4 4 2 88 SETINSOFFSETS Set Any INS Offset Use the SETINSOFFSETS command to specify a distance or rotation offset from the IMU to another device or reference point within the SPAN system All of the translation and rotation offsets entered with this command are entered in reference to the IMU enclosure frame Message ID 1469 Abbreviated ASCII Syntax SETINSOFFSETS INSOffset Valuel Value2 Value3 Value4 Value5 Value6 Abbreviated ASCII Example SETINSOFFSETS primary 1 1 1 0 03 0 03 0 03 ASCII Binary Binary Binary Binary
106. Log Type Synch Recommended Input log insattxa ontime 1 ASCII example INSATTXA COM1 0 81 0 FINESTEERING 1690 494542 000 00000040 5d25 43441 INS_ALIGNMENT_COMPLETE INS_PSRSP 1 137798832 0 163068414 135 754208544 0 017797431 0 017861038 3 168394804 4 0 9445004 Binary Bytes Binary Field Offset Field Type Description 1 INSATTX Header Log header H 0 2 INS Status Solution status Enum 4 H See Table 33 Inertial Solution Status on page 138 3 Type Position type Enum 4 H 4 See Table 34 Position or Velocity Type on page 141 Roll Roll in Local Level degrees Double 8 H 8 Pitch Pitch in Local Level degrees Double H 16 Azimuth Azimuth in Local Level degrees Double 8 H 24 This is the inertial azimuth calculated from the IMU gyros and the SPAN filters Roll o Roll standard deviation degrees Float 4 H 32 Pitch o Pitch standard deviation degrees Float 4 H 36 Azimuth o Azimuth standard deviation degrees Float 4 H 40 10 Ext sol stat Extended solution status Hex 4 H 44 See Table 35 Extended Solution Status on page 141 11 Time Since Elapsed time since the last ZUPT or position update Ushort 2 H 48 Update seconds 11 xxxx 32 bit CRC ASCII and Binary only Hex 4 H 50 12 CR LF Sentence terminator ASCII only 140 SPAN on OEM6 Firmware Reference Manual Rev 7 INS Logs Chapter 5 Tabl
107. Modified Airy 72 LUZA 133 77 51 Luzon Philippines excluding Mindanoa Is de Clarke 1866 73 LUZB 133 79 72 Mindanoa Island 2 Clarke 1866 74 NAHC 243 192 477 Nahrwan Saudi Arabia 2 Clarke 1880 75 NASP 3 142 183 American Caribbean Clarke 1866 76 OGBM 375 111 431 Great Britain 1936 Ordinance Survey d Airy 1830 77 OHAA 89 279 183 Hawaiian Hawaii 9 Clarke 1866 78 OHAB 45 290 172 Hawaiian Kauai 4 Clarke 1866 79 OHAG 65 290 190 Hawaiian Maui 4 Clarke 1866 80 OHAD 58 283 182 Hawaiian Oahu Clarke 1866 81 OHIA 229 222 348 Hawaiian Hawaii 4 International 1924 82 OHIB 185 233 337 Hawaiian Kauai 4 International 1924 83 OHIC 205 233 355 Hawaiian Maui 4 International 1924 84 OHID 198 226 347 Hawaiian Oahu 4 International 1924 85 TIL 679 669 48 Timbalai Brunei and East Malaysia 1948 Everest EB 86 TOYM 148 507 685 Tokyo Japan Korea and Okinawa 2 Bessel 1841 a The default user datum is WGS84 See also the USERDATUM and USEREXPDATUM commands The following logs report the datum used according to the OEM card Datum ID column BESTPOS BESTUTM MATCHEDPOS and PSRPOS Descriptions of these commands and logs are available in the OEM6 Family Firmware Reference Manual OM 20000129 b The DX DY and DZ offsets are from your local datum to WGS84 c The updated datum have the new x y and z translation values updated to the latest numbers
108. N ELLIPSOID 32 LUZON 133 77 51 Do not use Use ID 72 instead Clarke 1866 33 MINDA 133 70 72 This datum has been updated see ID 73 Clarke 1866 34 MERCH 31 146 47 Merchich Morocco Clarke 1880 35 NAHR 231 196 482 This datum has been updated see ID 742 Clarke 1880 36 NAD83 0 0 0 N American 1983 Includes Areas 37 42 GRS 80 37 CANADA 10 158 187 N American Canada 1927 Clarke 1866 38 ALASKA 5 135 172 N American Alaska 1927 Clarke 1866 39 NAD27 8 160 176 N American Conus 1927 Clarke 1866 40 CARIBB 7 152 178 This datum has been updated see ID 75 Clarke 1866 41 MEXICO 12 130 190 American Mexico Clarke 1866 42 CAMER 0 125 194 N American Central America Clarke 1866 43 MINNA 92 93 122 Nigeria Minna Clarke 1880 44 OMAN 346 1 224 Oman Clarke 1880 45 PUERTO 11 72 101 Puerto Rica and Virgin Islands Clarke 1866 46 QORNO 164 138 189 Qornog South Greenland International 1924 47 ROME 255 65 9 Rome 1940 Sardinia Island International 1924 48 CHUA 134 229 29 South American Chua Astro Paraguay International 1924 49 SAM56 288 175 376 South American Provisional 1956 International 1924 50 SAM69 57 1 41 South American 1969 S American 1969 51 CAMPO 148 136 90 S American Campo Inchauspe Argentina International 1924 52 SACOR 206 172 6 South American Corrego Alegre Brazil International 1924 53 YACAR 155 171 37 South American Yacare Uruguay
109. NG 1520 515353 000 00000000 0000 137 1000000 1 1786750b Field type Description pha 1 MARK2COUNT header Log header H 0 2 Period Delta time Ulong 4 H 3 Count Tick count Ushort 2 H 4 4 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 6 5 CR LF Sentence terminator ASCII only 160 SPAN on OEM6 Firmware Reference Manual Rev 7 INS Logs Chapter 5 5 2 35 MARK2PVA Position Velocity and Attitude at Mark2 This log outputs position velocity and attitude information with respect to the SPAN frame when an event was received on the Mark2 input If the SETMARK20FFSET command has been entered the MARK2PVA log will contain the solution translated and then rotated by the values provided in the command See the SETMARK20FFSET command valid at the time on page 93 The SPAN CPT does not have a Mark2 input so this log is not available for the SPAN CPT Message ID 1068 Log Type Synch Recommended Input log mark2pva onnew Abbreviated ASCII Example MARK2PVAA COM1 0 74 5 FINESTEERING 1732 247232 271 00040020 2425 12002 1732 247232 271459820 51 11693179023 114 03885206704 1047 4529 0 0004 0 0011 0 0007 0 837101074 1 134127754 278 346498557 INS SOLUTION GOOD 08209ec0 A 3 act Binary Field Field Type Description Offset 1 Log Header Log header H 0 2 Week GNSS Week at Mark2 request Ulong 4 H 3
110. NS ALIGNMENT COMPLETE 855d6f76 Field Field Type Description Format Bye on 1 Log Header Log header H 0 2 Week GNSS Week Ulong 4 H 3 Seconds Seconds from week start Double 8 H 4 4 Latitude Latitude WGS84 Double 8 H 12 5 Longitude Longitude WGS84 Double 8 H 20 6 Height Ellipsoidal Height WGS84 m Double 8 H 28 7 North Velocity Velocity in a northerly direction a ve value implies a southerly Double 8 H 36 direction m s 8 East Velocity Velocity in an easterly direction ve value implies a westerly Double 8 H 44 direction m s 9 Up Velocity Velocity in an up direction m s Double 8 H 52 10 Roll Right handed rotation from local level around y axis in degrees Double 8 H 60 11 Pitch Right handed rotation from local level around x axis in degrees Double 8 H 68 12 Azimuth Left handed rotation around z axis in degrees clockwise from Double 8 H 76 North 13 Status INS Status see Table 33 Inertial Solution Status on page 138 Enum 4 H 84 14 32 bit CRC Hex 4 H 88 15 Sentence Terminator ASCII only 134 SPAN on OEM6 Firmware Reference Manual Rev 7 INS Logs Chapter 5 5 2 14 IMUTOANTOFFSETS IMU to Antenna s Lever Arm This log contains the distance between the IMU and the GNSS antenna s in the IMU enclosure frame and its associated uncertainties This log contains the same information as th
111. O 15 0x00008000 Gyroscope Z NOGO 0 Normal 1 NOGO N4 16 0x00010000 IMU temperature reading as follows 17 0x00020000 Signed 2 byte value SHORT 18 0 00040000 1 LSB 3 90625 3 Celsius 19 0x00080000 Temperature Range 128 Celsius N5 20 0x00100000 21 0x00200000 22 0x00400000 23 0x00800000 N6 24 0x01000000 25 0x02000000 26 0x04000000 27 0x08000000 N7 28 0x10000000 29 0x20000000 30 0x40000000 31 0x80000000 SPAN on OEM6 Firmware Reference Manual Rev 7 173 Chapter 5 INS Logs Table 43 IMU CPT and SPAN CPT IMU Status Nibble Bit Description Range Value NO 0 0x00000001 Gyro X Status 1 Valid 0 Invalid 1 0x00000002 Gyro Y Status 1 Valid 0 Invalid 2 0x00000004 Gyro Z Status 1 Valid 0 Invalid 3 0x00000008 Unused Set to 0 N1 4 0x00000010 Accelerometer X Status 1 Valid 0 Invalid 5 0x00000020 Accelerometer Y Status 1 Valid 0 Invalid 6 0x00000040 Accelerometer Z Status 1 Valid 0 Invalid 7 0x00000080 Unused Set to 0 N2 8 0x00000100 Unused 9 0x00000200 10 0x00000400 11 0x00000800 N3 12 0x00001000 13 0x00002000 14 0x00004000 15 0x00008000 N4 16 0x00010000 17 0x00020000 18 0x00040000 19 0x00080000 N5 20 0x00100000 21 0x00200000 22 0x00400000 23 0x00800000 N6 24 0x01000000 25 0x02000000 26 0x04000000 27 0x08000000 N7 28 0x10000000 29 0x20000000 30 0x40000000 31 0x80000000
112. OCKED OUT PRN LOCKOUT LIST IS FULL 29 PRN LOCKOUT LIST IS FULL PRN ALREADY LOCKED OUT 30 THE PRN IS ALREADY LOCKED OUT MESSAGE TIMED OUT 31 MESSAGE TIMED OUT UNKNOWN COM PORT REQUESTED 33 UNKNOWN COM OR USB PORT REQUESTED HEX STRING NOT FORMATTED 34 HEX STRING NOT FORMATTED CORRECTLY CORRECTLY INVALID BAUD RATE 35 THE BAUD RATE IS INVALID MESSAGE IS INVALID FOR THIS 36 MESSAGE IS INVALID FOR THIS MODEL OF RECEIVER MODEL COMMAND ONLY VALID IF IN NVM 40 COMMAND IS ONLY VALID IF NVM IS IN FAIL MODE FAIL MODE INVALID OFFSET 41 THE OFFSET IS INVALID MAXIMUM NUMBER OF USER 78 MAXIMUM NUMBER OF USER MESSAGES HAS BEEN MESSAGES REACHED REACHED GPS PRECISE TIME IS ALREADY 84 GPS PRECISE TIME IS ALREADY KNOWN KNOWN ZUPT DISABLED BY USER 149 AN INSZUPT COMMAND WAS SENT AFTER INSZUPTCONTROL COMMAND WAS USED TO DISABLE THE USE OF ZUPTS IMU SPECS LOCKED FOR THIS IMU 150 SPAN ALLOWS THE DEFAULT SPECIFICATIONS FOR A SELECT FEW IMUS TO BE MODIFIED TO SUPPORT DIFFERENT VARIANTS HOWEVER MOST IMU SPECIFICATIONS ARE NOT ALLOWED TO CHANGE 28 SPAN on OEM6 Firmware Reference Manual Rev 7 Responses ASCII Message Chapter 3 Binary Message Meaning ID COMMAND INVALID FOR THIS IMU 154 THE ENTERED COMMAND CANNOT BE USED WITH THE CONFIGURED IMU FOR EXAMPLE THE LEVERARMCALIBRATE COMMAND IS NOT VALID FOR LOWER QUALITY IMUS IMU TYPE IS NOT SUPPORTED WITH CURRENT MODEL 157 A FIRMWARE MODEL UPGRADE IS
113. S Enum 4 H ENABLE 1 1998 The default value is DISABLE SPAN on OEM6 Firmware Reference Manual Rev 7 37 Chapter 4 SPAN Commands 424 CONNECTIMU Connects an IMU to a Port Use this command to specify the type of IMU connected to the receiver and the receiver port used by the IMU v Do not use this command for SPAN CPT or SPAN IGM receivers These receivers have the correct IMU type and IMU port configured by default Using this command to change these settings will cause the receiver to lose SPAN functionality If the IMU port or IMU type are inadvertently changed on a SPAN CPT or SPAN IGM use the FRESET command to change the values back to the default values Message ID 1428 Abbreviated ASCII Syntax CONNECTIMU IMUPort IMUType Abbreviated ASCII Example CONNECTIMU COM2 IMU LN200 Field ASCII m Binary Binary Binary Field Type Value Description Format Bytes Offset 1 Header Contains the command name or H 0 message header depending on whether the command is abbreviated ASCII ASCII or binary 2 IMUPor COM1 1 IMU Port is COM port 1 Enum 4 H COM2 2 IMU Port is COM port 2 COM3 3 IMU Port is COM port 3 COM6 32 IMU Port is COM port 6 3 IMUType See Table 14 IMU IMU Type Enum 4 H 4 Type on page 39 a The IMU ISA 100 IMU ISA 100C IMU FSAS IMU CPT and IMU KVH1750 use RS 422 protocol and must be connected to a receiver
114. S Broadcast 3 Multi frequency Computed 4 PSRDiff Correction 5 NovAtel Blended lono value 4 7 OxFO Reserved a Unknown can indicate that the lono Correction type is None or that the default Klobuchar parameters are being used SPAN on OEM6 Firmware Reference Manual Rev 7 INS Logs Chapter 5 Table 30 Datum Transformation Parameters piov NAME 2 DATUM DESCRIPTION ELLIPSOID 1 ADIND 162 12 206 This datum has been updated see ID 65 Clarke 1880 2 ARC50 143 90 294 ARC 1950 SW amp SE Africa Clarke 1880 3 ARC60 160 8 300 This datum has been updated see ID 66 Clarke 1880 4 AGD66 133 48 148 Australian Geodetic Datum 1966 Australian National 5 AGD84 134 48 149 Australian Geodetic Datum 1984 Australian National 6 BUKIT 384 664 48 Bukit Rimpah Indonesia Bessel 1841 7 ASTRO 104 129 239 Camp Area Astro Antarctica International 1924 8 CHATM 175 38 113 Chatham 1971 New Zealand International 1924 9 CARTH 263 6 431 Carthage Tunisia Clarke 1880 10 136 108 292 CAPE South Africa Clarke 1880 11 DJAKA 377 681 50 Djakarta Indonesia Bessel 1841 12 EGYPT 130 110 13 Old Egyptian Helmert 1906 13 ED50 87 98 121 European 1950 International 1924 14 ED79 86 98 119 European 1979 International 1924 15 GUNSG 403 684 41 G Segara Kalimantan
115. SPAN operation through alignment will appear the same as with a usual coarse alignment Roll and pitch is determined using averaged gyro and accelerometer measurements The input azimuth is 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 30 s nominally Input azimuth values must be accurate for good system performance e Sending SETINITAZIMUTH resets the SPAN filter The re alignment may take up to 30 seconds after which some time and vehicle dynamics are still required for the SPAN filter to converge Bridging performance is poor before filter convergence azimuth angle is with respect to the SPAN frame If the IMU enclosure is mounted with the Z axis pointing upward 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 Enter the azimuth with respect to the transformed axis See SETIMUORIENTATION on page 73 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 and if needed must be entered after the system reports INS ALIGNING D 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 73 unless you have y
116. SYNCRELINSPVA logs BODY the body frame of the IMU with respect to the rover BODY M is the body frame of the IMU with respect to the master Arelative ECEF or local level vector can also be selected The default is the BODY R Enum 4 3 DiffCriteria FALSE The delta solution is computed as Remote minus Master default TRUE The delta solution is computed as Master minus Remote Bool 1 H 4 SPAN on OEM6 Firmware Reference Manual Rev 7 97 Chapter 4 SPAN Commands 4 2 47 SETUPSENSOR Add a new sensor object Use this command to add a new sensor object to the system A sensor object consists of an ID an Event Out line and an Event In line This is an intended as a simplified way to set up triggering to and from a sensor rather than configuring all connections independently It also allows for event pulses to be sent to a sensor at specific GPS times see the TIMEDEVENTPULSE command on page 103 Message ID 1333 Abbreviated ASCII Syntax SETUPSENSOR SensorID EventOut OPP OAP EventIn EIC IPP ITB MITG Abbreviated ASCII Example SETUPSENSOR SENSOR3 MARK1 POSITIVE 2 MARK4 EVENT POSITIVE 0 2 E NE Bray 1 Header Contains the command name or H 0 message header depending on whether the command is abbreviated ASCII ASCII or binary 2 Se
117. Seconds Seconds from week at Mark2 Double 8 H 4 4 Latitude Latitude WGS84 at Mark2 Double 8 H 12 5 Longitude Longitude WGS84 at Mark2 Double 8 H 20 6 Height Height WGS84 at Mark2 Double 8 H 28 7 North Velocity Velocity in a northerly direction ve value implies Double 8 H 36 southerly direction at Mark2 8 East Velocity Velocity in an easterly direction a ve value implies a Double 8 H 44 westerly direction at Mark2 Up Velocity Velocity in an up direction at Mark2 Double 8 H 52 10 Roll Right handed rotation from local level around y axis in Double 8 H 60 degrees at Mark2 11 Pitch Right handed rotation from local level around x axis in Double 8 H 68 degrees at Mark2 12 Azimuth Left handed rotation around z axis in degrees clockwise Double 8 H 76 from north at Mark2 13 Status INS Status see Table 33 Inertial Solution Status on Enum 4 H 84 page 138 at Mark2 14 32 bit CRC Hex 4 H 88 15 CR LF Sentence Terminator ASCII only SPAN on OEM6 Firmware Reference Manual Rev 7 161 Chapter 5 INS Logs 5 2 36 MARKSCOUNT Count for Marks Input This log is only available for SPAN systems with an OEM638 or ProPak6 receiver When the input mode is set to COUNT using the EVENTINCONTROL command see page 43 the logs become available D 1 Use the ONNEW trigger with this the MARKXTIME or the logs 2 Only the MARKxCOUNT
118. TE 855d6f76 3 n Binary Binary Field Field Type Description Format Bytes Offset 1 Log Header Log header H 0 2 Week GNSS Week Ulong 4 H 3 Seconds Seconds from week start Double 8 H 4 4 Latitude Latitude WGS84 degrees Double 8 H 12 5 Longitude Longitude WGS84 degrees Double 8 H 20 6 Height Ellipsoidal Height WGS84 m Double 8 H 28 7 North Velocity Velocity in a northerly direction a ve value implies a Double 8 H 36 southerly direction m s 8 East Velocity Velocity in an easterly direction a ve value implies a Double 8 H 44 westerly direction m s Up Velocity Velocity in an up direction m s Double H 52 10 Roll Right handed rotation from local level around y axis in Double H 60 degrees 11 Pitch Right handed rotation from local level around x axis in Double 8 H 68 degrees 12 Azimuth Left handed rotation around z axis in degrees clockwise Double 8 H 76 from north This is the inertial azimuth calculated from the IMU gyros and the SPAN filters 13 Status INS Status see Table 33 Inertial Solution Status on Enum 4 H 84 page 138 14 xxxx 32 bit CRC Hex 4 H 88 15 Sentence Terminator ASCII only 148 SPAN on OEM6 Firmware Reference Manual Rev 7 INS Logs Chapter 5 5 2 25 INSPVAX Inertial PVA Extended This log includes the information from the INSPVA log as well as information about the position standa
119. TOMATION enable com2 230400 10 on ASCII TT Binary Binary Binary Field Field Type Value Description Format Bytes Offset 1 Header Contains the command name or H 0 message header depending on whether the command is abbreviated ASCII ASCII or binary 2 ENABLE 0 Enables or disables the plug and play Enum 4 H DISABLE 1 feature 3 comport 1 1 The COM port on the rover receiver to Enum 4 H 4 hich the master receiver is connected M2 2 9 default COM2 3 4 baudrate 9600 19200 38400 The baud rate used for communication Ulong 4 H 8 57600 115200 between the master and rover 230400 460800 receivers 921600 5 datarate 1 2 4 5 10 or The rate at which corrections are Ulong 4 H 12 20 Hz transferred between the receivers default 210 Hz 6 heading ON Enables or disables sending the Enum 4 H 16 extboption OFF HEADINGEXTB HEADINGEXT2B log back to the master receiver default ON SPAN on OEM6 Firmware Reference Manual Rev 7 67 Chapter 4 SPAN Commands 4 2 25 RELINSCONFIG Configure Relative INS Use this command to configure Relative INS on this receiver Message ID 1797 Abbreviated ASCII Syntax RELINSCONFIG enable rxtype port baud rateinhz Abbreviated ASCII Example RELINSCONFIG ENABLE REMOTE COM2 230400 10 Field ASCII Binary Binary Binary Field Description Format Bytes Offset Type V
120. VA Most recent position velocity and attitude at full rate of 1778 Asynch IMU INSPVAS Most recent position velocity and attitude at full rate of 1305 Asynch IMU short header IMUTOANTOFFSETS Distance between the IMU center of navigation and the 1270 Asynch phase center of the GNSS antenna s INSATT Most recent attitude roll pitch and azimuth 263 Synch measurements INSATTS Most recent attitude roll pitch and azimuth 319 Synch measurements short header INSATTX Most recent attitude roll pitch and azimuth 1457 Synch measurements roll pitch and azimuth with attitude standard deviation INSCOV Position attitude and velocity matrices with respecttothe 264 Synch local level frame INSCOVS Position attitude and velocity matrices with respecttothe 320 Synch local level frame short header INSPOS Most recent position measurements 265 Synch INSPOSS Most recent position measurements short header 321 Synch INSPOSX Most recent position measurements with position 1459 Synch standard deviation INSPVA Most recent position velocity and attitude 507 Synch INSPVAS Most recent position velocity and attitude short header 508 Synch INSPVAX Most recent position velocity and attitude with position 1465 Synch velocity and attitude standard deviations INSSPD Most recent speed measurements in the horizontal and 266 Synch vertical directions INSSPDS Most recent speed measurements in the horizontal and 323 Synch vertical direction
121. VERAPMM xi cente te ttes eve RU Aii 123 5 2 4 BESTEEVERARMDA iei Heer Dr Res Rep Etro MIRA 124 5 2 5 BESTPOS e eiie te n rane ei a ee cene ees 125 5 2 6 CORRIMUDATAs EAR 127 5 2 7 CORRIMUDATAS 3 cedex Pob aree OY pea anid 128 5 2 8 DEEAYEDEHEAVE Heri nd e UR MER ai expeti chats ict einen 129 5 2 9 GIMBALEEDPVA ge ger ee ecc eaaa d 130 5 230 FIEAVE S a ote tica tiet Dein eu m miedo mede 131 5 2 11 IMURATEGORRIMUS 5 dnte deti i egi ee UR et E ci eue 132 5 242 IMU RATE PV Ait cect ftii tent Seno eee int 133 5 219 IMURATEPVAS ines HEBR Ib HER te inier taper 134 5 2 144 MU TOANTOFESETS ditto trm ren 135 522 45 INSATT diete ere re cali a adn a dca bc di rr ee RES 137 SPAN on OEM6 Firmware Reference Manual Rev 7 Table of Contents 5 2 16 INSATIES eror nra xa Eo Bra Rr 139 BQ AL INSATIEX iiia e e b ata en eer ed rev rl a m Ed pp ec b dcc E Des Erw du 140 5 249 4 NSGOMS sehe e A e vl duet ond 142 5 2 19 1 P c b EL v rV CB Loa PU UA 143 ERAIN OAE ET E IT HET TTT 144 52 21 INSPOSS
122. Z Northrop Grumman Litef ISA 100C 400 Hz SPAN on OEM6 Firmware Reference Manual Rev 7 Chapter 4 39 Chapter 4 SPAN Commands 4 2 5 DUALANTENNAPORTCONFIG Select Dual Antenna Source Port When the SPAN system is configured for dual antenna it automatically attempts to connect to an ALIGN capable rover to establish dual antenna corrections It also attempts to re establish these corrections should they stop For ProPak6 receivers with the Dual Antenna feature the secondary internal receiver card is used as the ALIGN rover For other receivers the default port for connecting to the ALIGN rover is 2 If an IMU is connected to 2 is used instead This command is used to designate a different serial port to be used for dual antenna positioning or to disable this automatic configuration altogether If automatic configuration is disabled dual antenna corrections can still be used but ALIGN corrections must be manually configured Before using this command on a ProPak6 with the Dual Antenna feature disable the internal dual antenna corrections by sending the command DUALANTENNACONFIG DISABLE Message ID 1356 Abbreviated ASCII Syntax DUALANTENNAPORTCONFIG Port Selection Abbreviated ASCII Example DUALANTENNAPORTCONFIG COM3 ASCII Binary Binary Binary Binary Field Field Type Value Value Description Format Bytes Offset 1 Header This
123. ZE Wheel sensor information 646 Asynch Message ID Table 24 SPAN Logs for OEM6 by Message ID ASCII Name Description 42 BESTPOS Best available combined GNSS and INS position Synch 263 INSATT Most recent attitude roll pitch and azimuth measurements Synch 264 INSCOV Position attitude and velocity matrices with respect to the Synch local level frame 265 INSPOS Most recent position measurements Synch 266 INSSPD Most recent speed measurements in the horizontal and Synch vertical directions 267 INSVEL Most recent North East and Up velocity vector values Synch 268 RAWIMU IMU status indicator and the measurements from the Asynch accelerometers and gyros 319 INSATTS Most recent attitude roll pitch and azimuth measurements Synch short header 320 INSCOVS Position attitude and velocity matrices with respect to the Synch local level frame short header 321 INSPOSS Most recent position measurements short header Synch 323 INSSPDS Most recent speed measurements in the horizontal and Synch vertical directions short header 324 INSVELS Most recent North East and Up velocity vector values Synch short header 325 RAWIMUS IMU status indicator and the measurements from the Asynch accelerometers and gyros short header 507 INSPVA Most recent position velocity and attitude Synch 508 INSPVAS Most recent position velocity and attitud
124. alue 1 Header Contains the command name or H 0 message header depending on whether the command is abbreviated ASCIl ASCII or binary Enables or disables the Relative INS Enum 4 H functionality 2 enable DISABLE ENABLE 4 3 rxtype REMOTE Defines the receiver as the master Enum 4 H 4 MASTER 2 remote in a Relative INS configuration 4 See Table 20 COM Communication port used to Enum 4 H 8 Ports on page 68 communicate with the other receiver default COM2 5 baud 9600 19200 38400 The baud rate used for communication Ulong 4 H 12 57600 115200 between the master and rover 230400 460800 receivers 921600 default 230400 6 j rateinhz 1 2 4 5 10 The rate at which corrections are Ulong 4 H 16 20 Hz transferred between the receivers default 10 Hz Table 20 COM Ports Binary ASCII Description 1 COM1 COM port 1 2 COM2 COM port 2 3 COM3 COM port 3 13 USB1 USB port 1 14 USB2 USB port 2 15 USB3 USB port 3 23 ICOM1 IP virtual COM port 1 24 ICOM2 IP virtual COM port 2 25 ICOM3 IP virtual COM port 3 68 SPAN on OEM6 Firmware Reference Manual Rev 7 SPAN Commands Chapter 4 4 2 26 RVBCALIBRATE Vehicle to Body Rotation Control Use the RVBCALIBRATE command to enable or disable the calculation of the vehicle to body angular offset This command should be entered when the IMU is re mounted in
125. are Reference Manual Rev 7 115 Chapter 5 Binary 19 INVALID FIX ASCII Table 25 Solution Status Description INS Logs The fixed position entered using the FIX POSITION command is not valid 20 21 Reserved 22 INVALID_RATE The selected logging rate is not supported for this solution type a PENDING implies not enough satellites are being tracked to verify if the FIX POSITION entered into the receiver is valid The receiver needs to track two or more GNSS satellites to perform this check Under normal conditions PENDING should be seen for a few seconds on power up before the GNSS receiver locks onto the first few satellites If the antenna is obstructed or not plugged in and the FIX POSITION command was entered then PENDING may display indefinitely Table 26 Position or Velocity Type Position Position Type Description Type binary ASCII 0 NONE No solution 1 FIXEDPOS Position has been fixed by the FIX POSITION command or by position averaging 2 FIXEDHEIGHT Position has been fixed by the FIX HEIGHT or FIX AUTO command or by position averaging 3 Reserved 4 FLOATCONV Solution from floating point carrier phase ambiguities 5 WIDELANE Solution from wide lane ambiguities 6 NARROWLANE Solution from narrow lane ambiguities 7 Reserved 8 DOPPLER_VELOCITY Velocity computed using instantaneous Doppler 9 15 Reserved 16 SING
126. ata Extended This log is an extended version of the RAWIMU log intended for use with post processing The extended version includes IMU information that is used by the NovAtel Inertial Explorer post processing software Message ID 1461 Log Type Asynch Recommended Input log rawimuxb onnew ASCII example RAWIMUXA COM1 0 81 5 FINESTEERING 1691 410338 819 004c0020 3fd1 43495 00 5 1691 410338 818721000 00170705 113836 464281 43146813 89 11346 181 01lcd06bf Binary Binary Description Format Bytes Offset 1 Log Header Log header H 0 2 IMU Error Simple IMU error flag Uchar 1 01 IMU error 00 IMU okay If there is an IMU error check the IMU Status field for details This field is output as a Hex value 3 IMU Type IMU Type identifier Uchar 1 H 1 See Table 14 IMU Type on page 39 GNSS Week GNSS Week Ushort 2 H 2 GNSS Week Seconds from week start Double 8 H 4 Seconds SPAN on OEM6 Firmware Reference Manual Rev 7 183 Chapter 5 INS Logs Field Field Type Description Format Binary Binary Bytes Offset 6 IMU Status The status of the IMU This field is given in a fixed length n Hex 4 H 12 array of bytes in binary but in ASCII or Abbreviated ASCII is converted into 2 character hexadecimal pairs For the raw IMU status see one of the following tables e Table 37 iIMU FSAS IMU Status on page 169 e Table 38 Litef
127. ation mode but the azimuth solution uncertainty has exceeded the threshold The default threshold is 2 degrees for most IMUs 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 3 INS SOLUTION GOOD The INS filter is in navigation mode and the INS solution is good 6 INS SOLUTION FREE 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 8 DETERMINING ORIENTATION INS is determining the IMU axis aligned with gravity 9 WAITING INITIALPOS The INS filter has determined the IMU orientation and is awaiting an initial position estimate to begin the alignment process a This value is configured using the INSTHRESHOLDS command See INSTHRESHOLDS on page 56 138 SPAN on OEM6 Firmware Reference Manual Rev 7 INS Logs Chapter 5 5 2 16 INSATTS Short INS Attitude This log is the short header version of the NSATT log page 137 Message ID 319 Log Type Synch Recommended Input log insattsa ontime 1 ASCII Examp
128. avel and the SPAN body frame direction that the IMU computational frame is pointing If the angular offsets are estimated using the RVBCALIBRATE command the VEHICLEBODYROTATION command values are used as the initial values The uncertainty values are optional defaults 0 0 See the relevant SPAN User Manual for information about reference frames within SPAN and vehicle to SPAN frame angular offset calibration routines See RVBCALIBRATE on page 69 for more information The body frame is nominally the frame as marked on the IMU enclosure If the IMU is not mounted with the Z axis approximately up check the new computational axis orientation that SPAN automatically uses called the SPAN computational frame SPAN forces Z to be up in the SPAN computational frame Output attitude in INSPVA INSATT etc is with respect to the SPAN computational frame Refer to the SETIMUORIENTATION command description to see what mapping definition applies depending on which IMU axis most closely aligns to gravity Essentially this means that if the IMU is not mounted with the Z axis approximately up as marked on the enclosure a new IMU frame defines what mapping applies This new computational frame will not match what is marked on the IMU enclosure and will need to be determined by checking Full Mapping Definitions on page 75 With the default mapping and with no angular offset between the vehicle frame and SPAN computational f
129. ce Manual Rev 7 Table of Contents 4 2 22 nennen nennen entrer nnn 63 4 2 23 NMEATALKER 2 orn e eurer m eic Rr aes da v rn uc dera 65 4 2 24 4 000 01 nennen nn 67 4 2 25 RELINSGONEFIG 22 iieri dive ein cea ED cr eek tind inet 68 42 26 RVBGALIBBATE 3 1 epi inue D necne do flakes 69 4 2 27 SETALIGNMENCVEL iine e FEE E pee e ee t sav depu Foi e eec 70 4 2 28 SETGIMBALEORIENTATION 2 5 3 3 teer tape Pctri eR Foe cni Hc mp EC ua Pedes 71 4 2 29 SETHEAVEWINDOW i Rt rae eredi Ree ERR ae eie a eee ea 72 4 2 30 SETIMUORIENTATION zs rci teet e tete ee He Cr EU ER 73 4 2 31 8 76 4 2 32 SETIMUSBEGS etiem ota inta dpt es 77 4 2 33 SETIM TOANTOPFFSET iere enc th eel ce emen 78 4 2 34 2 ii e cedere vod 80 4 2 35 81 4 2 36 SETINITAZIMU TH cete i e it d ave eu 83 42 37 SETINSOFESET ede ee se s 84 4 2 38 SETINSOFEFSETS
130. ch as but excluding the and in the message output It is therefore an 8 bit and not a 32 bit checksum Not all logs may be available Every effort is made to ensure examples are correct however a checksum may be created for promptness in publication In this case it will appear as 9999 SPAN on OEM6 Firmware Reference Manual Rev 7 25 Chapter 2 26 Messages Example BESTPOSA and BESTPOSB from an OEM6 family receiver ASCII BESTPOSA COM1 0 78 0 FINESTEERING 1427 325298 000 00000000 6145 2748 SOL_COMPUTED SINGLE 51 11678928753 114 03886216575 1064 3470 16 2708 WGS84 2 3434 1 3043 4 7300 0 000 0 000 7 7 0 0 0 06 0 03 Ic9a92bb BINARY OxAA 0x44 0x12 Ox1C 0 2 0x00 0x02 0x20 0x48 0x00 0x00 0x00 0x90 OxB4 0x93 0x05 OxBO OxAB OxB9 0x12 0x00 0x00 0x00 0x00 0x45 0x61 OxBC Ox0A 0x00 0x00 0x00 0x00 0x10 0x00 0x00 0x00 Ox1B 0x04 0x50 OxB3 OxF2 Ox8E 0x49 0x40 0x16 OxFA Ox6B OxBE Ox7C 0x82 0 5 OxCO 0x00 0x60 0x76 Ox9F 0x44 Ox9F 0x90 0x40 OxA6 Ox2A 0x82 OxC1 Ox3D 0x00 0x00 0x00 0x12 Ox5A OxCB Ox3F OxCD Ox9E 0x98 Ox3F OxDB 0x66 0x40 0x40 0x00 0x30 0x30 0x30 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 OxOB OxOB 0x00 0x00 0x00 0x06 0x00 0x03 0x42 Oxdc 0 4 0x48 Below is a demonstration of how to generate the CRC from both ASCII and BINARY messages using the function described above
131. clockwise Double 8 H 76 from north at Mark4 13 Status INS Status see Table 33 Inertial Solution Status on Enum 4 H 84 page 138 at Mark4 14 32 bit CRC Hex 4 H 88 15 CR LF Sentence Terminator ASCII only SPAN on OEM6 Firmware Reference Manual Rev 7 165 Chapter 5 INS Logs 5 2 40 PASHR NMEA Inertial Attitude Data The PASHR log uses a UTC time calculated with default parameters to output NMEA messages without waiting for a valid almanac The UTC time status is set to WARNING since it may not be 10096 accurate When a valid almanac is available the receiver uses the real parameters and sets the UTC time to VALID For more information about NMEA refer to the OEM6 Family Firmware Reference Manual OM 20000129 The PASHR log contains only INS derived attitude information and is only filled when an inertial solution is available Message ID 1177 Log Type Synch Recommended Input log pashr ontime 1 Example 5 5 0 68 5 5 195124 00 305 30 0 05 0 13 0 180 0 185 4 986 1 2 Field Structure Description Symbol Example 1 PASHR Log Header PASHR Time UTC Time hhmmss ss 195124 00 Heading Heading value in decimal degrees HHH HH 305 30 The heading is the inertial azimuth calculated from the IMU gyros and the SPAN filters True Heading T displayed if heading is relative to true north T T Roll Roll in d
132. cription Format Bytes Offset 1 Log Header Log header x H 0 2 Output Frame The current output frame IMU body ECEF or local level Enum 4 H frame The output frame is specified using the SETRELINSOUTPUTFRAME command See Section 4 2 46 SETRELINSOUTPUTFRAME on page 97 3 DeltaPosX Difference in the position between the two receivers m Double 8 H 4 The position difference is relative to the output frame BODY along the X axis ECEF along the X axis Local level Northing 4 DeltaPosY Difference in the position between the two receivers m Double 8 H 12 The position difference is relative to the output frame BODY along the Y axis ECEF along the Y axis Local level Easting 5 DeltaPosZ Difference in the position between the two receivers m Double 8 H 20 The position difference is relative to the output frame BODY along the Z axis ECEF along the Z axis Local level Up 6 DeltaVelX Difference in velocity between the two receivers m s Double 8 H 28 The position difference is relative to the output frame BODY along the X axis ECEF along the X axis Local level Northing SPAN on OEM6 Firmware Reference Manual Rev 7 185 Chapter 5 Field Field Type Description INS Logs 7 DeltaVelY Difference in velocity between two receivers m s Double 8 H 36 The position difference is relative
133. d N1 4 0x00000010 Sensor Over Range 0 Passed 1 One of more sensors over ranged 5 0x00000020 Initial Self Test Failure 0 Passed 1 Failed 6 0x00000040 Flash Memory Failure 0 Passed 1 Failed 7 0x00000080 Processing Overrun 0 Passed 1 Failed N2 8 0x00000100 Self Test Failure X axis gyro 0 Passed 1 Failed 9 0x00000200 Self Test Failure Y axis gyro 0 Passed 1 Failed 10 0x00000400 Self Test Failure Z axis gyro 0 Passed 1 Failed 11 0x00000800 Self Test Failure X axis accelerometer 0 Passed 1 Failed N3 12 0x00001000 Self Test Failure Y axis accelerometer 0 Passed 1 Failed 13 0x00002000 Self Test Failure Z axis 0 Passed 1 Failed 14 0x00004000 Reserved 15 0x00008000 N4 16 0x00010000 IMU temperature reading as follows 17 0x00020000 Signed 2 byte value SHORT 18 0 250 9x0000 T 1 LSB 0 00565 C 5 20 0x00100000 21 0x00200000 22 0x00400000 23 0x00800000 N6 24 0x01000000 25 0x02000000 26 0x04000000 27 0x08000000 N7 28 0x10000000 29 0x20000000 30 0x40000000 31 0x80000000 SPAN on OEM6 Firmware Reference Manual Rev 7 177 Chapter 5 INS Logs Table 47 00 IMU IGM S1 SPAN IGM S1 IMU Status Nibble Bit Mask Description NO 0 0x00000001 Gyro status 0 OK 1 X channel 1 0x00000002 0 OK 1 Y channel 2 0x0000000
134. e Figure 4 Simple Configuration shows a possible configuration for the mount body frame and SPAN frame Figure 5 Rotation Results shows the desired result of all rotations all three frames have the same axis definitions SPAN on OEM6 Firmware Reference Manual Rev 7 200 Variable Lever Arm Chapter 6 Figure 4 Simple Configuration gf 20 SPAN Computation Frame b or s Figure 5 Rotation Results b SPAN Computation Frame b or s Gimble Computation Frame g SPAN on OEM6 Firmware Reference Manual Rev 7 201 Chapter 6 Variable Lever Arm 6 2 How to Use Variable Lever Arm The variable lever arm functionality is simple to use in a SPAN system It requires the input of gimbal angles from the camera mount or platform that the IMU is mounted on After that is provided the system will automatically compute the variable lever arm and produce several messages for output Ensuring a proper variable lever arm is important for SPAN performance 6 2 1 Basic I O The variable lever arm functionality is based on the input of INPUTGIMBALANGLE commands This command inputs the gimbal angles from whatever platform the IMU is mounted on and is input in the mount body frame mb Entering this command will automatically cause the system to rotate the static lever arm into the latest gimballed frame The update rate of the variable lever arm depends on the rate of the gimbal commands which can be entered at 1 to 50 Hz If an INPUTGIM
135. e a logging rate of 10 Hz reduces the velocity latency to 0 005 seconds For integration purposes the velocity latency should be applied to the record time tag A valid solution with a latency of 0 0 indicates the instantaneous Doppler measurement was used to calculate velocity Message ID 1430 Log Type Synch Recommended Input log bestgnssvela ontime 1 ASCII Example BESTGNSSVELA COM1 0 91 5 FINESTEERING 1692 332217 000 00000000 0050 43521 SOL COMPUTED DOPPLER VELOCITY 0 150 0 000 0 0168 323 193320 0 0232 0 0 159c13ad Field Field type Data Description Format Bye on 1 header Log header H 0 Sol Status Solution status see Table 25 Solution Status on page 115 Enum 4 H Vel Type Velocity type see Table 26 Position or Velocity Type on Enum 4 H 4 page 116 4 Latency A measure of the latency in the velocity time tag in seconds It Float 4 H 8 should be subtracted from the time to give improved results Age Differential age Float 4 H 12 Hor Spd Horizontal speed over ground in metres per second Double 8 H 16 Trk Gnd Actual direction of motion over ground track over ground with Double 8 H 24 respect to True North in degrees 8 Vert Spd Vertical speed in metres per second where positive values Double 8 H 32 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
136. e short header Synch 622 TIMEDWHEELDATA Time stamped wheel sensor data Asynch 642 VEHICLEBODYROTATION Angular offset from the vehicle frame to the SPAN frame 646 WHEELSIZE Wheel sensor information Asynch SPAN on OEM6 Firmware Reference Manual Rev 7 111 Chapter 5 INS Logs 2 ASCII Name Description Type 674 BESTLEVERARM Distance between the IMU center of navigation and the Asynch primary GNSS antenna phase center 757 INSUPDATE Most recent INS update information Asynch 812 CORRIMUDATA RAWIMU data corrected for gravity earth s rotation and Synch sensor errors 813 CORRIMUDATAS RAWIMU data corrected for gravity earth s rotation and Synch sensor errors short header 1067 MARK1PVA Outputs the position velocity and attitude when an eventis Synch received on the Mark1 input 1068 MARK2PVA Outputs the position velocity and attitude when an eventis Synch received on the Mark2 input 1093 MARK1COUNT Count for the Mark1 input Asynch 1094 MARK2COUNT Count for the Mark2 input Asynch 1095 MARK3COUNT Count for the Mark3 input Asynch 1096 MARK4COUNT Count for the Mark4 input Asynch 1118 MARK3PVA Outputs the position velocity and attitude when an eventis Synch received on the Mark3 input 1119 MARK4PVA Outputs the position velocity and attitude when an eventis Synch received on the Mark4 input 1177 PASHR NMEA inertial attitude data Synch 1256 BESTLEVERARM2 Dis
137. e 34 Position or Velocity Type Binary ASCII Description 0 NONE No Solution 1 51 Reserved 52 INS_SBAS INS SBAS solution 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 56 INS_RTKFIXED INS RTK fixed ambiguities solution 57 INS_OMNISTAR INS OmniSTAR VBS position L1 sub meter 58 INS_OMNISTAR_HP INS OmniSTAR high precision solution 59 INS OMNISTAR XP INS OmniSTAR extra precision solution 60 72 Reserved 73 INS_PPP_Converging INS NovAtel CORRECT Precise Point Positioning PPP solution converging 74 INS_PPP INS NovAtel CORRECT Precise Point Positioning PPP solution Table 35 Extended Solution Status Bit Mask Description 0 0x00000001 A position update was applied in the last update epoch 1 0x00000002 A phase update was applied in the last update epoch 2 0x00000004 A ZUPT was applied in the last update epoch 3 0x00000008 A wheel sensor update was applied in the last update epoch 4 0x00000010 A heading ALIGN update was applied in the last update epoch 5 0x00000020 Reserved 6 0x00000040 The INS solution has converged error estimates 7 0 00000080 Reserved 0x80000000 SPAN on OEM6 Firmware Reference Manual Rev 7 141 Chapter 5 INS Logs 5 2 18 INSCOV INS Covariance Matrices The position attitude and velocity mat
138. e BESTLEVERARM logs for each lever arm but is intended as a single source for all lever arm information available on the system Message ID 1270 Log Type Asynch Recommended Input log imutoantoffsetsa onchanged ASCII Example IMUTOANTOFFSETSA COM1 0 98 5 FINESTEERING 1581 339209 733 60000041 0000 265 0 1 LEVER ARM PRIMARY 0 326000000 0 126000000 1 285000000 0 032600000 0 012600000 0 128500000 LEVER ARM FROM COMMAND 8 0f90b5 Field Field Type Description 1 Header Log Header H 0 2 IMU Orientation See Table 14 IMU Type on page 39 ULong 4 H 3 Number of Entries Number of stored lever arms ULong 4 H 4 4 Lever Arm Type Type of lever arm See Table 31 Lever Arm Enum 4 H 8 on page 136 5 X Offset IMU Enclosure Frame m Double 8 H 12 6 Y Offset IMU Enclosure Frame m Double 8 H 20 7 ZOffset IMUEnclosureFrame m 8 He8 8 XUncetanty IMU Enclosure Frame m Doube 8 36 9 Y Uncertainty IMU Enclosure Frame m Double 8 H 44 10 Z Uncertainty IMU Enclosure Frame m Double 8 H 52 11 Lever Arm Source Source of the lever arm See Table 32 Lever Arm Enum 4 H 60 Source on page 136 for the different values 12 Next component offset H 8 comp 56 variable XXXX 32 bit CRC ASCII and Binary only Hex 4 H 8 comp 56 variable CR LF Sentence terminator ASCII ony
139. e NovAtel Web site at www novatel com support search items Application 20Note SPAN on OEM6 Firmware Reference Manual Rev 7 89 Chapter 4 SPAN Commands 4 2 39 SETINSROTATION Set the Rotation of the Attitude Output Use this command to rotate the attitude output of the INS solution independently from any kinematic alignment requirements The body frame is nominally the frame as marked on the IMU enclosure If the IMU is not mounted with the Z axis approximately up check the new computational axis orientation that SPAN automatically uses called the SPAN computational frame SPAN forces the Z axis to be up in the SPAN computational frame Output attitude in logs such as INSPVA and INSATT is with respect to the SPAN computational frame Refer to the SETIMUORIENTATION on page 73 to see which mapping definition applies depending on which IMU axis most closely aligns to gravity Essentially this means that if the IMU is not mounted with the Z axis approximately up as marked on the enclosure a new IMU frame defines which mapping applies This new computational frame will not match what is marked on the IMU enclosure and needs to be determined by checking Table 21 Full Mapping Definitions on page 75 With the default mapping and no angular offset between the output frame and SPAN computational frame the output roll is the angle of rotation about the Y axis the output pitch is about the X axis and the output azimuth is about the Z axi
140. e offset to the Mark1 trigger event Message ID 1069 Abbreviated ASCII Syntax SETMARKIOFFSET xoffset yoffset zoffset aoffset poffset yoffset Abbreviated ASCII Example SETMARKIOFFSET 0 324 0 106 1 325 00 0 Field ASCII Binary Binary Binary Binary Field Format Bytes Offset Description Type Value Value 1 Header Contains the command name or H 0 message header depending on whether the command is abbreviated ASCII ASCII or binary 2 x offset 100 Offset along the IMU enclosure frame Double 8 H X axis m for Mark1 3 yoffset 100 Offset along the IMU enclosure frame Double 8 H 8 Y axis m for Mark1 4 zoffset 100 Offset along the IMU enclosure frame Double 8 H 16 Z axis m for Mark1 5 aoffset 180 Roll offset for Mark1 degrees Double 8 H 24 6 Boffset 180 Pitch offset for Mark1 degrees Double 8 H 32 7 yoffset 180 Azimuth offset for Mark1 degrees Double 8 H 40 a Enter the roll pitch and azimuth offsets in the SPAN computation frame 92 SPAN on OEM6 Firmware Reference Manual Rev 7 SPAN Commands Chapter 4 4 2 42 SETMARK2OFFSET Set Mark2 Offset Use this command to set the offset to the Mark2 trigger event This command is not available for the SPAN CPT Message ID 1070 Abbreviated ASCII Syntax SETMARK2OFFSET xoffset yoffset zoffset aoffset Boffset yoffset Abbreviated ASCII Example SETMAR
141. e on page 116 18 ExtStatus Extended solution status Hex H 100 20 32 bit CRC ASCII and Binary only Hex H 104 21 CR LF Sentence terminator ASCII only SPAN on OEM6 Firmware Reference Manual Rev 7 189 Chapter 5 INS Logs 5 2 48 TAGGEDMARK1PVA Position Velocity and Attitude at a Tagged Mark1 TAGGEDMARK1PVA contains the same information as MARK1PVA with the addition of a unique identifying number tag The user specifies a TAG for the upcoming TAGGEDMARKPVA via the TAGNEXTMARK command That tag shows up at the end of this message which is otherwise identical to the MARK1PVA message Message ID 1258 Log Type Synch Recommended Input log taggedmarklpva onnew Abbreviated ASCII Example TAGGEDMARK1 PVAA COM1 0 63 0 FINESTEERING 1732 247787 965 004c0020 aele 12002 1732 2477787 964913500 51 11693231436 114 03884974751 1046 9481 0 0001 0 0007 0 0004 1 090392628 0 766828598 244 413950146 INS SOLUTION GOOD 1234 34fda4f4 Binary Binary Field Field Type Description Format Bytes Offset 1 Log Header Log Header H 0 2 Week GNSS Week at Mark 1 request Ulong 4 H 3 Seconds into Week GNSS Seconds at Mark1 request Double 8 H 4 4 Latitude Latitude at Mark 1 request Double 8 H 12 5 Longitude Longitude at Mark 1 request Double 8 H 20 6 Height Height at Mark 1 request Double 8 H 28 7 North Velocity North Velocity at Mark 1 request Do
142. e or the message header header depending on whether the command is abbreviated ASCII ASCII or binary 2 MARK1 0 Choose which Event Out Mark to Enum 4 H MARK 1 change MARK3 2 This value must be specified MARK4 3 MARK5 4 MARK6 5 MARK7 6 3 switch DISABLE 0 Disables the Event Output Enum H 4 ENABLE 1 Enables the Event Output default 4 polarity NEGATIVE 0 Negative polarity active OV Enum H 8 default POSITIVE 1 Positive polarity active 3 3V 45 Chapter 4 SPAN Commands Binary Binary Binary Binary Field Field Type ASCII Value Value Description Format Bytes Offset 5 active_period default 500 000 000 Active period of the Event Out Ulong 4 H 12 minimum 10 signal in nanoseconds maximum 999 999 990 6 non_active_ default 500 000 000 Non active period of the Event Ulong 4 H 16 period minimum 10 Out signal in nanoseconds maximum 999 999 990 46 SPAN on OEM6 Firmware Reference Manual Rev 7 SPAN Commands Chapter 4 4 2 10 EXTERNALPVAS Enter PVA Update C3 This command should only be used by advanced users of GNSS INS The EXTERNALPVAS command uses a short header if the command is entered in ASCII or Binary This command allows a user to provide full position velocity and attitude updates in any combination to the INS The user can also provide height or attitude only updates along with Zero Velocity Updates ZUPTs These position and velocit
143. eader Contains the command name or H 0 message header depending on whether the command is abbreviated ASCII ASCII or binary 2 xoffset 100 Offset along the IMU enclosure frame Double 8 H X axis m for Mark3 3 yoffset 100 Offset along the IMU enclosure frame Double 8 H 8 Y axis m for Mark3 4 zoffset 100 Offset along the IMU enclosure frame Double 8 H 16 Z axis m for Mark3 5 180 Roll offset for Mark3 degrees Double 8 24 6 poffset 180 Pitch offset for Mark3 degrees Double 8 H 32 7 yoffset 180 Azimuth offset for Mark3 degrees Double 8 H 40 a Enter the roll pitch and azimuth offsets in the SPAN computation frame 94 SPAN on OEM6 Firmware Reference Manual Rev 7 SPAN Commands Chapter 4 4 2 44 SETMARKAOFFSET Set Mark4 Offset Use this command to set the offset to the Mark4 trigger event This command is only available for SPAN systems with an OEM638 or ProPak6 receiver Message ID 1117 Abbreviated ASCII Syntax SETMARKAOFFSET xoffset yoffset zoffset aoffset Boffset yoffset Abbreviated ASCII Example SETMARKAOFFSET 0 324 0 106 1 325 00 0 Field ASCII Binary Binary Binary Binary Field Format Bytes Offset Description Type Value Value 1 Header Contains the command name or H 0 message header depending on whether the command is abbreviated ASCII ASCII or binary 2 x
144. eader depending on whether the command is abbreviated ASCII ASCII or binary 2 Serial RS232 The protocol for the IMU serial port Enum 4 H Protocol ns422 1 Header 76 SPAN on OEM6 Firmware Reference Manual Rev 7 SPAN Commands Chapter 4 4 2 32 SETIMUSPECS Specify Error Specifications and Data Rate Use the SETIMUSPECS command to specify the error specifications and data rate for the desired IMU If the default specs for the supported models are different than the unit used then this command can be used to override the default values This command is only available for the following IMUs e Honeywell HG1930 default specifications are for the AA99 CA50 model e Honeywell HG1900 default specifications are for the CA29 CA50 model Message ID 1295 Abbreviated ASCII Syntax SETIMUSPECS DataRate AccelBias AccelVRW GyroBias GyroARW AccelSFError GyroSFError DataLatency Abbreviated ASCII Example iMAR FSAS Specs SETIMUSPECS 200 1 0198 0 75 0 0028 300 300 2 5 ASCII Binary na Binary Binary Binary Field Fisk Type Value Value Description Format Bytes Offset 1 Header Contains the command name or message H 0 header depending on whether the command is abbreviated ASCII ASCII or binary 2 DataRate 100 Hz to Data rate of the IMU Ushort 2 H 400 Hz Accel Bias Total accelerometer bias in milli g Double 8 H 2 Accel VRW Acceleromete
145. ecimal degrees RRR RR 0 05 The sign will always be displayed 6 Pitch Pitch in decimal degrees PPP PP 0 13 The sign will always be displayed 7 Reserved anne 8 Roll Accuracy Roll standard deviation in decimal degrees rr rrr 0 180 9 Pitch Accuracy Pitch standard deviation in decimal degrees pp ppp 0 185 10 Heading Accuracy Heading standard deviation in decimal degrees hh hhh 4 986 11 GPS Update 0 No position 1 1 Quality Flag 1 All non RTK fixed integer positions 2 RTK fixed integer position 12 Checksum Checksum 2B 13 Sentence terminator CR ILF 166 SPAN on OEM6 Firmware Reference Manual Rev 7 INS Logs Chapter 5 5 2 41 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 179 Message ID 268 Log Type Asynch Recommended Input log rawimua onnew ASCII Example RAWIMUA OM1 0 68 5 FINESTEERING 1724 219418 009 004c0040 6125 30019 1724 219418 008755000 00000077 64732 56 298 8 28 3 7378486 Binary Binary Bytes Offset Field Field Type Description Format Log Header Log header H 0 Week GNSS Week Ulong Seconds into Week Seconds from week start Double IMU Status The status of the IMU This field is given in a fixed length Long n array of bytes in binary but i
146. ed ASCII Example SETHEAVEWINDOW 35 Binary ET Binary Binary Binary Field Type ASCII Value Value Description Format Bytes Offset 1 Header Contains the command name or H 0 message header depending whether the command is abbreviated ASCII ASCII or binary 2 Filter Integer This filter length will be used in the Int 4 H Length 1 300 s heave filter Typically set the filter default 20 s length to 5 x wave period 72 SPAN on OEM6 Firmware Reference Manual Rev 7 SPAN Commands Chapter 4 4 2 30 SETIMUORIENTATION Set IMU Orientation Use this command to specify which of the IMU axis is aligned with gravity The IMU orientation can be saved using the SAVECONFIG command so that on start up the SPAN system does not have to detect the orientation of the IMU with respect to gravity This is particularly useful for situations where the receiver is powered while in motion 1 The default IMU axis definitions are Y forward Z up X out the right hand side It is strongly recommended to mount the IMU in this way with respect to the vehicle 2 Use this command if the system is to be aligned while in motion using the kinematic alignment routine see the relevant SPAN User Manual for information about alignment routines D Regardless of system configuration and IMU orientation the SETIMUORIENTATION and VEHICLEBODYROTATION commands
147. eference SPAN on OEM6 Firmware Reference Manual Rev 7 73 Chapter 4 SPAN Commands Figure 2 Frame of Reference 47 center or 7 NAVIGATION w OFFSETS N gt 022 E 5 6mm 145 1 368mm 1 x Pes 1 0 22 FJ 5 6 i Y 1 Azimuth is positive in a clockwise direction while yaw is positive in a counter clockwise direction when looking down the axis center Yaw follows the right handed system convention where as azimuth follows the surveying convention 2 The data in the RAWIMU logs is never mapped The axes referenced in the RAWIMU log descriptions form the IMU enclosure frame as marked on the enclosure Message ID 567 Abbreviated ASCII Syntax SETIMUORIENTATION switch Abbreviated ASCII Example SETIMUORIENTATION 1 Field ASCII Binary Binary Binary Binary Field Format Bytes Offset Description Type Value Value 1 Header Contains the command name or message H 0 header depending on whether the command is abbreviated ASCII ASCII or binary 2 Switch 0 0 IMU determines axis orientation automatically Enum 4 H during coarse alignment default IMU X axis is pointing UP IMU X axis is pointing DOWN IMU Y axis is pointing UP IMU Y axis is pointing DOWN IMU Z axis is pointing UP IMU Z axis is pointing DOWN oO A O N oO A O N
148. egin to flow upon TIME System startup IMU data collection can begin before the receiver has a GNSS solution default START FINE 4 RAWIMU data will only be output after TIME the system reaches FINESTEERING a For firmware versions prior to OEM6 600 this is the default behavior SPAN on OEM6 Firmware Reference Manual Rev 7 55 Chapter 4 SPAN Commands 4 2 17 INSTHRESHOLDS Change the INS HIGH VARIANCE Threshold The INSTHRESHOLDS command allows you to customize the criteria by which the system reports the inertial solution status This criteria is used to determine whether the solution status is reported as INS SOLUTION GOOD or INS HIGH VARIANCE This command is especially useful in situations where the system dynamics are known to be challenging or the SPAN system is using a lower grade IMU Message ID 1448 Abbreviated ASCII Syntax INSTHRESHOLDS ThresholdConfiguration Abbreviated ASCII Example INSTHRESHOLDS DEFAULT ASCII Binary Binary Binary Binary Field Field Type Value Value Description Format Bytes Offset 1 Header This field contains the command H 0 name or the message header depending on whether the command is abbreviated ASCII ASCII or binary 2 Threshold DEFAULT 0 Standard INS status threshold Enum 4 H Configuration settings LOW 1 Low INS status threshold settings only checks the Attitude standard deviation
149. ence Manual Rev 7 SPAN Commands Chapter 4 Table 17 Serial Port Interface Modes Binary Value ASCII Mode Name Description 0 NONE The port accepts generates nothing 1 NOVATEL The port accepts generates NovAtel commands and logs 2 RTCM The port accepts generates RTCM corrections 3 RTCA The port accepts generates RTCA corrections 4 CMR The port accepts generates CMR corrections 5 6 Reserved 7 IMU This port supports communication with a NovAtel supported IMU 8 RTCMNOCR This port accepts generates RTCM with no CR LF appended 9 13 Reserved 14 RTCMV3 The port accepts generates RTCM Version 3 0 corrections 15 NOVATELBINARY The port only accepts generates binary messages If an ASCII command is entered when the mode is set to binary only the command is ignored Only properly formatted binary messages are responded to and the response is a binary message 19 IMARIMU This port supports communication with an iMAR IMU 20 22 Reserved 23 KVHIMU This port supports communication with a KVH CG5100 IMU 24 27 Reserved 28 LITEFIMU This port supports communication with a Litef LCI 1 IMU 29 40 Reserved 41 KVH1750IMU This port supports communication with a KVH 1750 IMU a An output interfacemode of RTCMNOCR is identical to RTCM but with the CR LF appended An input interfacemode of RTCMNOCR is identical to RTCM and functions with or without the CR LF SPAN on OEM6 Firmware Refer
150. ence Manual Rev 7 61 Chapter 4 SPAN Commands Table 18 COM Serial Port Identifiers Binary ASCII Description 1 COM1 COM port 1 2 COM2 COM port 2 3 COM3 COM port 3 6 THISPORT The current COM port 8 ALL All COM ports 9 XCOM1 8 Virtual COM1 port 10 2 2 Virtual COM2 port 13 USB1 P USB port 1 14 USB2 5 USB port 2 15 USB3 5 USB port 3 16 AUX AUX port 19 COM4 COM port 4 23 ICOM1 IP virtual COM port 1 24 ICOM2 IP virtual COM port 2 25 virtual port 3 31 5 COM port 5 32 COM6 COM port 6 34 COM7 COM port 7 35 COM8 COM port 8 36 9 COM port 9 37 COM10 COM port 10 The XCOM1 and XCOM2 identifiers are not available with the COM command but may be used with other commands For example INTERFACEMODE and LOG b The only other field that applies when a USB port is selected is the echo field Place holders must be inserted for all other fields to use the echo field in this case 62 SPAN on OEM6 Firmware Reference Manual Rev 7 SPAN Commands Chapter 4 4 2 22 LEVERARMCALIBRATE INS Calibration Command Use the LEVERARMCALIBRATE command to control the IMU to antenna lever arm calibration I EVERARMCALIBRATE is not available for the IMU CPT HG 1930 ADIS 16488 IMU IGM or TIM300 S The IMU to antenna lever arm is the distance from the center of navigation of the IMU to the phase center of the ante
151. ended Input log variableleverarma onnew ASCII Example VARIABLELEVERARMA SPECIAL 0 81 5 FINESTEERING 1614 495820 512 40040000 0000 320 0 0959421909646755 0 1226971902356540 1 1319295452903300 0 0100057787272846 0 0122604827412661 0 1131929545290330 961143 6 Field Field Type Description 1 Log Header Log header 0 2 XOffset SPAN computational frame x axis offset Double 8 H 3 YOffset SPAN computational frame y axis offset Double 8 H 8 4 ZOffset SPAN computational frame z axis offset Double 8 H 16 5 XUncert X axis uncertainty in metres Double 8 24 6 YUncert Y axis uncertainty in metres Double 8432 H 7 ZUncert Z axis uncertainty in metres Double 8 40 H 8 XXXX 32 bit CRC ASCII Binary and Short Binary only Hex 4 H 24 9 CR LF Sentence terminator ASCII only SPAN on OEM6 Firmware Reference Manual Rev 7 197 Chapter 5 INS Logs 5 2 55 VEHICLEBODYROTATION Vehicle to SPAN Frame Rotation This log reports the angular offset from the vehicle frame to the SPAN frame The SPAN frame is defined by the transformed IMU enclosure axis with z pointing up refer SETIMUORIENTATION on page 73 If the IMU is mounted with the z axis pointing up as marked on the IMU enclosure the IMU enclosure frame is the same as the SPAN frame This log reports whatever was entered using the VEHICLEBODYROTATION command page 104 or whatever wa
152. er Short 2 The short type is 16 bit integer in the range 32768 to 32767 UShort 2 The same as short except it is not signed Values are in the range from 0 to 65535 Long 4 The long type is 32 bit integer in the range 2147483648 to 2147483647 ULong 4 The same as long except it is not signed Values are in the range from 0 to 4294967295 Double 8 The double type contains 64 bits 1 for sign 11 for the exponent and 52 for the mantissa Its range is 1 7E308 with at least 15 digits of precision This is IEEE 754 Float 4 The float type contains 32 bits 1 for the sign 8 for the exponent and 23 for the mantissa Its range is 3 4E38 with at least 7 digits of precision This is IEEE 754 Enum 4 A 4 byte enumerated type beginning at zero an unsigned long In binary the enumerated value is output In ASCII or Abbreviated ASCII the enumeration label is spelled out GPSec 4 This type has two separate formats dependent on whether you requested a binary or an ASCII format output For binary the output is in milliseconds and is a long type For ASCII the output is in seconds and is a float type Hex n Hex is a packed fixed length n array of bytes in binary but in ASCII or Abbreviated ASCII is converted into 2 character hexadecimal pairs String n String is a variable length array of bytes that is null terminated in the binary case and additional bytes of padding are added to maintain 4 byte alignment The maximum byte length for each String field
153. er an indication of the expected accuracy of the wheel data Message ID 847 Abbreviated ASCII Syntax SETWHEELPARAMETERS ticks circ spacing Abbreviated ASCII Example SETWHEELPARAMETERS 58 1 96 0 025 ASCII Binary Value Value Binary Binary Format Bytes Description 1 Header Contains the command name or H 0 message header depending on whether the command is abbreviated ASCII ASCII or binary 2 Ticks 1 10000 Number of ticks per revolution Ushort 48 H 3 0 1 100 Wheel circumference m Double 8 H 4 default 1 96 m 4 Spacing 0 001 1000 Spacing of ticks or resolution of the Double 8 H412 wheel sensor m a In the binary log case an additional 2 bytes of padding are added to maintain 4 byte alignment 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 100 SPAN on OEM6 Firmware Reference Manual Rev 7 SPAN Commands Chapter 4 4 2 49 SETWHEELSOURCE Set Wheel Sensor Input Source This command is only available for SPAN systems with an OEM638 or ProPak6 receiver Use the SETWHEELSOURCE command to specify how the wheel sensor is connected to the SPAN system If the wheel sensor is connected directly such as through the IMU ISA 100 IMU
154. er depending on whether the command is abbreviated ASCII ASCII or binary 2 Switch RESET 0 Control the vehicle body rotation Enum 4 H DISABLE 1 computation ENABLE 2 SPAN on OEM6 Firmware Reference Manual Rev 7 69 Chapter 4 SPAN Commands 4 2 207 SETALIGNMENTVEL Set the Minimum Kinematic Alignment Velocity Use the SETALIGNMENTVEL command to adjust the minimum required velocity for a kinematic alignment Useful in such cases as helicopters where the alignment velocity should be increased to prevent a poor alignment at low speed Message ID 1397 Abbreviated ASCII Syntax SETALIGNMENTVEL velocity Abbreviated ASCII Example SETALIGNMENTVEL 5 0 Binary Binary Binary Format Bytes Offset Field Field ASCII Value Binary Description Type Value 1 Header Contains the command name H 0 or message header depending on whether the command is abbreviated ASCII ASCII or binary 2 Velocity Minimum 1 15 m s The minimum velocity in m s Double 8 H Default is 5 m s required to kinematically align 70 SPAN on OEM6 Firmware Reference Manual Rev 7 SPAN Commands 4 2 28 SETGIMBALORIENTATION Set the Gimbal Orientation Chapter 4 Use this command to convert Mount Body frame to Mount Computation frame for SPAN This is done in the same manner as for the IMU The mapping definitions fo
155. et 1 Header Contains the command name or H 0 message header depending on whether the command is abbreviated ASCII ASCII or binary 2 switch DISABLE 0 Disables the static alignment time limit Enum 4 H ENABLE 1 Enables the static alignment time limit 3 duration 30 300 Maximum static alignment time in Ulong 4 H 4 seconds Default is 180 96 SPAN on OEM6 Firmware Reference Manual Rev 7 SPAN Commands 4 2 46 SETRELINSOUTPUTFRAME Sets the Relative INS Output Frame Use this command to change the frame of the output solution provided in the RELINSPVA and SYNCRELINSPVA logs See Section 5 2 45 RELINSPVA on page 185 and Section 5 2 47 SYNCRELINSPVA on page 188 for information about these logs See Chapter 7 Relative INS on page 205 for information about the Relative INS functionality Message ID 1775 Abbreviated ASCII Syntax SETRELINSOUTPUTFRAMI Abbreviated ASCII Example E OutputFrame DiffCriteria SETRELINSOUTPUTFRAME EF TRUE Field Field Type ASCII Value Binary Value Description Binary Chapter 4 Binary Binary Format Bytes Offset 1 Header Contains the command name or message header depending on whether the command is abbreviated ASCII ASCII or binary 1 I 2 OutputFrame BODY BODY M ECEF LOCALLEVEL BR Mm Frame of the output solution in the RELINSPVA and
156. ext incoming mark event 1293 INSZUPTCONTROL Enables or disables Zero Velocity Updates ZUPT 1295 SETIMUSPECS Sets the error specifications and data rate for the IMU 1317 INPUTGIMBALANGLE Enters gimbal angles into the receiver 1318 SETGIMBALORIENTATION Converts the Mount Body frame to the Mount Computation frame for SPAN 1319 GIMBALSPANROTATION Gimbal frame to SPAN frame rotation 1333 SETUPSENSOR Add a new sensor object 1337 TIMEDEVENTPULSE Add a new camera event 1356 DUALANTENNAPORTCONFIG Select dual antenna source port 1363 ASYNCHINSLOGGING Enables or disables the asynchronous INS logs 1383 SETHEAVEWINDOW Sets the length of the heave filter 1397 SETALIGNMENTVEL Sets the minimum required velocity for a kinematic alignment 1427 HEAVEFILTER Enables or disables heave filtering 1428 CONNECTIMU Connects an IMU to a port 1448 INSTHRESHOLDS Change the INS HIGH VARIANCE Threshold 1463 EXTERNALPVAS External PVA Update 1469 SETINSOFFSETS Set Any INS Offset 1535 ENCLOSUREWHEELSENSOR Control Wheel Sensor Data 1536 ENCLOSURECOMSELECT Sets the External COM Port to COM3 or USB 1636 EVENTOUTCONTROL Control Event Out properties 1637 EVENTINCONTROL Control Event In properties SPAN on OEM6 Firmware Reference Manual Rev 7 33 Chapter 4 SPAN Commands Message ID ASCII Name Description 1722 SETWHEELSOURCE Sets the wheel sensor input source 1745 IMUCONFIGURATION Send one time configuration data to an IMU
157. f this message which is otherwise identical to the MARK3PVA message Message ID 1327 Log Type Synch Recommended Input log taggedmark3pva onnew Abbreviated ASCII Example TAGGEDMARK3PVAA 1 0 73 0 FINESTEERING 1732 248347 693 000500a0 2ab3 12002 1732 248347 692695400 51 11693017508 114 03884746120 1046 3929 0 0009 0 0014 0 0015 0 559580646 1 121028629 255 541153133 INS SOLUTION GOOD 1234 1e97dd88 Field Field Type Description raid 1 Log Header Log Header H 0 2 Week GNSS Week at Mark3 request Ulong 4 H 3 Seconds into Week GNSS Seconds at Mark3 request Double 8 H 4 4 Latitude Latitude at Mark3 request Double 8 H 12 5 Longitude Longitude at Mark3 request Double 8 H 20 6 Height Height at Mark3 request Double 8 H 28 7 North Velocity North Velocity at Mark3 request Double 8 H 36 8 East Velocity East Velocity at Mark3 request Double 8 H 44 9 Up Velocity Up Velocity at Mark3 request Double 8 H 52 10 Roll Roll at Mark3 request Double 8 H 60 11 Pitch Pitch at Mark3 request Double 8 H 68 12 Azimuth Azimuth at Mark3 request Double 8 H 76 13 Status INS Status at Mark3 request Enum 4 H 84 14 Tag Tag ID from TAGNEXTMARK command if any Ulong 4 H 88 default 0 15 32 bit CRC ASCII Binary and Short Binary only Hex 4 H 92 16 Sentence Terminator ASCII only 192 SPAN on OEM6 Firmware Reference Manual Rev 7
158. ference Manual Rev 7 SPAN Commands Chapter 4 4 2 9 EVENTOUTCONTROL Control Event Out Properties This command is for use with only OEM638 and ProPak6 receivers This command configures up to seven Event Out output strobes The event strobes toggle between 3 3 V and 0 V The pulse consists of two periods one active period followed by a not active period The start of the active period is synchronized with the top of the GNSS time second and the signal polarity determines whether the active level is 3 3 V or 0 V The not active period immediately follows the active period and has the alternate voltage The outputs that are available vary according to the platform In some cases a pin on the connector may have more than one function The function is chosen using the IOCONFIG command see the OEM6 Family Firmware Reference Manual OM 20000129 On the OEM638 MARK1 through MARKT are available On the ProPak6 only MARK1 through are available on the Personality Port Message ID 1636 Abbreviated ASCII Syntax EVENTOUTCONTROL mark switch polarity active period non active period ASCII Example eventoutcontrol mark3 enable Binary Binary Binary Binary SPAN on OEM6 Firmware Reference Manual Rev 7 Field Field Type ASCII Value Value Description Format Bytes Offset 1 EVENTOUT This field contains the command H 0 CONTROL nam
159. field is output as a Hex value 3 IMU Type IMU Type identifier Uchar 1 H 1 See Table 14 IMU Type on page 39 GNSS Week GNSS Week Ushort 2 H 2 GNSS Week Seconds from week start Double 8 H 4 Seconds SPAN on OEM6 Firmware Reference Manual Rev 7 181 Chapter 5 INS Logs Field Field Type Description Format Binary Binary Bytes Offset 6 IMU Status The status of the IMU This field is given in a fixed length n Hex 4 H 12 array of bytes in binary but in ASCII or Abbreviated ASCII is converted into 2 character hexadecimal pairs For the raw IMU status see one of the following tables e Table 37 iIMU FSAS IMU Status on page 169 Table 38 Litef LCI 1 IMU Status on page 170 e Table 40 HG1700 IMU Status on page 171 e Table 41 LN200 IMU Status on page 172 e Table 42 ISA 100 and ISA 100C IMU Status page 173 e Table 43 IMU CPT SPAN CPT IMU Status on page 174 Table 44 IMU KVH1750 IMU Status on page 175 e Table 45 HG1900 HG1930 IMU Status page 176 e Table 46 ADIS16488 IMU IGM A1 and SPAN IGM A1 IMU Status on page 177 e Table 47 STIM300 IMU IGM S1 SPAN IGM S1 IMU Status on page 178 Also refer to Interface Control Documentation as provided by Honeywell or Northrop Grumman 7 Z Accel Change in velocity count along Z axis Long 4 H416 8 Y Accel Change in velocity count along y axis 0 Long
160. fset 1469 SETINSROTATION Set the Rotation of the Attitude Output 1796 SETINSUPDATE Enable Disable INS Filter Updates 1821 SPAN on OEM6 Firmware Reference Manual Rev 7 31 Chapter 4 SPAN Commands ASCII Name Description Message ID SETMARK1 OFFSET Sets the offset to the Mark1 trigger event 1069 SETMARK2OFFSET Sets the offset to the Mark2 trigger event 1070 SETMARKSOFFSET Sets the offset to the Mark3 trigger event 1116 SETMARKAOFFSET Sets the offset to the Mark4 trigger event 1117 SETMAXALIGNMENTTIME Set a Time Limit for Static Course Alignment 1800 SETRELINSOUTPUTFRAME Sets the Relative INS Output Frame 1775 SETUPSENSOR Add a new sensor object 1333 SETWHEELPARAMETERS Sets the wheel parameters 847 SETWHEELSOURCE Sets the wheel sensor input source 1722 TAGNEXTMARK Tags the next incoming mark event 1257 TIMEDEVENTPULSE Add a new camera event 1337 VEHICLEBODYROTATION Set the angular offsets between the vehicle frame and the 642 SPAN body frame WHEELVELOCITY Wheel velocity for INS augmentation 504 Table 13 SPAN Commands for 6 by Message ID Message ID ASCII Name Description 3 INTERFACEMODE Sets interface type for a port 379 INSCOMMAND Enables or disables INS positioning 382 INSZUPT Requests a Zero Velocity Update ZUPT 383 SETIMUTOANTOFFSET Sets the IMU to antenna offset for the primary antenna 504 WHEELVELOCITY Wheel velocity for INS augmentation
161. grees 11 Pitch Right handed rotation from local level around the x Double 8 H 68 axis in degrees 12 Azimuth Right handed rotation from local level around thez Double 8 H 76 axis in degrees 13 Status INS status see Table 33 Inertial Solution Status on Enum 4 H 84 page 138 14 xxxx 32 bit CRC Hex 4 H 88 15 Sentence Terminator ASCII only 130 SPAN on OEM6 Firmware Reference Manual Rev 7 INS Logs Chapter 5 5 2 10 HEAVE Heave Filter Log This log provides vessel heave computed by the integrated heave filter Refer also to information in SETHEAVEWINDOW on page 72 This log is asynchronous but is available at approximately 10 Hz You must have an inertial solution to use this log The heave filter must be enabled using the HEAVEFILTER command see page 52 before this log is available Message ID 1382 Log Type Asynch Recommended Input log heavea onnew Example THEAVEA USB1 0 38 5 FINESTEERING 1630 232064 599 00000000 a759 6696 1630 232064 58988539 2 0 086825199 93392cb4 Binary Binary Field Field Type Description Format Bytes Offset 1 Log Header Log Header H 0 2 Week GNSS Week Ulong 4 H 3 Seconds into Week Seconds from week start Double 8 H 4 4 Heave Instantaneous heave in metres Double 8 H 12 5 32 bit CRC ASCII Binary and Short Binary only Hex 4 H 20 6 CR LF Sentence Terminator
162. hanges 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 Message ID 646 Log Type Asynch Recommended Input log wheelsizea onnew ASCII Example WHEELSIZEA COM3 0 44 0 FINESTEERING 0 0 000 00000000 85 8 33738 1 025108123 2 009211922 0 000453791 b65d28e6 Field Field Type Description xg 1 Log Header Log header H 0 2 Scale Wheel sensor scale factor Double 8 H 3 Circum Wheel circumference m Double 8 H 8 4 Var Variance of circumference m Double 8 H 16 5 XXXX 32 bit CRC ASCII Binary and Short Binary only Hex 4 H 24 6 CR LF Sentence terminator ASCII only SPAN on OEM6 Firmware Reference Manual Rev 7 199 Chapter 6 Variable Lever Arm 6 1 The variable lever arm concept arose to support applications in which the IMU is no longer rigidly fixed to the vehicle but rather on a gimballed mount This creates an issue where the input lever arm offsets to the GNSS antenna are no longer correct because the IMU can rotate on its mount while the antenna remains fixed The use of the variable lever arm functionality requires that the device to which the IMU is attached be able to send its gimbal rotation angles back to SPAN These angles are used to recalculate the lever arm at the rate that they are received SPAN will also be able to outp
163. his command the lever arm calibration runs for 600 seconds 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 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 on OEM6 Firmware Reference Manual Rev 7 63 Chapter 4 SPAN Commands Field ASCII Binary Binary Binary Binary ped Type Value Value Description Format Bytes Offset 1 Header Contains the command name or H 0 message header depending on whether the command is abbreviated ASCII ASCII or binary 2 Switch OFF 0 Enable or disable lever arm Enum 4 H ON default 1 calibration 3 300 1800 Maximum calibration time s Double 8 H 4 default 600 4 Maxstd 0 02 0 5 Maximum offset uncertainty m Double 8 H 12 64 SPAN on OEM6 Firmware Reference Manual Rev 7 SPAN Commands Chapter 4 4 2 23 NMEATALKER Set the NMEA Talker ID Use this command to alter the behavior of the NMEA talker ID The talker is the first 2 characters after the sign in the log header of the GPGLL GPGRS GPGSA GPGST GPGSV GPRMB GPRMC and GPVTG log outputs The other NMEA logs are not affected by the NMEATALKER command The GPGGA position is always based on the position solution from the
164. ication through its communications ports This manual describes the SPAN commands and logs the OEM6G family of receivers are capable of accepting or generating Sufficient detail is provided to understand the purpose syntax and structure of each command or log 1 2 Related Documents and Information This manual describes the SPAN specific commands and logs For descriptions of the other commands and logs available with OEM6 family products refer to the OEM6 Family Firmware Reference Manual OM 20000129 available on the NovAtel website www novatel com support manuals For information about the installation and operation of the SPAN system refer to the relevant SPAN User Manual available on the NovAtel website www novatel com support manuals SPAN OEMG User Manual OM 20000139 e SPAN CPT User Manual OM 20000122 Rev 7 or greater e SPAN IGM User Manual OM 20000141 SPAN system output is compatible with post processing software from NovAtel s Waypoint Products Group Visit our web site at www novatel com products software for details 1 3 Conventions The following conventions are used in this manual Information that supplements or clarifies text v A caution that actions operation or configuration may lead to incorrect or improper use of the hardware A warning that actions operation or configuration may result in regulatory noncompliance safety issues or equipment damage SPAN on OEM6
165. in metres Range is 0 to 10 metres These values are used to enter any uncertainty in the measurements For example if the x offset measurement accuracy is a centimeter enter 0 01 for Value4 These values default to 1096 of the offset entered with a minimum of 0 01 metres The uncertainty values are optional Note This command should be entered before or during the INS alignment not after Note Mount the IMU as close as possible to the GNSS antenna particularly in the horizontal plane Offset from the IMU to the secondary GNSS antenna These offsets are also known as the IMU to antenna lever arm Enter Value1 Value2 and Value3 in metres The values entered represent the vector from the IMU center of navigation to the secondary antenna phase center in the IMU enclosure frame Measure these offsets as accurately as possible preferably to within millimeters especially for RTK operation Any error in the offset values will translate directly into an error in the INS position Enter Value4 Value5 and Value6 in metres Range is 0 to 10 metres These values are used to enter any uncertainty in the measurements For example if the x offset measurement accuracy is a centimeter enter 0 01 for Value4 These values default to 1096 of the offset entered with a minimum of 0 01 metres The uncertainty values are optional Preferably the primary GNSS antenna is set up behind the IMU forward axis and the secondary GNSS anten
166. ion RTK data received that is older than the specified time is ignored The default is 60 seconds however when using Relative INS it is suggested this be set to 5 seconds by sending the command RTKTIMEOUT 5 For information about the RTKTIMEOUT command refer to the OEM6 Family Firmware Reference Manual OM 20000129 SPAN on OEM6 Firmware Reference Manual Rev 7 Chapter 7 Relative INS 7 1 Configure Relative INS To configure the receivers to begin computing the relative information 1 Setup a link between the receivers that will be used to transfer data for example radios 2 Enable the transfer of relative corrections between receivers using one of the methods below Send the RE INSAUTOMATION command only at the Rover receiver Send the RE INSCONFIG command at both the Master and Rover receiver The Model option must be present on both the rover and master for the Relative INS feature to be enabled 206 SPAN on OEM6 Firmware Reference Manual Rev 7 NovZtel OM 20000144 Rev 7 January 2015
167. is shown in the row in the log or command tables SPAN on OEM6 Firmware Reference Manual Rev 7 Messages Chapter 2 Figure 1 Byte Arrangements 7 0 address 15 7 0 short n 1 addressn 31 23 15 7 0 I T T twos complement n 3 n 2 n 1 address 63 62 52 51 0 double 7 n 6 n 5 n 4 n 3 n 2 n 1 addressn 31 30 23 22 0 float n 3 n 2 n 1 addressn Figure 1 Byte Arrangements shows the arrangement of bytes within each field type when used by PC computers All data sent to or from the OEM6 family of receivers however is read v least significant bit LSB first opposite to what is shown in Figure 1 Byte Arrangements Data is then stored in the receiver LSB first For example in char type data the LSB is bit 0 and the most significant bit MSB is bit 7 2 1 4 ASCII ASCII messages are readable by both the user and a computer The structures of all ASCII messages follow the general conventions as noted here 1 The lead code identifier for each record is 2 Eachlog or command is of variable length depending on amount of data and formats 3 All data fields are delimited by a comma with two exceptions first exception is the last header field which is followed by a to denote the start of the data message second exception is the last data field which is followed by a to indicate end of message data 4 Eachlog ends with a hexadecimal number preceded b
168. ith 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 reference time Logs that contain satellite broadcast data for example ALMANAC GPSEPHEM have the transmit time of their last subframe in the header In the header of differential time matched logs for example MATCHEDPOS is the time of the matched reference and local observation that they are based on Logs triggered by a mark event for example MARKEDPOS MARKTIME have the estimated GPS reference time of the mark event in their header In the header of polled logs for example LOGLIST PORTSTATS VERSION is the approximate GPS reference time when their data was generated However when asynchronous logs are triggered ONTIME the time stamp will represent the time the log was generated and not the time given in the data Decoding of the GPS Reference Week Number The GPS reference week number provided in the raw satellite data is the 10 least significant bits or 8 least significant bits in the case of the almanac data of the full week number When the receiver processes the satellite data the week number is decoded in the context of the current era and therefore is computed as the full week number starting from week 0 or January 6 1980 Therefore in all log headers and decoded wee
169. ity Extended This log includes the information from the INSVEL log as well as information about the velocity standard deviation The position type and solution status fields indicate whether or not the corresponding data is valid The INSVELX log is a large log and is not recommend for high rate logging If you want to use high rate logging log the INSVELS log at a high rate and the INSCOVS log ontime 1 Message ID 1458 Log Type Synch Recommended Input log insvelxa ontime 1 ASCII example INSVELXA COM1 0 80 0 FINESTEERING 1690 494394 000 00000040 1f8e 43441 INS ALIGNMENT COMPLETE INS PSRSP 0 0086 0 0015 0 0215 0 0549 0 0330 0 0339 3 0 ec33e372 Binary Binary Field Field Type Description Format Bytes Offset 1 INSVELX Header Log header H 0 2 INS Status Solution status Enum 4 H See Table 33 Inertial Solution Status on page 138 3 Position type Enum 4 H 4 See Table 34 Position or Velocity Type on page 141 4 North Vel North velocity m s Double 8 H 8 5 East Vel East velocity m s Double 8 H 16 6 Up Vel Up velocity m s Double 8 H 24 7 North Vel o North velocity standard deviation m s Float 4 H 32 8 East Vel o East velocity standard deviation m s Float 4 H 36 9 Up Vel o Up velocity standard deviation m s Float 4 H 40 10 Ext sol stat Extended solution status Hex 4 H 44 See Table 35 Extended Solution
170. ity field The azimuth is 90 degrees also with a 5 degree standard deviation ASCII Binary Value Value Binary Binary Binary Format Bytes Offset Description 1 Header Contains the command name or H 0 message header depending on whether the command is abbreviated ASCII ASCII or binary 2 Pitch 360 Input pitch angle about the X axis Double 8 H degrees 3 Roll 360 Input roll angle about the Y axis Double 8 H 8 degrees 4 Azimuth 360 Input azimuth angle about the Z axis Double 8 H 16 degrees SPAN on OEM6 Firmware Reference Manual Rev 7 81 Chapter 4 SPAN Commands Field ASCII Binary Binary Binary Binary Field Type Value Value Description Format Bytes Offset 5 PitchSTD 9 90027782 to 45 Input pitch standard deviation STD Double 8 H 24 angle degrees 6 RollISTD 0 00027782 45 Input roll STD angle degrees Double 8 H 32 7 AzSTD 0 0002778 to 45 Input azimuth STD angle degrees Double 8 H 40 a 0 0002778 is equal to 1 arc second 82 SPAN on OEM6 Firmware Reference Manual Rev 7 SPAN Commands Chapter 4 4 2 36 SETINITAZIMUTH Set Initial Azimuth and Standard Deviation Use this command to start SPAN operation with a previously known azimuth Azimuth is the weakest component of a coarse alignment and is also the easiest to know from an external source i e like the azimuth of roadway When using this command
171. k number fields the full week number is given Only in raw data such as the data field of the RAWALM log or the subframe field of the RAWEPHEM log will the week number remain as the 10 or 8 least significant bits SPAN on OEM6 Firmware Reference Manual Rev 7 Messages Chapter 2 2 7 32 Bit CRC The ASCII and Binary OEMG family message formats all contain a 32 bit CRC for data verification This allows the user to ensure the data received or transmitted is valid with a high level of certainty This CRC can be generated using the following C algorithm define CRC32 POLYNOMIAL OxEDB88320L p p Calculate a CRC value to be used by CRC calculation functions unsigned long CRC32Value int i int j unsigned long ulCRC ulCRC i for J 8 7 J gt 02 ge if ulCRC amp 1 ulCRC ulCRC 1 CRC32 POLYNOMIAL else ulCRC gt gt 1 return ulCRC unsigned long CalculateBlockCRC32 unsigned long ulCount Number of bytes in the data block unsigned char ucBuffer Data block unsigned long ulTempl unsigned long ulTemp2 unsigned long ulCRC 0 while ulCount 0 ulTemp1 ulCRC gt gt 8 amp OxOOFFFFFFL ulTemp2 CRC32Value int ulCRC ucBuffer amp Oxff ulCRC ulTempl ulTemp2 return ulCRC The NMEA checksum is of all the bytes including delimiters su
172. l azimuth AIDED_TRANSFER 2 Seed the full attitude from an ALIGN solution Pitch and Heading taken from ALIGN Roll is assumed 0 AUTOMATIC 3 Seed the full attitude from Default ALIGN or perform a regular coarse or kinematic alignment whichever is possible first 1 Header the SETIMUORIENTATION and VEHICLEBODYROTATION commands must be sent to the receiver regardless of system configuration and IMU orientation D If the ALIGNMENTMODE selected can use a kinematic alignment UNAIDED or AUTOMATIC SPAN on OEM6 Firmware Reference Manual Rev 7 35 Chapter 4 SPAN Commands 4 2 2 APPLYVEHICLEBODYROTATION Enable Vehicle to Body Rotation Use this command to apply the vehicle to body rotation to the output attitude that was entered using the VEHICLEBODYROTATION command see page 104 This rotates the SPAN body frame output in the INSPVA INSPVAS INSPVAX INSATT INSATTS and INSATTX logs to the vehicle frame APPLYVEHICLEBODYROTATION is disabled by default Message ID 1071 Abbreviated ASCII Syntax APPLYVEHICLEBODYROTATION switch Input Example APPLYVEHICLEBODYROTATION ENABLE Field ASCII Binary Binary Binary Binary Field Format Bytes Offset Description Type Value Value 1 X 1 Contains the command name or message header depending on whether the command is abbreviated ASCII ASCII
173. l Rev 7 87 Chapter 4 SPAN Commands ASCII Binary Description MARK3 9 Offset from the IMU to the output point for the MARK3PVA log Enter Value1 Value2 and Value3 in metres The values entered represent the vector from the IMU center of navigation to the output point for the MARK3PVA log in the IMU enclosure frame Enter Value4 Value5 and Value6 in degrees from the IMU enclosure frame to the output frame Range is 180 degrees Note This option is only available for SPAN systems with an OEM638 or ProPak6 receiver MARK4 10 Offset from the IMU to the output point for the MARK4PVA log Enter Value1 Value2 and Value3 in metres The values entered represent the vector from the IMU center of navigation to the output point for the MARK4PVA log in the IMU enclosure frame Enter Value4 Valued and Value6 in degrees from the IMU enclosure frame to the output frame Range is 180 degrees Note This option is only available for SPAN systems with an OEM638 or ProPak6 receiver RBV 11 Rotational offset from the IMU enclosure frame to the vehicle frame If the angular offsets are estimated using the RVBCALIBRATE command these values are used as the initial values Enter Value1 Value2 and Value3 in degrees 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 APPLYVEHI
174. l contain the solution translated and then rotated by the values provided in the command See the SETMARKAOFFSET command valid at the time on page 95 Message ID 1119 Log Type Synch Recommended Input log mark4pva onnew Abbreviated ASCII Example MARK4PVAA COM1 0 74 5 FINESTE ERING 1732 247232 271 00040020 2425 12002 1732 247232 271459820 51 11693179023 114 03885206704 1047 4529 0 0004 0 0011 0 0007 0 837101074 1 134127754 278 346498557 INS SOLUTION GOOD 08209ec0 Binary Field Field Type Description Offset 1 Log Header Log header H 0 2 Week GNSS Week at Mark4 request Ulong 4 H 3 Seconds Seconds from week at Mark4 Double 8 H 4 4 Latitude Latitude WGS84 at Mark4 Double 8 H 12 5 Longitude Longitude WGS84 at Mark4 Double 8 H 20 6 Height Height WGS84 at Mark4 Double 8 H 28 7 North Velocity Velocity in a northerly direction a ve value implies Double 8 H 36 southerly direction at Mark4 8 East Velocity Velocity in an easterly direction a ve value implies a Double 8 H 44 westerly direction at Mark4 Up Velocity Velocity in an up direction at Mark4 Double 8 H 52 10 Roll Right handed rotation from local level around y axis in Double H 60 degrees at Mark4 11 Pitch Right handed rotation from local level around x axis in Double 8 H 68 degrees at Mark4 12 Azimuth Left handed rotation around z axis in degrees
175. l level Northing 188 SPAN on OEM6 Firmware Reference Manual Rev 7 INS Logs Field Field Type Description Format Chapter 5 Binary Binary Bytes Offset 7 DeltaVelY Difference in velocity between two receivers m s Double 8 H 36 The position difference is relative to the output frame BODY along the Y axis ECEF along the Y axis Local level Easting 8 DeltaVelZ Difference in velocity between the two receivers m s Double 8 H 44 The position difference is relative to the output frame BODY along the Z axis ECEF along the Z axis Local level Up 9 DeltaRoll Difference in roll between the two receivers degrees Double 8 H 52 10 DeltaPitch Difference in pitch between the two receivers degrees Double 8 H 60 11 DeltaHeading Difference in heading between the two receivers degrees Double 8 H 68 12 Diff Age Differential age in seconds Float 4 H 76 13 Remote ID Remote receiver ID string Char 4 4 H 80 14 Remote INS status of the remote receiver Enum 4 H 84 INSStatus See Table 33 Inertial Solution Status on page 138 15 Master ID Master receiver ID string Char 4 4 H 88 16 Master INS status of the master receiver Enum 4 H 92 INSStatus See Table 33 Inertial Solution Status on page 138 17 RTK Status Status of the current RTK vector between master and Enum 4 H 96 remote See Table 26 Position or Velocity Typ
176. le SINSATTSA 1541 487975 000 1541 487975 000549050 2 755452422 4 127365126 323 289778434 INS_SOLUTION_GOOD ba08754f Binary Binary Field Field Type Description Format Bytes Offset 1 Log Header Log header H 0 2 Week GNSS Week Ulong 4 H 3 Seconds into Week Seconds from week start Double 8 H 4 4 Roll Right handed rotation from local level around y axis Double 8 H 12 in degrees 5 Pitch Right handed rotation from local level around x axis Double 8 H 20 in degrees 6 Azimuth Left handed rotation around z axis in degrees Double 8 H 28 clockwise from North This is the inertial azimuth calculated from the IMU gyros and the SPAN filters 7 Status INS status see Table 33 Inertial Solution Status on Enum 4 H 36 page 138 XXXX 32 bit CRC ASCII Binary and Short Binary only Hex 4 H 40 CR LF Sentence terminator ASCII only SPAN on OEM6 Firmware Reference Manual Rev 7 139 Chapter 5 INS Logs 5 2 17 INSATTX Inertial Attitude Extended This log includes the information from the INSATT log as well as information about the attitude standard deviation The position type and solution status fields indicate whether or not the corresponding data is valid The INSATTX log is a large log and is not recommend for high rate logging If you want to use high rate logging log the INSATTS log at a high rate and the INSCOVS log ontime 1 Message ID 1457
177. led 26 0x04000000 IMU Status 0 Passed 1 Failed 27 0x08000000 IMU Status 0 Passed 1 Failed N7 28 0x10000000 IMU Status 0 Passed 1 Failed 29 0x20000000 Reserved 30 0x40000000 IMU Status 0 Passed 1 Failed 31 0x80000000 Reserved INS Logs SPAN on OEM6 Firmware Reference Manual Rev 7 INS Logs Chapter 5 Table 42 ISA 100 and ISA 100C IMU Status Nibble Bit Mask Description Range Value NO 0 0x00000001 Maintenance Indication 0 Normal 1 System Maintenance Indicator 1 0x00000002 Accelerometers Invalid 0 Normal 1 Invalid 2 0x00000004 Accelerometer X Warning 0 Normal 1 Warning 3 0x00000008 Accelerometer Y Warning 0 Normal 1 Warning N1 4 0x00000010 Accelerometer Z Warning 0 Normal 1 Warning 5 0x00000020 Accelerometer X NOGO 0 Normal 1 NOGO 6 0x00000040 Accelerometer Y NOGO 0 Normal 1 NOGO 7 0x00000080 Accelerometer Z NOGO 0 Normal 1 NOGO N2 8 0x00000100 Reset Occurred 0 Normal 1 First Message after ISA 100C Reset 9 0x00000200 Gyroscopes Invalid 0 Normal 1 Invalid 10 0x00000400 Gyroscope X Warning 0 Normal 1 Warning 11 0x00000800 Gyroscope Y Warning 0 Normal 1 Warning N3 12 0x00001000 Gyroscope Z Warning 0 Normal 1 Warning 13 0x00002000 Gyroscope X NOGO 0 Normal 1 NOGO 14 0x00004000 Gyroscope Y NOGO 0 Normal 1 NOG
178. lkers shows the NMEA logs and whether they use GP GN or GP GN IN IDs with D This command only affects NMEA logs capable of a GNSS position output For example NMEATALKER auto SPAN on OEM6 Firmware Reference Manual Rev 7 65 Chapter 4 66 SPAN Commands Table 19 NMEA Talkers Log Talker IDs GLMLA GL GPALM GP GPGGA GP GPGLL GP GN IN GPGRS GP GN GPGSA GP GN GPGST GP GN IN GPGSV GP GL GPRMB GP GN IN GPRMC GP GN IN GPVTG GP GN IN GPZDA GP SPAN on OEM6 Firmware Reference Manual Rev 7 SPAN Commands Chapter 4 4 2 24 RELINSAUTOMATION Enables Relative INS on the Rover Use this command to configure the Relative INS plug and play feature on the rover receiver RELINSAUTOMATION enables disables the plug and play feature sets the rover COM port to which the master receiver is connected sets the baud rate for communication sets the correction transfer rate and enables disables sending the HEADINGEXTB HEADINGEXT2B log back to the master receiver On issuing this command at the rover receiver the rover will automatically sync with the master receiver and configure it to send corrections at the specified baud rate and specified data rate This command should only be issued at the rover receiver Message ID 1763 Abbreviated ASCII Syntax RELINSAUTOMATION option comport baudrate datarate headingextboption Abbreviated ASCII Example RELINSAU
179. loat 4 H 34 10 Height Height standard deviation Float 4 H 44 11 Ext sol stat Extended solution status Hex 4 H 48 See Table 35 Extended Solution Status on page 141 11 Time Since Elapsed time since the last ZUPT or position update Ushort 2 H 52 Update Seconds 12 Xxxx 32 bit CRC ASCII and Binary only Hex 4 H 54 13 CR LF Sentence terminator ASCII only 146 SPAN OEM6 Firmware Reference Manual Rev 7 INS Logs Chapter 5 5 2 23 INSPVA INS Position Velocity and Attitude This log allows INS position velocity and attitude with respect to the SPAN frame to be collected in one log instead of using three separate logs Refer to INSATT on page 137 for an explanation of how the SPAN frame may differ from the IMU enclosure frame The attitude can be output in the vehicle frame See APPLYVEHICLEBODYROTATION on page 36 Message ID 507 Log Type Synch Recommended Input log inspvaa ontime 1 ASCII Example INSPVAA COM1 0 31 0 FINESTEERING 1264 144088 000 00040000 5615 1541 1264 144088 002284950 51 116827527 114 037738908 401 191547167 354 846489850 108 429407241 10 837482850 1 116219952 3 476059035 7 372686190 INS ALIGNMENT COMPLETE af719fd9 Field Field Type Description Offset 1 Log Header Log header H 0 2 Week GNSS Week Ulong 4 H 3 Seconds Seconds from week start Double 8 H 4 4 Latitude Latitude WGS
180. lock steering status Enabled Disabled 22 0x00400000 Clock model flag Valid Invalid 23 0x00800000 External oscillator locked flag Unlocked Locked N6 24 0x01000000 Software resource OK Warning 25 0x02000000 Reserved 26 0x04000000 27 0x08000000 N7 28 0x10000000 29 0x20000000 Auxiliary 3 status event flag No event Event 30 0x40000000 Auxiliary 2 status event flag No event Event 31 0x80000000 Auxiliary 1 status event flag No event Event a This flag is only available on certain products SPAN on OEM6 Firmware Reference Manual Rev 7 13 Chapter 2 Messages 2 1 2 Abbreviated ASCII This message format is designed to make entering and viewing commands and logs simple The data is represented as simple ASCII characters separated by spaces or commas and arranged in an easy to understand format There is also no 32 bit CRC for error detection because it is meant for viewing by the user Example Command log coml loglist Resultant Log lt LOGLIST COM1 0 69 0 FINE 0 0 000 00240000 206d 0 lt 4 lt COM1 RXSTATUSEVENTA ONNEW 0 000000 0 000000 NOHOLD lt COM2 RXSTATUSEVENTA ONNEW 0 000000 0 000000 NOHOLD lt COM3 RXSTATUSEVENTA ONNEW 0 000000 0 000000 NOHOLD lt COM1 LOGLIST ONCE 0 000000 0 000000 NOHOLD The array of 4 logs are offset from the left hand side and start with lt 2 1 8 Binary Binary messages are strictly machine readable format They a
181. mand has been enabled see page 36 the values in CORRIMUDATA log are in the vehicle frame not the SPAN computation frame Message ID 812 Log Type Synch Recommended Input log corrimudatab ontime 0 01 Example log CORRIMUDATAA COM1 0 77 5 FINESTEERING 1769 237601 000 00000020 bdba 12597 1769 237601 000000000 0 000003356 0 000002872 0 000001398 0 000151593 0 000038348 0 000078820 1 7 709 Binary Binary Field Field Type Description Format Bytes Offset 1 Log Header Log header H 0 2 Week GNSS week Ulong 4 H 3 Seconds GNSS seconds from week start Double 8 H 4 4 PitchRate About x axis rotation Double 8 H 12 5 RollRate About y axis rotation Double 8 H 20 6 YawRate About z axis rotation Right handed Double 8 H 28 7 LateralAcc INS Lateral Acceleration along x axis Double 8 H 36 8 LongitudinalAcc INS Longitudinal Acceleration along y axis Double 8 H 44 9 VerticalAcc INS Vertical Acceleration along z axis Double 8 H 52 10 32 bit CRC Hex 4 H 56 11 CR LF Sentence Terminator ASCII only SPAN on OEM6 Firmware Reference Manual Rev 7 127 Chapter 5 INS Logs 5 2 7 CORRIMUDATAS Short Corrected IMU Measurements The CORRIMUDATAS log is the short header version of the CORRIMUDATA log page 127 This log contains the RAWIMU data corrected for gravity the earth s rotation and estimated sensor errors The values in this log
182. ming mark event on the selected mark with a 32 bit number This is available in the TAGGEDMARKXxPVA log see page 190 to page 193 to easily associate the PVA log with a supplied event Message ID 1257 Abbreviated ASCII Syntax TAGNEXTMARK Mark Tag Abbreviated ASCII Example TAGNEXTMARK MARK1 1234 Field ASCII Binary Binary Binary Binary Field Format Bytes Offset Description Type Value Value 1 Header Contains the command name or H 0 message header depending on whether the command is abbreviated ASCII ASCII or binary 2 Mark MARK1 0 Event line Enum 4 H MARK2 1 MARK3 2 MARK4 3 3 Tag Tag for next mark event Ulong 4 H 4 D Only MARK is available for the SPAN CPT MARKS and MARKA are available only on SPAN systems with an OEM638 or ProPak6 receiver 102 SPAN on OEM6 Firmware Reference Manual Rev 7 SPAN Commands Chapter 4 4 2 51 TIMEDEVENTPULSE Add a new camera event Use this command to add a new camera event to the system TIMEDEVENTPULSE sends a pulse on the sensor MARK output at the selected GPS time and sets the trigger on the sensor MARK input to be tagged with an event ID see TAGGEDMARK1PVA on page 190 through TAGGEDMARKAPVA on page 193 The lines connected to each sensor are configured using the SETUPSENSOR command see page 98 lt ENTPULSE A maximum of 10 unprocessed events can be buffered into the system A TIM
183. n ASCII or Abbreviated ASCII is converted into 2 character hexadecimal pairs For the raw IMU status see one of the following tables e Table 37 IIMU FSAS IMU Status on page 169 e Table 38 Litef LCI 1 IMU Status on page 170 e Table 40 HG1700 IMU Status on page 171 e Table 41 LN200 IMU Status page 172 e Table 42 ISA 100 and ISA 100C IMU Status on page 173 e 43 IMU CPT and SPAN CPT IMU Status on page 174 Table 44 IMU KVH1750 IMU Status on page 175 e Table 45 HG1900 and HG1930 IMU Status on page 176 e Table 46 ADIS16488 IMU IGM A1 SPAN IGM A1 IMU Status on page 177 e Table 47 STIM300 IMU IGM S1 SPAN IGM S1 IMU Status on page 178 Also refer to Interface Control Documentation as provided by Honeywell or Northrop Grumman 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 P Long 4 H 20 7 X Accel Output Change in velocity count along x axis Long 4 H 24 A O N A T I SPAN on OEM6 Firmware Reference Manual Rev 7 167 Chapter 5 INS Logs Binary Binary Field Field Type Description Format Bytes Offset 8 Z Gyro Output Change in angle count around z axis Long 4 H 28 Right handed 9 Gyro Output Change in angle count around y axis 0 Long 4 H 32 Right handed 10 X Gyro Output Change in angle count around x axis
184. n OEM6 Firmware Reference Manual Rev 7 Chapter 5 INS Logs 5 1 The INS specific logs follow the same general logging scheme as normal OEM6 Family logs They are available in ASCII or binary formats and are defined as being either synchronous or asynchronous All the logs in this chapter are used only with the SPAN system For information on other available logs and output logging refer to the OEM6 Family Firmware Reference Manual OM 20000129 One difference from the standard OEM6 Family logs is 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 the alternate short headers is that the normal OEMG binary header is quite long at 28 bytes This is nearly as long as the data portion of many of the INS logs and creates excess storage and baud rate requirements Note that the INS related logs contain a time tag within the data block in addition to the time tag in the header The time tag in the data block should be considered the exact time of applicability of the data All the described INS logs except the INSCOV and INSUPDATE can be obtained at rates up to 100 125 or 200 Hz depending on your IMU subject to the limits of the output baud rate The covariance and update logs are available once per second Each ASCII log ends with a hexadecimal number preceded by an asterisk and followed by a line termination usi
185. na is set up ahead of the IMU forward axis Entering offsets for both the primary and secondary antennas will automatically compute the angular offset between the ALIGN antennas and the IMU axes Note This command should be entered before or during the INS alignment not after 86 SPAN on OEM6 Firmware Reference Manual Rev 7 SPAN Commands Chapter 4 ASCII Binary Description EXTERNAL 3 Offset from the IMU to the external position update source Enter Value1 Value2 and Value3 in metres The values entered represent the vector from the IMU center of navigation to the point of interest on the external position update source Measure these offsets as accurately as possible preferably to within millimeters especially for RTK operation Any error in the offset values will translate directly into an error in the INS position Enter Value4 Value5 and Value6 in metres Range is 0 to 10 metres These values are used to enter any uncertainty in the measurements For example if the x offset measurement accuracy is a centimeter enter 0 01 for Value4 These values default to 1096 of the offset entered with a minimum of 0 01 metres The uncertainty values are optional USER 4 Offset from the IMU to a desired output location Enter Value1 Value2 and Value3 in metres These values specify an offset from the IMU center of navigation for the output position and velocity of the INS solution This command shifts the position and
186. nce Manual Rev 7 Messages Chapter 2 2 4 GPS Reference Time Status All reported receiver times are subject to a qualifying time status The status indicates how well a time is known see Table 10 GPS Reference Time Status on page 23 Table 10 GPS Reference Time Status GPS Reference Time Status Description Decimal ASCII 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 170 FINEBACKUPSTEERING Time is fine set and is being steered by the backup system 180 FINESTEERING Time is fine set and is being steered 200 SATTIME Time from satellite Only used in logs containing satellite data such as ephemeris and almanac a See also Message Time Stamps on page 24 There are several distinct states the receiver goes through when CLOCKADJUST is enabled UNKNOWN initial state COARSESTEERING initial coarse time set FINESTEERING normal operating state FINEBACKUPSTEERING when the backup system is used for time e FREEWHEELING when range bias becomes unknown and when the CLOCKADJUST is disabled UNKNOWN i
187. ng 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 and any integer number of seconds Table 23 SPAN Logs for OEM6 Alphabetical ASCII Name Description Type BESTGNSSPOS Best available GNSS position without INS 1429 Synch BESTGNSSVEL Best available GNSS velocity information without INS 1430 Synch BESTLEVERARM Distance between the IMU center of navigation and the 674 Asynch primary GNSS antenna phase center BESTLEVERARM2 Distance between the IMU center of navigation and the 1256 Asynch secondary GNSS antenna phase center BESTPOS Best available combined GNSS and INS position 42 Synch CORRIMUDATA RAWIMU data corrected for gravity earth s rotation and 812 Synch sensor errors CORRIMUDATAS RAWIMU data corrected for gravity earth s rotation and 813 Synch sensor errors Short header DELAYEDHEAVE Log containing the value of the delayed heave filter 1709 Synch GIMBALLEDPVA Re calculated gimballed position velocity and attitude 1321 Asynch HEAVE Vessel heave computed by the integrated heave filter 1382 Asynch 108 SPAN on OEM6 Firmware Reference Manual Rev 7 INS Logs ASCII Name Description Message Chapter 5 Type IMURATECORRIMUS RAWIMU data corrected for gravity earth s rotation and 1362 Asynch sensor errors provided at full rate of IMU IMURATEP
188. ng the carriage return and line feed characters for example 1234ABCD CR LF This value is 32 bit CRC of all bytes in the log excluding the or 9o identifier and the asterisk preceding the four checksum digits See also Description of ASCII and Binary Logs with Short Headers on page 19 Table 33 Inertial Solution Status on page 138 shows the status values included in the INS position velocity and attitude output logs If the IMU is connected properly and a good status value is not being received check the hardware setup to ensure it is properly connected This situation can be recognized in the RAWIMU data by observing accelerometer and gyro values which are not changing with time Use a USB cable or Ethernet connection to log raw data Serial communication is acceptable for configuring and monitoring the SPAN system through Hyperterminal or NovAtel Connect USB or Ethernet is required if you have a post processing application requiring 200 Hz IMU data Logs with INS or GNSS Data There are several logs in the system designed to output the best available solution as well as many logs that output only a specific solution type PSR RTK INS etc The table below lists the logs that can provide either a GNSS solution or an INS solution Most of these derive from the solution the system picks as the best solution SPAN systems also have a secondary best solution that derives from the GNSS solution only BESTGNSSPOS and BESTGNSSVEL
189. nge the INS_HIGH_VARIANCE Threshold 1448 INSWHEELUPDATE Enables or Disables Use of a Wheel Sensor 647 INSZUPT Requests a Zero Velocity Update ZUPT 382 INSZUPTCONTROL Enables or disables Zero Velocity Updates ZUPT 1293 INTERFACEMODE Sets interface type for a port 3 LEVERARMCALIBRATE Controls the IMU to antenna lever arm calibration 675 NMEATALKER Sets the NMEA Talker ID 861 RELINSAUTOMATION Enables or disables Relative INS on the rover receiver 1763 RELINSCONFIG Configure Relative INS 1797 RVBCALIBRATE Enables or disables the calculation of the vehicle to SPAN 641 body angular offset SETALIGNMENTVEL Sets the minimum required velocity for a kinematic alignment 1397 SETGIMBALORIENTATION Converts the Mount Body frame to the Mount Computation 1318 frame for SPAN SETHEAVEWINDOW Sets the length of the heave filter 1383 SETIMUORIENTATION Sets the IMU axis that is aligned with gravity 567 SETIMUPORTPROTOCOL Sets the protocol used for the IMU serial port 1767 SETIMUSPECS Sets the error specifications and data rate for the IMU 1295 SETIMUTOANTOFFSET Sets the IMU to antenna offset for the primary antenna 383 SETIMUTOANTOFFSET2 Sets the IMU to antenna offset for the secondary antenna 1205 SETINITATTITUDE Sets the initial attitude of the SPAN system in degrees 862 SETINITAZIMUTH Sets the initial azimuth and standard deviation 863 SETINSOFFSET Sets an offset from the IMU for the output position and 676 velocity of the INS solution SETINSOFFSETS Set Any INS Of
190. niSTAR high precision 65 XP OmniSTAR extra precision 66 67 Reserved 68 PPP CONVERGING Precise Point Positioning PPP solution converging 69 PPP Precise Point Positioning PPP solution 70 72 Reserved 73 INS_PPP_Converging INS NovAtel CORRECT Precise Point Positioning PPP solution converging 74 INS_PPP INS NovAtel CORRECT Precise Point Positioning PPP solution a In addition to a NovAtel receiver with L Band capability a subscription to the OmniSTAR service is required Contact NovAtel for details b These types appear in position logs such as BESTPOS SPAN on OEM6 Firmware Reference Manual Rev 7 117 Chapter 5 118 INS Logs Table 27 Galileo and BeiDou Signal Used Mask Mask Description 0 0x01 Galileo E1 used in Solution 1 3 0x02 0x08 Reserved 4 0x10 BeiDou B1 used in Solution 5 0x20 BeiDou B2 used in Solution 6 7 0x40 0x80 Reserved Table 28 GPS and GLONASS Signal Used Mask Bit Mask Description 0 0x01 GPS L1 used in Solution 1 0x02 GPS L2 used in Solution 2 0x04 GPS L5 used in Solution 3 0x08 Reserved 4 0x10 GLONASS L1 used in Solution 5 0x20 GLONASS L2 used in Solution 6 7 0x40 0x80 Reserved Table 29 Extended Solution Status Bit Mask Description 0 0x01 AdVance RTK Verified 0 Not Verified 1 Verified 1 3 OxOE Pseudorange lono Correction 0 Unknown 1 Klobuchar Broadcast 2 SBA
191. nitial state e COARSE initial coarse time set FINE normal operating state 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 reference week 0 and second 0 0 The time status flag is set to UNKNOWN If time is input to the receiver using the SETAPPROXTIME command or on receipt of an RTCAEPHEM message the time status will be APPROXIMATE 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 SPAN on OEM6 Firmware Reference Manual Rev 7 23 Chapter 2 Messages 2 5 2 6 24 Once a position is known and range biases are being calculated the internal clock model will begin modeling the position range biases and the receiver clock offset Modelling will continue until the model is a good estimation of the actual receiver clock behavior At this time the receiver time will again be adjusted this time to an accuracy of 1 microsecond This state is qualified by the FINE time status flag The final logical time status flag depends on whether CLOCKADJUST is enabled or not If CLOCKADJUST is disabled the time status flag will never improve on FINE The time will only be adjusted again to within 1 microsecond if the range bias gets larger than 250 milliseconds
192. nna For information about the IMU center of navigation refer to the labels on the IMU enclosure or the IMU drawings in the relevant SPAN User Manual See also SETIMUTOANTOFFSET on page 78 and the lever arm calibration routine in the relevant SPAN User Manual The calibration runs for the time specified or until the specified uncertainty is met The BESTLEVERARM log outputs the lever arm once the calibration is complete see also BESTLEVERARM on page 123 If a SETIMUANTENNAOFFSET command is already entered or there is a previously saved lever arm in NVM before the LEVERARMCALIBRATE is sent the calibration starts using initial values from SETIMUTOANTOFFSET or NVM Ensure the initial standard deviations are representative of the initial lever arm values Message ID 675 Abbreviated ASCII Syntax LEVERARMCALIBRATE switch maxtime maxstd Abbreviated ASCII Example 1 LEVERARMCALIBRATE ON 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 The calibration starts when the SPAN solution has converged to an acceptable level This occurs shortly after the SPAN solution displays INS SOLUTION GOOD The example s 600 second duration is from when calibration begins and not from when you issue the command Abbreviated ASCII Example 2 LEVERARMCALIBRATE ON 600 0 05 Given t
193. nsor ID SENSOR1 0 The sensor to configure Enum 4 H SENSOR2 1 SENSOR3 2 3 EventOut MARK1 0 Associate a specific MARK Event_Out Enum 4 H 4 MARK2 1 line to this sensor configuration MARK3 2 MARK4 3 4 NEGATIVE 0 Mark output pulse polarity Enum 4 H 8 POSITIVE 1 5 OAP 2 500 Mark output active period in Ulong 4 H 12 milliseconds Value must be divisible by 2 6 Eventin MARK1 0 Associate a specific MARK Event Enum 4 H 16 MARK2 1 line to this sensor configuration MARK3 2 MARK4 3 7 DISABLE 0 Event in control Enum 4 H 20 EVENT 1 8 NEGATIVE 0 Mark input pulse polarity Enum 4 H 24 POSITIVE 1 9 99999999 to Mark input time bias in milliseconds Long 4 H 28 99999999 98 SPAN on OEM6 Firmware Reference Manual Rev 7 SPAN Commands Chapter 4 Field ASCII Binary Type Value Value Binary Binary Binary Field Format Bytes Offset Description 10 ITG 2 to 3599999 Mark input time guard in milliseconds Ulong 4 H 32 D Only MARK is available for the SPAN CPT MARKS are available only SPAN systems with an OEM638 or ProPak6 receiver SPAN on OEM6 Firmware Reference Manual Rev 7 99 Chapter 4 SPAN Commands 4 2 48 SETWHEELPARAMETERS Set Wheel Parameters The SETWHEELPARAMETERS command can be used when wheel sensor data is available It gives the filter a good starting point for the wheel size scale factor It also gives the SPAN filt
194. nty values are optional Enter rotation angles in degrees NovAtel recommends entering SETIMUORIENTATION first then VEHICLEBODYROTATION Message ID 642 Abbreviated ASCII Syntax VEHICLEBODYROTATION alpha beta gamma alpha beta 6gamma Abbreviated ASCII Example VEHICLEBODYROTATION 00 900 0 5 SPAN on OEM6 Firmware Reference Manual Rev 7 SPAN Commands Chapter 4 ASCII Binary Binary Binary Field Field Type Value Value Description Format Bytes Offset 1 Header Contains the command name or H 0 message header depending on whether the command is abbreviated ASCII ASCII or binary 2 XAngle 180 Right hand rotation about vehicle Double 8 H frame X axis degrees 3 Y Angle 180 Right hand rotation about vehicle Double 8 H 8 frame Y axis degrees 4 Z Angle 180 Right hand rotation about vehicle Double 8 H 16 frame Z axis degrees 5 X Uncertainty 0 45 Uncertainty of X rotation degrees Double 8 H 24 default 0 6 Y Uncertainty 0 45 Uncertainty of Y rotation degrees Double 8 H 32 default 0 7 12 Uncertainty 0 45 Uncertainty of Z rotation degrees Double 8 H 40 default 0 XXXX 32 bit CRC Hex 4 H 48 CR LF Sentence Terminator ASCII only SPAN on OEM6 Firmware Reference Manual Rev 7 105 Chapter 4 SPAN Commands 4 2 58 WHEELVELOCITY Wheel Velocity for INS Augmenta
195. offset 100 Offset along the IMU enclosure frame Double 8 H X axis m for Mark4 3 yoffset 100 Offset along the IMU enclosure frame Double 8 H 8 Y axis m for Mark4 4 zoffset 100 Offset along the IMU enclosure frame Double 8 H 16 Z axis m for Mark4 5 180 Roll offset for Mark4 degrees Double 8 24 6 poffset 180 Pitch offset for Mark4 degrees Double 8 H 32 7 yoffset 180 Azimuth offset for Mark4 degrees Double 8 H 40 a Enter the roll pitch and azimuth offsets in the SPAN computation frame SPAN on OEM6 Firmware Reference Manual Rev 7 95 Chapter 4 SPAN Commands 4 2 45 SETMAXALIGNMENTTIME Set a Time Limit for Static Course Alignment Use this command to set a maximum time limit allowed for static coarse alignments Coarse alignments typically take under 60 seconds but in heavy vibration conditions they can take much longer trying to compensate for the vibration induced noise This command is used to cap the time to a specific length D This command is for advanced user only Alignment accuracy cannot be guaranteed if the alignment time is capped using this command Message ID 1800 Abbreviated ASCII Syntax SETMAXALIGNMENTTIME switch duration Abbreviated ASCII Example SETMAXALIGNMENTTIME ENABLE 90 Field ASCII pm Binary Binary Binary Pieta Type Value Format Bytes Offs
196. only Hex 4 H 40 CR LF Sentence terminator ASCII only SPAN on OEM6 Firmware Reference Manual Rev 7 145 Chapter 5 INS Logs 5 2 22 INSPOSX Inertial Position Extended This log includes the information from the INSPOS log as well as information about the position standard deviation The position type and solution status fields indicate whether or not the corresponding data is valid D The INSPOSX log is a large log and is not recommend for high rate logging If you want to use high rate logging log the INSPOSS log at a high rate and the INSCOVS log ontime 1 Message ID 1459 Log Type Synch Recommended Input log insposxa ontime 1 ASCII example INSPOSXA COM1 0 79 0 FINESTEERING 1690 493465 000 00000040 7211 43441 INS SOLUTION GOOD 5 PSRSP 51 11637750859 114 03826206294 1049 1191 0 4883 0 4765 0 8853 3 0 dee048ab Field Field Type Description Format ayes pve INSPOSX Header Log header H 0 2 INS Status Solution status Enum 4 See Table 33 Inertial Solution Status on page 138 3 Pos Type Position type Enum 4 H 4 See Table 34 Position or Velocity Type on page 141 4 Lat Latitude Double 8 H 8 5 Long Longitude Double 8 H 16 6 Height Orthometric height m Double 8 H 24 7 Undulation Undulation m Float 4 H 32 8 Lato Latitude standard deviation Float 4 H 36 9 Long o Longitude standard deviation F
197. onse messages see INTERFACEMODE on page 60 The response will be in the exact format you entered the message that is binary input binary response 2 2 1 Abbreviated Response Just the leading followed by the response string for example OK 2 2 2 ASCII Response Full header with the message name being identical except ending in R for response The body of the message consists of a 40 character string for the response string For example ZBESTPOSR COM1 0 67 0 FINE 1028 422060 400 00000000 a315b 0 OK b867caad 2 2 8 Binary Response Similar to an ASCII response except that it follows the binary protocols see Table 8 Binary Message Response Structure on page 21 Table 9 Binary Message Sequence on page 22 is an example of the sequence for requesting and then receiving BESTPOSB The example is in hex format When you enter a hex command you may need to add or 0x before each hex pair depending on your code For example OxAAO0x440x120x1C0x010x000x02 and so on 20 SPAN on OEM6 Firmware Reference Manual Rev 7 Messages Chapter 2 Table 8 Binary Message Response Structure Field Field Name Description 1 Sync Char Hexadecimal OxAA 1 0 2 Sync Char Hexadecimal 0x44 1 1 3 Sync Char Hexadecimal 0x12 1 2 4 Header Lgth Uchar Length of the header 1 3 5 Message ID Ushort Message ID number 2 4 6 Message Char Bit 7 Response Bit 1 6 Type 1 Response
198. or ASCII only 132 SPAN on OEM6 Firmware Reference Manual Rev 7 INS Logs Chapter 5 5 2 12 IMURATEPVA Asynchronous INS Position Velocity and Attitude This log provides the same information as the INSPVA log but is available asynchronously at the full rate of the IMU v Using this log consumes significant system resources and should only be used by experienced users However using this log consumes less resources than logging the synchronous INSPVA log at the same rate To use this log asynchronous logging must be enabled See ASYNCHINSLOGGING on page 37 Message ID 1778 Log Type Asynch Recommended Input log imuratepvaa onnew ASCII Example SfIMURATEPVAA COM1 0 57 0 FINESTEERING 1802 320345 180 00000000 9b1 12987 1802 320345 18 0000030 51 11695246671 114 03897779953 1047 6905 0 2284 0 0076 0 2227 0 160588332 0 039823409 269 988184416 INS ALIGNMENT COMPLETE f60016a6 Field Field Type Description Format ae id amn 1 Log Header Log header H 0 2 Week GNSS Week Ulong 4 H 3 Seconds Seconds from week start Double 8 H 4 4 Latitude Latitude WGS84 degrees Double 8 H 12 5 Longitude Longitude WGS84 degrees Double 8 H 20 6 Height Ellipsoidal Height WGS84 m Double 8 H 28 7 Velocity Velocity in a northerly direction a ve value implies a southerly Double 8 H 36 direction m s
199. ort Char The name of the port from which the log was generated The Y string is made up of the port name followed by an x where x is a number from 1 to 31 denoting the virtual address of the port If no virtual address is indicated it is assumed to be address 0 4 Sequence 4 Long Used for multiple related logs It is a number that counts down N 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 96 Idle Time Float The minimum percentage of time the processor is idle Y between successive logs with the same Message ID 6 TimeStatus Enum The value indicates the quality of the GPS reference time see Y Table 10 GPS Reference Time Status on page 23 7 Week Ulong GPS reference week number Y 8 Seconds GPSec Seconds from the beginning of the GPS reference week Y accurate to the millisecond level 9 Receiver Ulong An eight digit hexadecimal number representing the status of Y Status various hardware and software components of the receiver between successive logs with the same Message ID see Table 3 Receiver Status on page 13 10 Reserved Ulong Reserved for internal use Y 11 Receiver Ulong A value 0 65535 representing the receiver software build Y S W Version number 12 Char The character indicates the end of the header N Example Log 12 RAWEPHEMA COM1 0 35 0 SATTIME 1364 496230 000 00100000 97b7 2310 30 1364 496800 8b0550a189275510
200. oscope Scale Factor Acceleration Scale Factor HG1700 AG11 2 0733 rad LSB 2 072 ft s LSB HG1700 AG58 HG1900 CA29 CA50 HG1930 AA99 CA50 HG1700 AG17 2 0733 rad LSB 2 0726 ft s LSB HG1700 AG62 0 1 3600 0x256 0 rad LSB 0 05 215 m s LSB IMU CPT IMU KVH1750 SPAN CPT iIMU FSAS Litef LCI 1 LN 200 ISA 100 ISA 100C ADIS16488 IMU IGM A1 SPAN IGM A1 STIM300 IMU IGM S1 SPAN IGM S1 180 0 1x 2 8 arcsec LSB 0 05 x 2715 m s LSB 4 x 2 31 deg LSB 2x23 m s LSB 2 19 rad LSB 2 14 m s LSB 1 0e rad LSB 2 0e m s LSB 720 23 deg LSB 200 23 m s LSB 2721 deg LSB 222 m s LSB SPAN on OEM6 Firmware Reference Manual Rev 7 INS Logs Chapter 5 5 2 43 RAWIMUSX IMU Data Extended This is the short header version of the extended RAWIMUX log intended for use with post processing The extended version includes IMU information that is used by the NovAtel Inertial Explorer post processing software Message ID 1462 Log Type Asynch Recommended Input log rawimusxb onnew ASCII example SRAWIMUSXA 1692 484620 664 00 11 1692 484620 664389000 00801503 43110635 817242 202184 215194 41188 9895 a5db8c7b Binary Binary Field Field Type Description Bytes Offset Log Header Log header short H 0 2 IMU Error Simple IMU error flag Uchar 1 H 01 IMU error 00 IMU okay If there is an IMU error check the IMU Status field for details This
201. our IMU mounted with the Z axis not pointing up Then use the tables in the SETIMUORIENTATION command to determine the azimuth axis that SPAN is using Message ID 863 Abbreviated ASCII Syntax SETINITAZIMUTH azimuth azSTD 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 if the SPAN system is mounted with the positive Z axis as marked on the enclosure in a direction that is not up refer to the SETIMUORIENTATION command to determine the SPAN computation frame axes mapping that SPAN automatically applies Field ASCII Binary Binary Binary Binary Field Format Bytes Offset Description Type Value Value 1 eo Contains the command name or message header depending on whether the command is abbreviated ASCII ASCII or binary azimuth 360 Input azimuth angle degrees Double 8 H azSTD 0 0002778 to 45 Input azimuth standard deviation Double 8 H 8 angle degrees 1 header SPAN on OEM6 Firmware Reference Manual Rev 7 83 Chapter 4 SPAN Commands 4 2 37 SETINSOFFSET Set INS Offset Use the SETINSOFFSET command 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 INSPOSX INSVEL INSVELS INSVE
202. pecified Note MARK3 and MARKA are only MARK4 3 available on an OEM638 or ProPak6 receiver SPAN on OEM6 Firmware Reference Manual Rev 7 43 Chapter 4 SPAN Commands Field Field Type ASCII Value bd Description sabati pea 3 switch DISABLE 0 Disables the Event Input Enum 4 H 4 EVENT 1 Enables the Event Input as an event strobe default COUNT 2 Enables the Event Input as a counter The counter increments with each pulse detected The period of the count is from one PPS to the next PPS This option is commonly used for a wheel sensor Note This option functions only on SPAN systems with an OEM638 or ProPak6 receiver ENABLE 3 A synonym for the EVENT option for compatibility with previous releases 4 polarity NEGATIVE 0 Negative polarity default Enum 4 H 8 POSITIVE 1 Positive polarity 5 t bias default 0 A constant time bias in Long 4 H 12 minimum 999 999 999 nanoseconds can be applied to maximum 999 999 999 each event pulse Typically this is used to account for a transmission delay This field is not used if the switch field is set to COUNT 6 1 guard default 4 The time guard specifies the Ulong 4 H 16 minimum 2 minimum number of milliseconds maximum 3 599 999 between pulses This is used to coarsely filter the input pulses This field is not used if the switch field is set to COUNT 44 SPAN on OEM6 Firmware Re
203. r SETGIMBALORIENTATION are the same as they are for the SETIMUORIENTATION command see Chapter 6 Variable Lever Arm on page 200 for details on frame definitions However unlike an IMU SPAN is not be able to auto detect the orientation of the mount used so this command must be sent to SPAN If the command is not sent SPAN will assume a default mapping of 5 If 5 is not the correct mapping the SPAN system produces bad results Message ID 1318 Abbreviated ASCII Syntax SETGIMBALORIENTATION mapping Abbreviated ASCII Example SETGIMBALORIENTATION 6 rea Fe Description 1 Header Contains the command name or message H 0 header depending on whether the command is abbreviated ASCII ASCII or binary 2 Mapping 1 Mount X axis is pointing UP Ulong 4 H 2 Mount X axis is pointing DOWN 3 Mount Y axis is pointing UP 4 Mount Y axis is pointing DOWN 5 Mount Z axis is pointing UP default 6 Mount Z axis is pointing DOWN a See Table 21 Full Mapping Definitions on page 75 for details SPAN on OEM6 Firmware Reference Manual Rev 7 71 Chapter 4 SPAN Commands 4 2 29 SETHEAVEWINDOW Set Heave Filter Length Use this command to control the length of the heave filter This filter determines the heave vertical displacement of the IMU relative to a long term level surface Message ID 1383 Abbreviated ASCII Syntax SETHEAVEWINDOW filterlength Abbreviat
204. r velocity random walk in Double 8 H 10 m s rt hr Gyro Bias Total gyroscope bias in deg hr Double 8 H 18 Gyro ARW Gyroscope angular random walk in deg rt hr Double 8 H 26 Accel Scale 0 Accelerometer scale factor error in parts per Ulong 4 H 34 Factor million Optional Error Default 1000 ppm 8 Gyro Scale gt 0 Gyroscopic scale factor error in parts per Ulong 4 H 38 Factor million Optional Error Default 1000 ppm 9 Data gt 0 Time delay milliseconds from the time of Double 8 H 42 Latency validity of the IMU data to the time the input pulse is received by the SPAN enabled receiver This will include filtering delays processing delays and transmission times Optional Default 0 0 10 Reserved Reserved Ulong 4 H 50 10 CRC 32 bit CRC Hex 4 H 54 SPAN on OEM6 Firmware Reference Manual Rev 7 77 Chapter 4 SPAN Commands 4 2 33 SETIMUTOANTOFFSET 78 Set IMU to Antenna Offset Use this command to enter the offset between the IMU and the GNSS antenna The measurement should be done as accurately as possible preferably to within millimeters especially for RTK operation Any error in the lever arm will translate directly into an error in the INS position 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 are used to enter any possible errors in the measurements For example if the x offset measuremen
205. rame the output roll is the angle of rotation about the Y axis the output pitch is about the X axis and the output azimuth is about the Z axis and is measured to the Y axis Note that azimuth is positive in the clockwise direction when looking towards the origin However the input vehicle to body rotation about the Z axis follows the right hand rule convention and a positive rotation is in the counterclockwise direction when looking towards the origin For further information about extracting the vehicle s attitude with respect to the local level frame refer to NovAtel application note APN 037 Application Note on Vehicle Body Rotations available from the NovAtel Web site at www novatel com support search D Regardless of system configuration and IMU orientation the VEHICLEBODYROTATION and ETIMUORIENTATION commands must be sent to the receiver before attempting a kinematic alignment 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 APPLYVEHICLEBODYROTATION command on page 36 the reported attitude is in the vehicle frame otherwise the reported attitude is 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 uncertai
206. rd deviation The position type and solution status fields indicate whether or not the corresponding data is valid The INSPVAX log is a large log and is not recommend for high rate logging If you want to use high rate logging log the INSPVAS log at a high rate and the INSCOVS log ontime 1 Message ID 1465 Log Type Synch Recommended Input log inspvaxa ontime 1 ASCII example 5 1 0 73 5 5 1695 309428 000 00000040 4 77 43562 INS SOLUTION GOOD INS PSRSP 51 11637873403 114 03825114994 1063 6093 16 9000 0 0845 0 0464 0 0127 0 138023492 0 069459386 90 000923268 0 9428 0 6688 1 4746 0 0430 0 0518 0 0521 0 944295466 0 944567084 1 000131845 3 0 6877c178 Binary Binary Field Field Type Bytes Offset Format Data Description INSPVAX Header Log header H 0 2 INS Status Solution status Enum 4 H See Table 33 Inertial Solution Status on page 138 3 Pos Type Position type Enum 4 H 4 See Table 34 Position or Velocity Type on page 141 4 Lat Latitude degrees Double 8 H 8 5 Long Longitude degrees Double 8 H 16 6 Height Orthometric height m Double 8 H 24 7 Undulation Undulation m Float 4 H 32 8 North Vel North velocity m s Double 8 H 36 9 East Vel East velocity m s Double 8 H 44 10 Up Vel Up velocity m s Double 8 H 52 11 Roll Roll in Local Level degrees Double 8 H 60 12 Pitch Pitch
207. rder where the most significant value in the sequence is stored first at the lowest storage address For example the two bytes required for the hex number 4F52 is stored as 524F SPAN on OEM6 Firmware Reference Manual Rev 7 The receiver is capable of outputting several responses for various conditions Most responses are error messages to indicate when something is not correct The output format of the messages is dependent on the format of the input command If the command is input as abbreviated ASCII the output will be abbreviated ASCII The same rule applies for both ASCII and binary formats ASCII Message Table 11 Response Messages Binary Message ID Meaning OK COMMAND WAS RECEIVED CORRECTLY REQUESTED LOG DOES NOT EXIST THE LOG REQUESTED DOES NOT EXIST SPAN on OEM6 Firmware Reference Manual Rev 7 NOT ENOUGH RESOURCES IN 3 THE REQUEST HAS EXCEEDED A LIMIT FOR SYSTEM EXAMPLE THE MAXIMUM NUMBER OF LOGS ARE BEING GENERATED DATA PACKET DOESN T VERIFY 4 DATA PACKET IS NOT VERIFIED COMMAND FAILED ON RECEIVER 5 COMMAND DID NOT SUCCEED IN ACCOMPLISHING REQUESTED TASK INVALID MESSAGE ID 6 THE INPUT MESSAGE ID IS NOT VALID INVALID MESSAGE FIELD X 7 FIELD X OF THE INPUT MESSAGE IS NOT CORRECT INVALID CHECKSUM 8 THE CHECKSUM OF THE INPUT MESSAGE IS NOT CORRECT ONLY APPLIES TO ASCII AND BINARY FORMAT MESSAGES MESSAGE MISSING FI
208. re ideal for applications where the amount of data transmitted is fairly high Due to the inherent compactness of binary as opposed to ASCII data messages are much smaller The smaller message size 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 see 32 Bit CRC on page 25 for the CRC algorithm performed on all data including the header 4 The header is in the format shown in Table 4 Binary Message Header Structure on page 15 14 SPAN on OEM6 Firmware Reference Manual Rev 7 Messages Chapter 2 Table 4 Binary Message Header Structure Field iU Binary Binary Ignored Field Field Name Type Description Bytes Offset on Input 1 Sync Char Hexadecimal 1 0 2 Sync Char Hexadecimal 0x44 1 1 N 3 Sync Char Hexadecimal 0x12 1 2 N 4 Header Uchar Length of the header 1 3 N Length 5 Message ID Ushort This is the Message ID number of the log 2 4 N 6 Message Char Bits 0 4 Reserved 1 6 N Type Bits 5 6 Format 00
209. re required for the SPAN filter to converge Bridging performance is poor before filter convergence 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 upward 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 on page 73 for a description of the axes mapping that occurs when the IMU is mounted differently from Z up This command is not save configurable and if needed must be entered after the system reports INS ALIGNING 1 Azimuth is positive in a clockwise direction when looking towards the Z axis origin 2 Use the SETIMUORIENTATION command if the IMU is mounted with the Z axis not pointing up Then use the tables in SETIMUORIENTATION on page 73 to determine the azimuth axis that SPAN is using Message ID 862 Abbreviated ASCII Syntax SETINITATTITUDE pitch roll azimuth pitchSTD rollSTD azSTD Abbreviated ASCII Example SETINITATTITUDE 00905 5 5 In this example the initial roll and pitch is 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 grav
210. rices in this log each contain 9 covariance values with respect to the local level frame For the attitude angles they are given in the SPAN computation frame as follows variance about variance about x rotation i BT y rotation angle pitch KX xy XZ angle roll yx vy yz ZX Zy variance about z rotation angle azimuth or yaw and are displayed within the log output as XX XY XZ YX VY yZ ZX Zy ZZ These values are computed once per second and are available before and after alignment Message ID 264 Log Type Synch Recommended Input log inscova ontime 1 ASCII Example INSCOVA COM1 0 65 0 FINESTEERING 1724 219604 009 00000040 0929 30019 1724 219604 000000000 0 1285331446664655 0 0346617784498892 0 1479079453018866 0 0346617784498892 0 2902226803503227 0 2254840962138562 0 1479079453018865 2254840962138562 1 2153278719243952 0 0315677907853296 0 0005084795762484 0001477207864819 0 0005084795762484 0 0251931017171569 0 0002612907385699 0001477207864819 0 0002612907385699 0 0359258489923869 0 0030912934913378 0008584993488541 0 0048141355877257 0 0008584993488541 0 0074998390999675 0071447656377662 0 0048141355877257 0 0071447656377662 0 0300191236990451 7 3 6 8 oO Binary Binary Field Type Description Format Bytes Offset 1 Log Header Log header H 0 2 Week GNSS Week Ulong 4 H 3 Seconds into Week Seconds
211. rk4 request Double 8 H 60 11 Pitch Pitch at Mark4 request Double 8 H 68 12 Azimuth Azimuth at Mark4 request Double 8 H 76 13 Status INS Status at Mark4 request Enum 4 H 84 14 Tag Tag ID from TAGNEXTMARK command if any Ulong 4 H 88 default 0 15 xxxx 32 bit CRC ASCII Binary and Short Binary only Hex 4 H 92 16 CR LF Sentence Terminator ASCII only SPAN on OEM6 Firmware Reference Manual Rev 7 193 Chapter 5 INS Logs 5 2 52 TIMEDWHEELDATA Timed Wheel Data This log contains time stamped wheel sensor data The time stamp in the header is the time of validity for the wheel data and not the time the TIMEDWHEELDATA log was output See the relevant SPAN User Manual for information about wheel sensor messages Depending on the method used to connect the wheel sensor through an IMU ISA 100 IMU ISA 100C iIMU FSAS or IMU CPT or directly into an IMU IGM enclosure either field 3 or field 4 of the log will be filled for wheel velocity They are equivalent but are filled differently depending on what data is provided to SPAN Note that neither velocity value is used by the SPAN filter Rather the SPAN filter uses cumulative ticks per second Message ID 622 Log Type Asynch Recommended Input log timedwheeldataa onnew ASCII Example TIMEDWHEELDATAA 1393 411345 001 58 0 215 814910889 0 0 1942255 3b5 a236 This example is from the iMAR iMWS wheel sensor Binary Binary
212. rth in m s Double 8 H 12 5 East Velocity Velocity East in m s Double 8 H 20 6 Up Velocity Velocity Up in m s Double 8 H 28 7 Status INS status see Table 33 Inertial Solution Status on Enum 4 H 36 page 138 XXXX 32 bit CRC ASCII Binary and Short Binary only Hex 4 H 40 CR LF Sentence terminator ASCII only SPAN OEM6 Firmware Reference Manual Rev 7 155 Chapter 5 INS Logs 5 2 30 INSVELS Short INS Velocity This log is the short header version of the INSVEL log page 155 Message ID 324 Log Type Synch Recommended Input log insvelsa ontime 1 ASCII Example SINSVELSA USB2 0 18 5 FINESTEERING 1541 487942 000 00040000 9c95 37343 1541 487942 00054 9050 12 656120921 3 796947104 0 100024422 1NS SOLUTION GOOD 407d82ba Field Field Type Description pisa 1 Log Header Log header H 0 2 GNSS Week Ulong 4 H 3 Seconds into Week Seconds from week start Double 8 H 4 4 North Velocity Velocity North m s Double 8 H 12 5 East Velocity Velocity East m s Double 8 H 20 6 Up Velocity Velocity Up m s Double 8 H 28 7 Status INS status see Table 33 Inertial Solution Status on Enum 4 H 36 page 138 8 32 bit CRC ASCII Binary and Short Binary only Hex 4 H 40 CR LF Sentence terminator ASCII only 156 SPAN OEM6O Firmware Reference Manual Rev 7 INS Logs Chapter 5 5 2 31 INSVELX Inertial Veloc
213. s an INS status indicator Message ID 266 Log Type Synch Recommended Input log insspda ontime 1 ASCII Example fINSSPDA USB2 0 20 0 FINESTEERING 1541 487969 000 00040000 7832 37343 1541 487969 000549 050 329 621116190 14 182070674 0 126606551 INS SOLUTION GOOD c274fff2 Binary Field Field Type Description Offset 1 Log Header Log header H 0 2 GNSS Week Ulong 4 H 3 Seconds into Week Seconds from week start Double 8 H 4 4 Trk gnd Actual direction of motion over ground track over Double 8 H 12 ground with respect to True North in degrees The track over ground is determined by comparing the current position determined from the GNSS INS solution with the previously determined position Track over ground is best used when the vehicle is moving When the vehicle is stationary position error can make the direction of motion appear to change randomly 5 Horizontal Speed Magnitude of horizontal speed in m s where a positive Double 8 H 20 value indicates forward movement and a negative value indicates reverse movement 6 Vertical Speed Magnitude of vertical speed in m s where a positive Double 8 H 28 value indicates speed upward and a negative value indicates speed downward 7 Status INS status see Table 33 Inertial Solution Status Enum 4 H 36 page 138 XXXX 32 bit CRC ASCII Binary and Short Binary only Hex 4 H 40 9 CR LF Sentence terminator ASCI
214. s short header INSUPDATE Most recent INS update information 757 Asynch INSVEL Most recent North East and Up velocity vector values 267 Synch INSVELS Most recent North East and Up velocity vector values 324 Synch short header INSVELX Most recent North East and Up velocity vector values 1458 Synch with velocity standard deviation SPAN on OEM6 Firmware Reference Manual Rev 7 109 Chapter 5 INS Logs ASCII Name Description oo Type MARK1COUNT Count for the Mark1 input 1093 Asynch MARK1PVA Outputs the position velocity and attitude when an event 1067 Synch is received on the Mark1 input MARK2COUNT Count for the Mark2 input 1094 Asynch MARK2PVA Outputs the position velocity and attitude when an event 1068 Synch is received on the Mark2 input Count for the Mark3 input 1095 Asynch MARK3PVA Outputs the position velocity and attitude when an event 1118 Synch is received on the Mark3 input MARK4COUNT Count for the Mark4 input 1096 Asynch MARK4PVA Outputs the position velocity and attitude when an event 1119 Synch is received on the Mark4 input PASHR NMEA inertial attitude data 1177 Synch RAWIMU IMU status indicator and the measurements from the 268 Asynch accelerometers and gyros RAWIMUS IMU status indicator and the measurements from the 325 Asynch accelerometers and gyros short header RAWIMUSX IMU status indicator and the meas
215. s and is measured to the Y axis Note that azimuth is positive in the clockwise direction when looking towards the origin However the input vehicle to body rotation about the Z axis follows the right hand rule convention and a positive rotation is in the counterclockwise direction when looking towards the origin For further information about extracting the vehicle s attitude with respect to the local level frame refer to NovAtel application note APN 037 Application Note on Vehicle Body Rotations available from the NovAtel Web site at www novatel com support search items Application 20Note v This command overrides the output rotation caused by a VEHICLEBODYROTATION APPLYVEHICLEBODYROTATION command set Unlike the VEHICLEBODYROTATION command which is specified as the rotation from the vehicle frame to the SPAN frame this command rotates from the SPAN frame to the desired output frame thus the sign convention is reversed between the two commands Message ID 1796 Abbreviated ASCII Syntax SETINSROTATION alpha beta gamma Abbreviated ASCII Example SETINSROTATION 0 0 90 Field ASCII Binary Binary Binary Binary Value Value Description Format Bytes Offset 1 Header Contains the command name or H 0 message header depending on whether the command is abbreviated ASCII ASCII or binary 2 alpha 180 Right hand rotation about the SPAN Do
216. s of the heading update during the last INS filter Enum 4 H 24 update See Table 36 Heading Update Values on page 154 XXXX 32 bit CRC ASCII Binary and Short Binary only Hex 4 H 28 10 Sentence terminator ASCII only SPAN on OEM6 Firmware Reference Manual Rev 7 153 Chapter 5 154 INS Logs Table 36 Heading Update Values Binary ASCII Description 0 INACTIVE A heading update was not available 1 ACTIVE Heading updates are running but the epoch is not used as an update When all other rejection criteria pass a heading update will still only be applied once every 5 seconds 20 seconds when stationary 2 USED The update for that epoch was taken SPAN on OEM6 Firmware Reference Manual Rev 7 INS Logs Chapter 5 5 2 29 INSVEL INS Velocity This log contains the most recent North East and Up velocity vector values with respect to the local level frame and also includes an INS status indicator Message ID 267 Log Type Synch Recommended Input log insvela ontime 1 ASCII Example fINSVELA USB1 0 19 0 FINESTEERING 1543 236173 000 00000000 9c95 37343 1543 236173 002500 000 14 139471871 0 070354464 0 044204369 INS SOLUTION GOOD 3c37c0fc Field Field Type Description 1 Log Header Log header H 0 2 Week GNSS Week Ulong 4 H 3 Seconds into Week Seconds from week start Double 8 H 4 4 North Velocity Velocity No
217. s solved for after using the RVBCALIBRATE command page 69 Refer to VEHICLEBODYROTATION on page 104 for more information Message ID 642 Recommended Input log vehiclebodyrotationa onchanged ASCII Example VEHICLEBODYROTATIONA COM1 0 36 5 FINESTEERING 1264 144170 094 00000000 bcf2 1541 1 5869 999997474209 2 6639999995760122 77 6649999876392343 2 0000000000000000 2 000000000000000 0 5 0000000000000000 25 886cc Binary Binary Field Field Type Description Format Bytes Offset 1 Log Header Log Header H 0 2 X Angle Right hand rotation about vehicle frame x axis in degrees Double 8 H 3 Y Angle Right hand rotation about vehicle frame y axis in degrees Double 8 H 8 4 Z Angle Right hand rotation about vehicle frame z axis in degrees Double 8 H 16 5 X Uncertainty Uncertainty of x rotation in degrees default 0 Double 8 H 24 6 Y Uncertainty Uncertainty of y rotation in degrees default 0 Double 8 H 32 7 Z Uncertainty Uncertainty of z rotation in degrees default 0 Double 8 H 40 8 XXXX 32 bit CRC Hex 4 H 48 9 CR LF Sentence Terminator ASCII only 198 SPAN on OEM6 Firmware Reference Manual Rev 7 INS Logs Chapter 5 5 2 56 WHEELSIZE Wheel Size This log contains wheel sensor information The inertial filter models the size of the wheel to compensate for changes in wheel circumference due to hardware or environmental c
218. ss 3 AFRESET command can also be issued to the receiver to clear any unknown settings The FRESET command will erase all user settings You should know your configuration and be able to reconfigure the receiver before you send the FRESET command If a hardware problem is encountered send a list of the troubleshooting steps taken and results Contact Information Use one of the following methods to contact NovAtel Customer Support Call the NovAtel Hotline at 1 800 NOVATEL U S amp Canada or 1 403 295 4500 international Fax 1 403 295 4501 Write NovAtel Inc E mail support novatel com Customer Support Department 1120 68 Avenue NE Calgary AB Canada T2bE 8S5 Web site www novatel com 8 SPAN on OEM6 Firmware Reference Manual Rev 7 Chapter 1 Introduction 1 1 NovAtel s SPAN technology brings together two different but complementary positioning and navigation systems Global Navigation Satellite System GNSS and Inertial Navigation System INS By combining the best aspects of GNSS and INS into one system SPAN technology offers a solution that is more accurate and reliable than either GNSS or INS alone 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 About this manual The SPAN receiver utilizes a comprehensive user interface command structure which requires commun
219. t accuracy is a centimeter enter 0 01 in the a field Mount the IMU as close as possible to the GNSS antenna particularly in the horizontal plane The X pitch Y roll and Z azimuth directions of the inertial frame are clearly marked on the IMU This command should be entered before or during the INS alignment not after After changing the IMU to antenna offset use the SAVECONFIG command to save the changes to non volatile memory For information about the SAVECONFIG command see the OEMG Family Firmware Reference Manual OM 20000129 v If you are uncertain of the standard deviation values for the antenna offset err on the side of a larger standard deviation Message ID 383 Abbreviated ASCII Syntax SETIMUTOANTOFFSET x y z a b c Abbreviated ASCII Example SETIMUTOANTOFFSET 0 54 0 32 1 20 0 03 0 03 0 05 Field ASCII Binary Binary Binary Binary Field Type Value Value Desenpton Format Bytes Offset 1 Header Contains the command name or message 0 header depending on whether the command is abbreviated ASCII ASCII or binary 2 x 100 x offset m Double 8 H See Figure 3 IMU to Antenna Offset on page 79 3 y 100 y offset m Double 8 H 8 See Figure 3 IMU to Antenna Offset on page 79 4 z 100 z offset m Double 8 H 16 See Figure 3 IMU to Antenna Offset on page 79 5 a 0 to 1 Uncertainty in x m Double 8 H 24 Defaults to 10 of the x offset to a minimum
220. t to local level If cleared the input frame is ECEF 0x2 If this bit is set the heading update is set relative If cleared the heading update is absolute SPAN on OEM6 Firmware Reference Manual Rev 7 49 Chapter 4 SPAN Commands 4 2 11 EXTHDGOFFSET 50 Set the Angular Offset The EXTHDGOFFSET command is used to specify the angular offset from the dual antenna baseline to the SPAN computation frame It is highly recommended that these offsets be entered by entering a lever arm to both antennas as the measurement errors will be lower However this command can be used to enter the offsets directly if necessary Typically EXTHDGOFFSET is used as a log The angular offsets between the dual antenna baseline and the SPAN computation frame are computed internally and can be viewed by logging the EXTHDGOFFSET command e g log exthdgoffset once The message structure of the log is the same as the structure of the command Message ID 1204 Abbreviated ASCII Syntax EXTHDGOFFSET Heading HeadingSTD Pitch PitchSTD Abbreviated ASCII Examples EXTHDGOFFSET 0 5 1 0 0 23 1 0 ASCII Binary Value Value Binary Binary Binary Format Bytes Offset Field Field Type Description 1 header Contains the command name or H 0 message header depending on whether the command is abbreviated ASCII ASCII or binary 2 Heading 180 Angular offset for the azimuth or Double 8 H heading bet
221. tance between the IMU center of navigation and the Asynch secondary GNSS antenna phase center 1258 TAGGEDMARK1PVA Tagged version of log that outputs the position velocity Synch and attitude when an event is received on the Mark1 input 1259 TAGGEDMARK2PVA Tagged version of log that outputs the position velocity Synch and attitude when an event is received on the Mark2 input 1270 IMUTOANTOFFSETS Distance between the IMU center of navigation and the Asynch phase center of the GNSS antenna s 1305 IMURATEPVAS Most recent position velocity and attitude at full rate of IMU Asynch 1320 VARIABLELEVERARM Displays the re calculated variable lever arm when a new Asynch INPUTGIMBALANGLE command is received 1321 GIMBALLEDPVA Re calculated gimballed position velocity and attitude Asynch 1327 TAGGEDMARK3PVA Tagged version of log that outputs the position velocity Synch and attitude when an event is received on the Mark3 input 1328 TAGGEDMARK4PVA Tagged version of log that outputs the position velocity Synch and attitude when an event is received on the Mark4 input 112 SPAN on OEM6 Firmware Reference Manual Rev 7 INS Logs Chapter 5 ASCII Description Type 1362 IMURATECORRIMUS RAWIMU data corrected for gravity earth s rotation and Asynch sensor errors provided at full rate of IMU 1382 HEAVE Vessel heave computed by the integrated heave filter Asynch
222. tatus see Table 25 Solution Status on page 115 Enum 4 H Pos Type Position type see Table 26 Position or Velocity Type on Enum 4 H 4 page 116 4 Latitude degrees Double 8 H 8 5 Lon Longitude degrees Double 8 H 16 6 Height above mean sea level metres Double 8 H 24 7 Undulation Undulation the relationship between the geoid and the ellipsoid Float 4 H 32 m of the chosen datum 8 Datum ID Datum ID refer Table 30 Datum Transformation Parameters on Enum 4 H 36 page 119 9 Lato Latitude standard deviation metres Float 4 H 40 10 Lono Longitude standard deviation metres Float 4 H 44 11 Hgto Height standard deviation metres Float 4 H 48 12 StnID Base station ID Char 4 4 H 52 13 Diff age Differential age in seconds Float 4 H 56 14 Sol age Solution age in seconds Float 4 H 60 114 SPAN on OEM6 Firmware Reference Manual Rev 7 INS Logs Chapter 5 Binary Binary Field Field type Data Description Format Bytes Offset 15 SVs Number of satellites tracked Uchar 1 H 64 16 solnSVs Number of satellite solutions used in solution Uchar 1 H 65 17 solnL1SVs_ Number of satellites with L1 E1 B1 signals used in solution Uchar 1 H 66 18 solnMultiSVs Number of satellites with multi frequency signals used in solution Uchar 1 H 67 19 Reserved Uchar 1 H 68 20 lextsolstat Extended solution status see Table 88 Extended Solution Status Hex 1 H 69
223. tatus on Enum 4 H 36 page 138 XXXX 32 bit CRC ASCII Binary and Short Binary only Hex 4 H 40 CR LF Sentence terminator ASCII only 152 SPAN on OEM6 Firmware Reference Manual Rev 7 INS Logs Chapter 5 5 2 28 INSUPDATE INS Update This log contains the most recent INS update information It provides information about what updates were performed in the INS filter at the last update epoch and a wheel sensor status indicator Message ID 757 Log Type Asynch Recommended Input log insupdatea onchanged ASCII Example INSUPDATEA SPECIAL 0 48 0 FINESTEERING 1701 156566 000 00004000 6 07 10883 SINGLE 0 12 0 FALSE WHEEL SENSOR INACTIVE HEADING UPDATE ACTIVE 553bef65 D Binary Binary Field Field Type Description Bytes Offset 1 Log Header Log header H 0 2 Solution Type Type of GNSS solution used for the last update see Enum 4 H Table 26 Position or Velocity Type on page 116 Reserved Integer 4 H 4 Phase Number of raw phase observations used in the last INS Integer 4 H 8 filter update Reserved Integer 4 H 12 Zupt Flag A zero velocity update was performed during the last INS Boolean 4 H 16 filter update 0 False 1 True 7 Wheel Status Wheel status Ulong 4 H 20 0 INACTIVE 1 ACTIVE 2 USED 3 UNSYNCED 4 BAD MISC 5 HIGH_ROTATION 8 Heading Update Statu
224. the vehicle or if the rotation angles available are known to be incorrect C After the RVBCALIBRATE ENABLE command is entered there are no vehicle body rotation parameters present and a kinematic alignment is NOT possible Therefore this command should only be entered after the system has performed either a static or kinematic alignment and has a valid INS solution A good INS solution and vehicle movement are required for the SPAN system to solve the vehicle body offset The solved vehicle body rotation parameters are output in the VEHICLEBODYROTATION log when the calibration is complete see page 198 When the calibration is done the rotation values are fixed until the calibration is re run by entering the RVBCALIBRATE command again 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 the start up and alignment technique in the relevant SPAN User Manual The angular offset values are not applied to the attitude output unless the APPLYVEHICLEBODYROTATION command is enabled Message ID 641 Abbreviated ASCII Syntax RVBCALIBRATE switch Abbreviated ASCII Example RVBCALIBRATE enable Field ASCII Binary Binary Binary Binary Field Format Bytes Offset Description Type Value Value 1 Header Contains the command name or H 0 message head
225. tion Use the WHEELVELOCITY command to input wheel sensor data into the OEM6 receiver This command should be used only if the wheel sensor cannot be directly connected to an odometer port in the SPAN system Message ID 504 Abbreviated ASCII Example WHEELVELOCITY 123 8 100 00 0 40 WHEELVELOCITY 123 8100000 80 WHEELVELOCITY 123 8 10 0 0 0 0 120 The examples above are for a vehicle traveling at a constant velocity with these wheel sensor characteristics e Wheel Circumference 2 m e Vehicle Velocity assumed constant for this example 10 m s Per Revolution 8 e Cumulative Ticks Per Second 10 m s 8 ticks rev 2 m rev 40 e Latency between 1PPS and measurement from wheel sensor hardware 123 ms ASCII Binary Binary Binary Field Field Type Value Value Description Format Bytes Offset 1 Header Contains the command or H 0 message header depending on whether the command is abbreviated ASCII ASCII or binary 2 Latency A measure of the latency in the Ushort 2 H velocity time tag in ms Ticks rev Number of ticks per revolution Ushort 2 H 2 Wheel Short wheel velocity in ticks s Ushort 2 H 4 Velocity Reserved Ushort 2 H 6 Float Wheel Float wheel velocity in ticks s Float 4 H 8 Velocity Reserved Ulong 4 H 12 Reserved Ulong 4 H 16 9 Cumulative Cumulative number of ticks s Ulong 4 H 20 Ticks s 106 SPAN o
226. ttitude3 Azimuth in local level in degrees Double 8 H 64 11 PosStdDev1 Position standard deviation in metres Double 8 H 72 SPAN on OEM6 Firmware Reference Manual Rev 7 47 Chapter 4 SPAN Commands ASCII Binary d Binary Binary Binary Field Field Type Value Value Description Format Bytes Offset 12 PosStdDev2 Position2 standard deviation in metres Double 8 H 80 13 PosStdDev3 Position3 standard deviation in metres Double 8 H 88 14 VelStdDev1 Velocity1 standard deviation in Double 8 H 96 metres second 15 VelStdDev2 Velocity2 standard deviation in Double 8 H 104 metres second 16 VelStdDev3 Velocity3 standard deviation in Double 8 H 112 metres second 17 AttStdDev1 Attitude1 standard deviation in degrees Double 8 H 120 18 AttStdDev2 Attitude2 standard deviation in degrees Double 8 H 128 19 AttStdDev3 Attitude3 standard deviation in degrees Double 8 H4136 20 UpdateMask This mask selects which updates are HEX 4 H 144 applied Setting a bit applies the update Ulong and more than one update can be applied at one time See Table 15 EXTERNALPVAS Updates Mask on page 48 21 OptionsMask This mask selects the update options See HEX 4 H 148 Table 16 EXTERNALPVAS Options Mask Ulong on page 49 Table 15 EXTERNALPVAS Updates Mask Bit Mask Description 0 0x00001 Reserved 1 0x00002 Reserved 2
227. uble 8 H X angle computation frame X axis degrees 3 beta 180 Right hand rotation about the SPAN Double 8 H 8 Y angle computation frame Y axis degrees 4 180 Right hand rotation about the SPAN Double 8 H 16 Z angle computation frame Z axis degrees 90 SPAN on OEM6 Firmware Reference Manual Rev 7 SPAN Commands Chapter 4 4 2 0 SETINSUPDATE Enable Disable INS Filter Updates Use this command to enable or disable the available INS filter updates Message ID 1821 Abbreviated ASCII Syntax SETINSUPDATE INSUpdate Trigger Abbreviated ASCII Example SETINSUPDATE ZUPT DISABLE ASCII 2210 Binary Binary Binary Field Field Type Value Description Format Bytes Offset 1 Header Contains the command name or H 0 message header depending on whether the command is abbreviated ASCII ASCII or binary 2 INSUpdate POS 0 Position updates Enum 4 H ZUPT 1 Zero velocity updates PSR 2 Pseudorange updates ADR 3 Carrier phase updates DOPPLER 4 Doppler updates ALIGN 5 Heading updates DMI 6 Distance measuring instrument wheel sensor updates 3 Trigger DISABLE 0 Disable the INS update specified in Enum 4 H 4 the INSUpdate field ENABLE 1 Enable the INS update specified in the INSUpdate field SPAN on OEM6 Firmware Reference Manual Rev 7 91 Chapter 4 SPAN Commands 4 2 41 SETMARK1OFFSET Set Mark1 Offset Use this command to set th
228. uble 8 H 36 8 East Velocity East Velocity at Mark1 request Double 8 H 44 9 Up Velocity Up Velocity at Mark 1 request Double 8 H 52 10 Roll Roll at Mark1 request Double 8 H 60 11 Pitch Pitch at Mark1 request Double 8 H 68 12 Azimuth Azimuth at Mark1 request Double 8 H 76 13 Status INS Status at Mark 1 request Enum 4 H 84 14 Tag ID from TAGNEXTMARK command if any Ulong 4 H 88 default 0 15 82 bit CRC ASCII Binary and Short Binary only 4 H 92 16 CR LF Sentence Terminator ASCII only 190 SPAN on OEM6 Firmware Reference Manual Rev 7 INS Logs Chapter 5 5 2 9 TAGGEDMARK2PVA Position Velocity and Attitude at a Tagged Mark2 TAGGEDMARK2PVA contains the same information as MARK2PVA with the addition of a unique identifying number tag The SPAN CPT does not have a Mark2 input so this log is not available for the SPAN CPT The user specifies a TAG for the upcoming TAGGEDMARKPVA via the TAGNEXTMARK command That tag shows up at the end of this message which is otherwise identical to the MARK2PVA message Message ID 1259 Log Type Synch Recommended Input log taggedmark2pva onnew Abbreviated ASCII Example TAGGEDMARK2 PVAA COM1 0 73 0 FINESTEERING 1732 248347 693 000500a0 2a5b3 12002 1732 248347 692695400 51 11693017508 114 03884746120 1046 3929 0 0009 0 0014 0 0015 0 559580646 1 121028629 255 541153133 INS SO
229. um 4 H on page 39 SPAN on OEM6 Firmware Reference Manual Rev 7 53 Chapter 4 SPAN Commands 4 2 15 INPUTGIMBALANGLE Input Gimbal Angles into the Receiver Use this command to input information about the current mount gimbal angles Gimbal angles are the angle from the current gimbal location to the locked mount frame They are input in the mount body frame See Chapter 6 Variable Lever Arm on page 200 for details on frame definitions Message ID 1317 Abbreviated ASCII Syntax INPUTGIMBALANGLE XAngle YAngle ZAngle XUncert YUncert ZUncert Abbreviated ASCII Examples INPUTGIMBALANGLE 0 003 0 1234 12 837 INPUTGIMBALANGLE 0 003 0 1234 12 837 0 001 0 001 0 005 ASCII Binary Value Value Binary Binary Binary Format Bytes Offset Field Field Type Description 1 Header Contains the command name or H 0 message header depending on whether the command is abbreviated ASCII ASCII or binary 2 X Angle 180 Right hand rotation from the current Double 8 H gimbal location to the locked mount frame axis in degrees 3 Y Angle 180 Right hand rotation from the current Double 8 H 8 gimbal location to the locked mount frame Y axis in degrees 4 ZAngle 180 Right hand rotation from the current Double 8 H 16 gimbal location to the locked mount frame Z axis in degrees 4 X Uncertainty 0 180 Uncertainty of X rotation in degrees Double 8 H 24
230. urements from the 1462 Asynch accelerometers and gyros extended version for post processing with short header RAWIMUX IMU status indicator and the measurements from the 1461 Asynch accelerometers and gyros extended version for post processing RELINSPVA Relative INSPVA log 1446 Asynch SYNCHEAVE Synchronous log containing the instantaneous Heave 1708 Synch value SYNCRELINSPVA Synchronous Relative INSPVA log 1743 Synch TAGGEDMARK1PVA Tagged version of log that outputs the position velocity 1258 Synch and attitude when an event is received on the Mark1 input TAGGEDMARK2PVA Tagged version of log that outputs the position velocity 1259 Synch and attitude when an event is received on the Mark2 input TAGGEDMARKS3PVA Tagged version of log that outputs the position velocity 1327 Synch and attitude when an event is received on the Mark3 input TAGGEDMARKAPVA Tagged version of log that outputs the position velocity 1328 Synch and attitude when an event is received on the Mark4 input TIMEDWHEELDATA Time stamped wheel sensor data 622 Asynch TSS1 Heave roll and pitch information in TSS1 protocol 1456 Synch 110 SPAN on OEM6 Firmware Reference Manual Rev 7 INS Logs Chapter 5 ASCII Name Description CURE Type VARIABLELEVERARM Displays the re calculated variable lever arm when a new 1320 Asynch INPUTGIMBALANGLE command is received VEHICLEBODYROTATION Angular offset from the vehicle frame to the SPAN frame 642 WHEELSI
231. ut a gimballed solution at the rate the gimbal angles are received Technical Description There are several frames of reference involved when dealing with a gimballed mount The frames are all very similar but can be quite confusing due to small differences Below are all frames applicable to the implementation of the variable lever arm Frame Description Notation SPAN body frame The physical IMU axes b SPAN computational frame Standard SPAN computational frame where Z is up Y is s forward and X is right Vehicle frame SPAN computational frame may be rotated to match the v vehicle frame using the VEHICLEBODYROTATION command Mount body frame The physical axes of the gimballed mount mb Gimbal body frame The physical axes of the gimbal plane that matches the mount gb body frame when gimbal angles are zero Mount computation frame Mapping 5 applied to the mount body frame mc Gimbal computation frame Mapping 5 applied to the gimbal body frame gc Mount SPAN frame Mapping five and GIMBALSPANROTATION applied to the m mount frame so that the mount and SPAN frames are coincident when gimbal angles are zero Gimbal SPAN frame Mapping 5 and GIMBALSPANROTATION applied to the gimbal g frame so that the gimbal and SPAN frames are coincident Figure 4 Simple Configuration and Figure 5 Rotation Results on page 201 illustrate a basic scenario for the information in the table abov
232. velocity in the INSPOS INSPOSS INSPOSX INSVEL INSVELS INSVELX INSSPD INSSPDS INSPVA INSPVAS and INSPVAX logs by the amount specified in metres with respect to the IMU enclosure frame axis Enter Value4 Value5 and Value6 in degrees from the IMU enclosure frame to the output frame Range is 180 degrees These offsets rotate the attitude output of the INS solution independently from any kinematic alignment requirements See the Note on page 89 MARK1 5 Offset from the IMU to the output point for the MARK1PVA log Enter Value1 Value2 and Value3 in metres The values entered represent the vector from the IMU center of navigation to the output point for the MARK1PVA log in the IMU enclosure frame Enter Value4 Value5 and Value6 in degrees from the IMU enclosure frame to the output frame Range is 180 degrees MARK2 6 Offset from the IMU to the output point for the MARK2PVA log Enter Value1 Value2 and Value3 in metres The values entered represent the vector from the IMU center of navigation to the output point for the MARK2PVA log in the IMU enclosure frame Enter Value4 Valued and Value6 in degrees from the IMU enclosure frame to the output frame Range is 180 degrees Note This option is not available for the SPAN CPT BORESITE 8 Rotational offset from the IMU enclosure frame to the dual antenna baseline Enter Value1 Value2 and Value3 in degrees SPAN on OEM6 Firmware Reference Manua
233. ween the external aiding source and the IMU forward axis in degrees 3 HeadingSTD 0 10 Input heading offset standard Double 8 H 8 deviation in degrees 4 Pitch 90 Angular offset for the pitch between Double 8 H 16 the external aiding source and the IMU forward axis in degrees Default 0 0 5 PitchSTD 0 10 Input pitch offset standard deviation Double 8 H 24 in degrees Default 0 0 SPAN on OEM6 Firmware Reference Manual Rev 7 SPAN Commands Chapter 4 4 2 12 GIMBALSPANROTATION Gimbal Frame to SPAN Frame Rotation Use this command to specify a rotational offset between a gimbal mount and the SPAN computation frame This command must be used if the mount frame and SPAN computation frame do not match after the mapping from SETGIMBALORIENTATION is applied to the mount See Chapter 6 Variable Lever Arm on page 200 for details on frame definitions The message format and definitions are identical to those in the VEHICLEBODYROTATION command The angles must be entered in the SPAN computation frame and the direction of the angles is from the mount to the SPAN computation frame Message ID 1319 Abbreviated ASCII Syntax GIMBALSPANROTATION XAngle YAngle ZAngle XUncert YUncert ZUncert Abbreviated ASCII Examples GIMBALSPANROTATION 0 0 90 GIMBALSPANROTATION 0 0 90 0 1 0 1 1 0 ASCII Binary Binary Binary Binary Field Rield Type Value Value
234. while moving will result in severe instability of the solution Message ID 382 Abbreviated ASCII Syntax INSZUPT Field ASCII Binary Description Binary Binary Binary Field Type Value Value Format Bytes Offset 1 Header Contains the command name or H 0 message header depending on whether the command is abbreviated ASCII ASCII or binary 2 Reserved BOOL 4 H This parameter is optional when using abbreviated ASCII syntax SPAN on OEM6 Firmware Reference Manual Rev 7 SPAN Commands 4 2 20 INSZUPTCONTROL INS Zero Velocity Update Control Use this command to control whether ZUPTs are performed by the system When enabled ZUPTs allow the INS to reduce its accumulated errors Typically the system automatically detects when it is stationary and applies a ZUPT For certain applications where it is known the system will never be stationary such as marine or airborne applications ZUPTs can be disabled altogether Message ID 1293 Abbreviated ASCII Syntax Abbreviated ASCII Example INSZUPTCONTROL DISABLE INSZUPTCONTROL switch Chapter 4 Field ASCII Binary Binary Binary Binary Field Type Value Value Description Format Bytes Offset 1 Header Contains the command name or H 0 message header depending on whether the command is abbreviated ASCII ASCII or binary 2 Switch DISABLE 0 Disable INS zero velocity updates
235. wo SPAN systems One is the Master receiver and the other is the Rover receiver Once configured the Master receiver begins transmitting corrections to the Rover receiver Relative information is created and the system begins filling the RELINSPVA and SYNCRELINSPVA logs on the Rover receiver The RELINSPVA log is then transmitted back to the Master receiver for output The data link required must be able to support 864bits 108bits x obs tracked per second The RELINSPVA log is requested ONNEW available from 1Hz 20Hz depending on the setup of the RELINSAUTOMATION command while the SYNCRELINSPVA log can be requested ONTIME at up to 200Hz at the rover only Position and velocity solutions are differenced in the ECEF frame and then rotated into the local level The Relative offset vector that is output is dependent on Master Rover s precise RTK vector and their eccentric offset vectors optional offset provided by the SETINSOFFSET command shown in Figure 7 Relative INS Example Figure 7 Relative INS Example Antenna Lever Arm Rover Eccentric Offset Vector Precise RTK Vector Relative Offset Vector Eccentric Offset Lever Arm An important command that can be used with Relative INS to manually change the maximum amount of time to use RTK data is RTKTIMEOUT This command is used to set the maximum age of RTK data to use when operating as a rover stat
236. xis orientation that SPAN automatically uses called the SPAN computational frame SPAN forces the Z axis to be up in the SPAN computational frame Output attitude in logs such as INSPVA and INSATT is with respect to the SPAN computational frame Refer to SETIMUORIENTATION on page 73 to see which mapping definition applies depending on which IMU axis most closely aligns to gravity Essentially this means that if the IMU is not mounted with the Z axis approximately up as marked on the enclosure a new IMU frame defines which mapping applies This new computational frame will not match what is marked on the IMU enclosure and needs to be determined by checking Table 21 Full Mapping Definitions on page 75 With the default mapping and no angular offset between the output frame and SPAN computational frame the output roll is the angle of rotation about the Y axis the output pitch is about the X axis and the output azimuth is about the Z axis and is measured to the Y axis Note that azimuth is positive in the clockwise direction when looking towards the origin However the input vehicle to body rotation about the Z axis follows the right hand rule convention and a positive rotation is in the counterclockwise direction when looking towards the origin For further information about extracting the vehicle s attitude with respect to the local level frame refer to NovAtel application note APN 037 Application Note on Vehicle Body Rotations available from th
237. y an asterisk and followed by a line termination using the carriage return and line feed characters For example 1234ABCD CR ILF This value is a 32 bit CRC of all bytes in the log excluding the identifier and the asterisk preceding the four checksum digits See 32 Bit CRC on page 25 for the algorithm used to generate the CRC 5 An ASCII string is one field and is surrounded by double quotation marks For example ASCII string If separators are surrounded by quotation marks then the string is still one field and the separator will be ignored example is one field Double quotation marks within a string are not allowed 6 If the receiver detects an error parsing an input message it returns an error response message See Chapter 3 Responses on page 27 for a list of response messages from the receiver SPAN on OEM6 Firmware Reference Manual Rev 7 11 Chapter 2 Message Structure Messages header data field data field data field oocooxxx CRIILF The ASCII message header structure is described in Table 2 ASCII Message Header Structure Table 2 ASCII Message Header Structure Field Field Name Field Description Ignored Type on Input 1 Sync Char Sync character The ASCII message is always preceded by a N single symbol 2 Message Char The ASCII name of the log or command N P
238. y updates are entered in local level frame or ECEF Message ID 1463 Abbreviated ASCII Syntax EXTERNALPVAS Positionl Position2 Position3 Velocityl Velocity2 Velocity3 Attitudel Attitude2 Attitude3 PosStdDevl PosStdDev2 PosStdDev3 VelStdDevl VelStdDev2 VelStdDev3 AttStdDevl AttStdDev2 AttStdDev3 UpdateMask OptionsMask Abbreviated ASCII Example EXTERNALPVAS 51 13495816 114 03232307 1064 5895 10 4502 0 2485 0 09598 1 3152366 3 6474718 179 5885212 0 01 0 01 0 01 0 01 0 01 0 01 0 1 0 1 0 1 C020 1 ASCII Binary Value Value Binary Binary Binary Format Bytes Offset Field Field Type Description 1 Header This field contains the command name or H 0 the message header depending on whether the command is abbreviated ASCII ASCII or binary 2 Position1 Latitude in degrees or ECEF X coordinate Double 8 H in metres 3 Position2 Longitude in degrees or ECEF Y Double 8 H 8 coordinate in metres Position3 Height or ECEF Z coordinate in metres Double 8 H 16 Velocity1 North velocity or velocity along the X axis Double 8 H 24 in metres second 6 Velocity2 East velocity or velocity along the Y axis Double 8 H 32 in metres second 7 Velocity3 Up velocity or velocity along the Z axis in Double 8 H 40 metres second 8 Attitude Roll in local level in degrees Double 8 H 48 9 Attitude2 Pitch in local level in degrees Double 8 H 56 10 A

SPAN on OEM6 Firmware Reference Manual

Contents

Download Pdf Manuals

Related Search

Related Contents