SPAN-SE Quick Start Guide
Contents
1. lt Refer to the OEMV Family Firmware Reference Manual for more on individual L band GLONASS or SBAS commands and logs Enabling Real Time Kinematic RTK Positioning Corrections can be transmitted from a base station to a rover station to improve position accuracy The base station is the GNSS receiver that acts as the stationary reference It has a known position and transmits correction messages to the rover station The rover station is the GNSS receiver that does not know its exact position and can receive correction messages from a base station to calculate differential GNSS positions You must create a data link between the base station and rover station two NovAtel receivers to transfer corrections SBAS and L band corrections can be accomplished with one receiver and are exceptions to the base rover concept A link capable of at least 9600 bits per second and less than 4 0 seconds of latency is recommended When the base and rover stations are set up you can configure them for RTCA RTCM RTCMV3 CMR or CMR corrections Below is an RTCM example Replace the latitude longitude and height coordinates shown with those of your base Base interfacemode com2 none rtcm off fix position 51 11358042 114 04358013 1059 4105 log com2 rtcm3 ontime 10 log com2 rtcm22 ontime 10 1 log com2 rtcm1819 ontime 1 log com2 rtcml ontime 5 bog com rtcm3l ontime 5 1 optional GLONASS PSRDIFF log comz rtcm32 ontime 10 2 Rover gGnssca2. FlexPak 5 Select Serial from the Type list and select the computer port that the SPAN SE is connected to from the Port list Device Type Type Serial v Seral Settings Pon T Passive Baud Rate 1715200 ReadOnly Hardware Handshaking Select 115200 from the Baud Rate list Uncheck the Use hardware handshaking checkbox Click OK to save the new device settings O S a p Select the new configuration from the Available device configs area of the Open dialog 10 Click the Open button to open SPAN SE communications Avalable device contigs A progress box appears as CDU establishes communication with the receiver LOM 115200 bps Entering Commands and Receiving logs SPAN SE has a comprehensive command log interface that can be used with any command console Using CDU CDU provides access to key information about your receiver and its position The information is displayed in windows accessed from the View menu For example select Position Window from the View menu to display the position solution of the receiver To show details of the GNSS and geostationary SBAS satellites being tracked select a Tracking Status Window GPS or GLONASS from the View menu Select Help from the main menu for more details on CDU its windows and features CONFIGURING GNSS Enabling SBAS Use the SBASCONTROL command to enable SBAS positioning The following commands are used to enable the WAAS North Am
3. e Internal OEMV 2 card status GPS 2 e INS filter e IMU communication The following table details the states of each LED which remain solid unless the table indicates a flashing condition LED OFF GREEN ORANGE RED Power No Powered and N A N A power to the unit is off the unit Flashing powered and the unit is on SD No card Card in Card in low Card in full space Flashing file open No board Solution complete fine steering Flashing coarse steering No board Solution complete fine steering Flashing coarse steering INS GPS Solution good only Flashing alignment Flashing complete solution bad IMU No IMU Good No RAWIMU RAWIMU IMU type not packets set POST PROCESSING Post processing requires collection of simultaneous data from the base and rover stations This includes accurate coordinates of the base station and accurate measurement of the IMU to Flashing file open OEMV3 Receiver status error bits 0 1 2 7 Insufficient observations OEMV2 Receiver status error bits 0 1 2 7 Insufficient observations Aligning INS inactive IMU status error bits antenna separation The following logs are required for post processing e From the base station e RANGECMPB ontime 1 e RAWEPHEMB onchanged e From the rover station s e RANGECMPB ontime 1 e RAWEPHEMB onchanged e RAWIMUSB onnew In addition the following is required to log GLONASS e GLOEPHEMERI
4. IMU and to accept data When you have made your selections in the SPAN wizard click the OK button to enable the SPAN system When the system is enabled raw IMU data becomes available and the INS filter Starts CONFIG SPAN Alignment Wizard Welcome to the NovAtel SPAN wizard This wizard will guide you through the alignment or calibration of your NovAtel SPAN system NovAtel SPAN is a powerfull Synchronized position attitude navigation system TILA baat Precise thinking Your receiver DABO6210087 supports NovAtel SPAN Next gt Cancel Configure SPAN Manually Follow these steps to enable INS as part of the SPAN system using software commands 1 Issue the SETIMUTYPE command to specify the IMU Table 1 Table 1 Enable INS Commandsdd IMU Type SETIMUTYPE LN 200 IMU_LN200 iIMU FSAS IMU_IMAR_FSAS IMU CPT IMU_KVH_ COTS UIMU LCl IMU_LITEF_LCI IMU_HG1700_AG11 or IMU_HG1700_AG17 or lee IMU_HG1700_AG58 or IMU_HG1700_AG62 IMU Type SETIMUTYPE HG1900 IMU_HG1900_CA29 HG1930 IMU_HG1930_ AA99 The inertial filter starts when the GPS solution is solved and the IMU is connected lt A GPS antenna must be connected and actively tracking satellites for correct operation 2 Use the SETIMUTOANTOFFSET command to set the distance from the IMU to the GNSS antenna The offset between the antenna phase centre and the IMU axes must remain constant and be accurate m The X pitch Y roll and
5. Z azimuth directions are clearly marked on the IMU enclosure The SETIMUTOANTOFFSET parameters are where the standard deviation fields are optional x_offset y_offset z_offset x_stdev y_stdev z_ stdev A typical RTK GPS solution is accurate to within a few centimeters For the integrated INS GPS system to have this level of accuracy the offset must be measured to within a millimeter Any bias between the two systems appears in the output position For example a 10 cm error in recording this offset will result in at least a 10 cm error in the output lf you cannot measure the IMU to GPS antenna offset precisely perform the lever arm calibration routine to estimate offset Refer to the SPAN SE User Manual for details LOGGING DATA You can collect data logs through any I O port on the SPAN SE receiver into any data capture software including CDU SPAN SE also has a SD card for data collection To send data to the SD card open a files then use FILE as the port designator in log requests You must close the file when collection is complete The SPAN SE has a default logging profile with all raw data needed for post processing If you press the SD logging button this profile automatically logs to a uniquely named file until the SD logging button is pressed again To change the default logging profile send the log requests that you want the command SETAUTOLOGGING ON and then SAVECONFIG The newly defined profile is autom
6. menu and navigate to Setup exe on the CD 6 4 Follow the on screen instructions to complete the software installation lt SPAN HARDWARE SET UP Complete the following steps to set up and power your SPAN SE 1 Mount the IMU and antenna securely to a vehicle Ensure that the devices cannot move and that the distance and relative direction between them is fixed See also Step 2 in 7 the Configure SPAN Manually section of this guide 2 Connect the yellow cable s 30 pin connector directly into the yellow port labelled I O 2 on the SPAN SE The cable clicks when connected properly 8 To Power Supply Power for IMU only 3 Connect the GPS antenna to the port labelled GPS1 on the receiver using an appropriate antenna cable 4 Connect the yellow cable s COM1 connector to a computer COM port using a straight through serial cable Alternatively you can connect the receiver to a computer with either a USB or Ethernet connection See the SPAN SE User Manual for information on USB or Ethernet connection options Connect the yellow cable s IMU connector to an IMU with the IMU s interface cable Insert the SD card into the slot behind the front panel door Files stored on the SD card can be transferred to a host computer for data analysis or other types of post processing by using the CDU utility or by removing the SD card and inserting it into a host computer that has an SD card slot or an adapter attached Apply power
7. to the receiver Do not press the power button the receiver powers up automatically If possible add a back up battery between the receiver and its voltage supply if installed in a vehicle The backup battery acts as a buffer to prevent power dips tyhat can cause the receiver and IMU to lose lock and calibration settings Voltage Supply Connect additional serial communications equipment as needed The following ports are available e 4UART serial RS 232 RS 422 configurable e 1USB e 1 Ethernet lt Refer to the SPAN SE User Manual for detailed information on configuring the SPAN SE communication ports ESTABLISHING RECEIVER COMMUNICATION TO open a serial port to communicate with the receiver complete the following 1 Open CDU from the Start menu folder specified during the installation process The default location is Start Programs NovAtel PC Software NovAtel CDU Select Open from the Device menu po Device View Tools Hi Open Ctr 0 Close Config 3 Select the New button in the Open dialog box The Options Configuration dialog opens 4 Click the button to add a new configuration To delete a configuration select it from the list and click the button To duplicate an existing configuration click the button You can select any name in the list to edit Preferences Configurations amp Startup Options M Update Log Definitions
8. SB onchanged e GLOCLOCKB onchanged The SPAN SE system output is compatible with post processing software from the Waypoint Products Group NovAtel Inc Visit their web page at http www novatel com products waypoint software for more details QUESTIONS OR COMMENTS If you have any questions or comments regarding your SPAN SE system please contact NovAtel Customer Service by Email support novatel ca Web www novatel com Phone 1 800 NOVATEL U S amp Canada 403 295 4900 International Fax 403 295 4901 WN NovAtel Copyright 2011 NovAtel Inc All rights reserved Printed in Canada on recycled paper Recyclable Unpublished rights reserved under international copyright laws GM 14915082 Rev 2 28 07 2011
9. SPAN SE Receiver QUICK START GUIDE This guide provides the basic information you need to set up and begin using your SPAN SE receiver BOX CONTENTS In addition to this Quick Start Guide the following is provided in your SPAN SE package e 1SPAN SE receiver e 2 multi connector cables e 1 mounting bracket with screws e 1 6 foot USB 2 0 cable e 1 industrial SD memory card e 1 power cable e 1 multi I O connector cover e 1 CD containing PC Utilities and product documentation e 1 patent notice and manual request postcard ADDITIONAL EQUIPMENT REQUIRED The following additional equipment is needed for a basic setup A Windows based PC with an RS 232 DB9 USB or Ethernet port e A power supply that produces 12 28 volts DC e A quality dual frequency GNSS antenna such as the GPS 702 the GPS 702 GG the ANT A72GA TW N for airborne high speed applications or the GPS 702L antenna for L Band corrections e A TNC to appropriate antenna connector RF cable e A SPAN supported IMU such as NovAtel numbers IMU H58 IMU H62 IMU HOO IMU LN200 IMU FSAS EIl IMU FSAS EI O IMU CPT UIMU LCI HG1900 or HG1930 INSTALLING NOVATEL S PC UTILITIES 1 Start the computer 2 Insert the accompanying CD in the CD ROM drive 3 Select nstall the OEMV GPS PC Utilities from the window that opens automatically If the window does not open 5 automatically when the CD is inserted select Run from the Start
10. atically logged to the SD card on power up For example LOGFILE OPEN TEST sGPs LOG FILE RANGECMPB ONTIME 1 LOGFILE CLOSE Save logs and commands with the SAVECONFIG command to ensure that the same logging configuration starts whenever the receiver is powered on Remove the SD card from the receiver and plug it into a computer to download data from the card The data logging button located beside the SD card stops and starts the data logging if you must change cards during operation You can monitor the logs output to determine the system status Multiple CDU windows show the status of various receiver subsystems Light Emitting Diodes LEDs on the front of the SPAN SE receiver also show the status of many subsystems Log SPAN Data Raw GPS IMU and navigation data position velocity and attitude are available from the system as ASCII or binary logs Data can be collected through CDU using the Logging Control window or sent through the receiver COM port to user supplied data collection software For post processing applications collect the data shown in the Post Processing section near the end of this guide OPERATING THE SPAN SYSTEM Observe the status of the system in CDU s NS window or in the status field of any of the INS solution logs for example INSPOS INSVEL INSATT and INSPVA lt INS data is available when the GPS solution has solved for time i e FINESTEERING status So an antenna must be c
11. erica and EGNOS Europe systems respectively SBASCONTROL ENABLE WAAS SBASCONTROL ENABLE EGNOS When SBAS is enabled the Position Type field in CDU s Position window changes from Single to WAAS and SBAS satellites may appear in the Constellation window Enabling L band L band equipped receivers can achieve sub meter accuracy To use this positioning mode enable L band tracking to the OmniSTAR signal A subscription to OmniSTAR is required to use the OmniSTAR VBS XP or HP service visit http www omnistar com with your receiver serial number ready Use the ASSIGNLBAND command to set OmniSTAR base station communication parameters The parameters must include a relevant frequency and data rate The frequency assignment can be made in Hz or KHz For example Hz assignlband omnistar 1536782000 1200 KHz assignlband omnistar 1536782 1200 lt A value entered in Hz is rounded to the nearest 500 Hz To confirm that your receiver is tracking an L band signal log the L band status information by entering log lbandstat To specify the correction source use the PSRDIFFSOURCE command as shown in the example below PSRDIFESOURCE OMNISTAR Otherwise leave the setting at the default AUTO SPAN SE Position Latitude Longitude Hot EI Solution type WAAS Iono correction Multi frequency 51 116685787 0 88m 114 038809156 0 72m eae ee E a SPAN_SE Constellation 3389 9 PRN135 Az 203 9 Elev 29 0
12. onnected and tracking satellites for the system to function Allow the system to be stationary for at least one minute after the GPS solution is computed for its initial system alignment The following status stages may be observed e The status changes from INS_ INACTIVE to INS_ ALIGNING when the coarse alignment starts e The status changes to INS ALIGNMENT COMPLETE when the coarse alignment is complete Typically the this state continues until the system senses motion When the attitude solution converges to within specifications the sta tus changes to INS SOLUTION GOOD When using an IMU CPT a stationary alignment is only pos sible with a dual antenna SPAN SE D or if the SETINITAZI MUTH or SETINITATTITUDE commands are issued See the user manual for more information The status may occasionally change to INS BAD GPS AGREEMENT This status indicates that the inertial solution has detected poor quality GPS positions from the receiver due to limited satellite visibility or high multipath conditions The inertial filter may choose to disregard this information and wait for the GPS quality to improve The solution is still valid during this status but it is a warning that the GPS INS solution is more reliable than the GPS only solution LED STATUS INDICATORS There are six LEDs on the front of the SPAN SE receiver that represent the following status categories e Power e SD card memory e Internal OEMV 3 card status GPS 1
13. rdconrig rtom none off RT 2 and RT 20 capable SPAN SE receivers with AdVance RTK are real time kinematic products developed by NovAtel Optimal RTK performance requires both the base and rovers be NovAtel products However AdVance RTK operates with equipment from other manufacturers when using RTCM messaging RT 2 and RT 20 are supported by GPS GLONASS and GPS only OEMV based models Also RT 20 with GPS GLONASS provides faster convergence lt 1 Refer to the GPGST log s usage box in the OEMV Firmware Reference Manual for a definition of RMS and other statistics 2 For more base rover configurations search for rover base on our Knowledge Database at http support novatel com home CONFIGURING THE SPAN IMU Configure SPAN with CDU Follow these steps to enable INS as part of the SPAN system using the NovAtel CDU software utility 1 Select Tools SPAN Alignment Wizard from the CDU menu to configure the lever arm and vehicle to body rotation infor mation The wizard guides you through the processes of completing a coarse or fast alignment selecting the type of IMU and configuring the receiver to IMU port to accept IMU data 2 Select Tools SPAN Calibration Wizard to calibrate the lever arm or vehicle to body rotation information The wizard guides you through the processes of calibrating the lever arm and or vehicle to body rotation as well as select the type of IMU and configure the receiver port connected to the
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