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SPAN-SE Users Manual

1. Figure 82 SPAN SE Interface Card uu 66 4L unge k ww g e Lk m oe m TE reste E Sa a Ea D n JL i nal d a A jo Se pas a ed LA ren Q 9 Z0 GLL WWAS 29jues RE erage ager li aoomousonnsonan fi ww 628 oe e ooer Loer soor fe uu ZL Le gt A Lech Lan i xn x er Ta D mech 1 IL de H H LE Sor o o o o i Loor 909r at 3 a e IBI 4 ee a G M D e 1 TT fu nga h Dh a q 25 8 wu ei GT al gren Tea gt a e L8 zOzZ j Pr H t AN A A mj ei B DOSE e e 1 Yo A j j poun Res a i f i sesa E TIT TC ee d V ja UI li pe P LE lf Ser n bo ML e gre rj En gt SPAN SE User Manual Rev 9 Appendix SPAN SE Interface Card Table 86 provides a description of the interface card headers and the remaining tables provide pinouts for headers tha
2. 0 00 O O O 4x 3 6 au l LI O 14 a oooooooo 00000000 o coooooo Ek gd S gt 9 o ka o RUNE o oo Tc ec to Qo SO H e Aj Kk an l Na gne EN E Gr E E B o 4X 81 5 Y Ms Ut 3 21 C C 85 0 Oo XJ 3 35 on o ow az on E si Bs BS si 28 S a 8 a a ou Sa ae e N SO Figure 85 SPAN MPPC Board Stack dimensions SPAN SE User Manual Rev 9 393 Appendix J SPAN MPPC Interface Card J 2 SPAN MPPC Connector Pin Outs Table 92 provides a description of the SPAN MPPC interface card headers Header ID Function Table 92 SPAN MPPC Interface Card Header Description Connector Format J600 Multi Communication Port A 2x20 pin header male 2mm pitch J601 Multi Communication Port B 2x20 pin header male 2mm pitch Table 93 J600 Multi Communication Header A Description Signal Levels Pin 2 Pin 40 1 Vin 9 to 30V DC 2 Ground 3 Vin 9 to 30V DC 4 Ground 5 Vin 9 to 30V DC 6 Ground 7 Vin 9 to 30V DC 8 Ground 9 Vin 9 to 30V DC 10 Ground 11 Vin 9 to 30V DC 12 Ground 13 Ground 14 G
3. AC 3x100 10 1 re d P2 BLK VI YVL 150 30 4x 1250 30 F pan i S MA No P1 RED 27 i CKT 1 DB9 FEMALE X jo BATO J2 d 4 Fa JI ki S Ki ko l A as N CKT9 m J1 END VIEW J2 SIDE VIEW Figure 28 Universal IMU Enclosure Interface Cable 100 SPAN SE User Manual Rev 9 Technical Specifications Table 11 Universal IMU Enclosure Interface Cable Pinouts Appendix A J2 REMOTE CONNECTION PINOUT FUNCTION CONNECTOR PIN COLOR 1 Vin PIN 1 P2 BLK 22 Vin PIN 22 GRN 2 Not used 3 Vin PIN 3 P1 RED 21 Vin PIN 21 WHT 4 Not used 5 Not used 6 Not used 7 DAS J1 1 8 Not used 9 DAS GND J1 5 10 Not used 11 OEM CTS Rx J1 8 12 OEM_Rx Rx J1 2 13 Not used 14 DGND J1 5 15 DGND J1 5 16 Not used 17 Not used 18 Not used 19 OEM Tx Tx J1 3 20 OEM RTS Tx J1 7 Shield P3 GRN a OEM stands for Original Equipment Manufacturer SPAN SE User Manual Rev 9 101 Appendix A 102 A 2 1 2 IMU Performance Technical Specifications PERFORMANCE IMU HG1700 AG58 Gyro Input Range 1000 deg sec Angular Random Walk
4. SPAN SE User Manual Rev 9 90 Technical Specifications Appendix A SPAN SE Mounting Plate Dimensions H H 2 588 REF CHAMFER 2 50 X 45 TYPICAL 173 40 2X 3 45 Dee SEM ar TAP 8 32 HT L h 97 00 75 00 54 00 69 00 4 86 00 9 9 m H f e 4X RT 50 2 2 6 64 180 31 99 10 90 210 00 223 13 Note All dimensions are in millimetres SPAN SE User Manual Rev 9 91 Appendix A Technical Specifications A 1 1 1 Power Adapter Cable NovAtel part number 01018135S The power adapter cable supplied with the SPAN SE see Figure 21 provides a means for supplying 9 to 28 V DC while operating in the field Input is provided through the bare wire power outlets The exposed wires red and orange for positive brown and black for negative can then be tied to a supply capable of at least 10 W for a single antenna or 12 W for dual antennas This cable is RoHS compliant For alternate power sources see Section 2 2 4 on page 40 RED ALIGNMENT POINT LOCATION D N 2 PIN CONNECTOR BARE MIRE Ca SE a SONAL Vo 411 Pi 1 GND BLACK 2 AVI n RED 7 Vin WHITE eg STRIP
5. SDCard GPS1 GPS2 INS IMU RED OFF OFF OFF OFF RED RED OFF OFF OFF RED RED RED OFF OFF RED RED RED RED OFF RED RED RED RED RED RED RED RED RED RED OFF OFF OFF OFF OFF Release power button to RESET If power button is held for another 7 seconds all LEDs flash RED again indicating a FRESET SD Card GPS1 GPS2 INS IMU OFF OFF OFF OFF OFF RED RED RED RED RED OFF OFF OFF OFF OFF Release button for FRESET 42 SPAN SE User Manual Rev 9 SPAN SE Installation Chapter 2 2 2 6 Connect Additional Equipment If you have additional equipment to connect to your system requiring an output timing pulse or an input pulse into SPAN SE see Section 3 11 Synchronizing External Equipment starting on page 74 See Section A 1 1 3 I O 2 Yellow Cable NovAtel part number 01018133 on page 95 for its bare wire pin outs The jacket insulation is cut away slightly from the end but the insulation on each wire is intact Then refer to your device s documentation for information on its connectors and cables The arrow along the cable in the figure indicates a MARKIN pulse from the user device on the left to the SPAN SE I O port E eec WAREN Sa E Mel Mating Molex will be provided by NovAtel Figure 11 Connect a Device With a MARKIN Pulse SPAN SE User Manual Rev 9 43 C
6. Dimensions are shown in millimetres and in inches in square brackets e H 3 I a i gg 1 L j LEFT FRONT G Z Figure 25 Universal IMU Enclosure Side Dimensions 98 SPAN SE User Manual Rev 9 Technical Specifications Appendix A Enclosure leon IMU Type LITEF Z ES LCI 1 S HG 7 A HG1700 ANT Q LN200 h j NUM a NM GE ac aa o Ot Sai 6 os S5 io w a SN L a L ou GK mg ga ejje e ER ej jan A o 4 LEFT FRONT 16 309 3 00 li 0 118 es 25 09 0 988 Notes 1 Dimensions are shown in mm and in square brackets in inches q Figure 26 IMU Center of Navigation SPAN SE User Manual Rev 9 99 Appendix A Technical Specifications A 2 1 1 Universal IMU Enclosure Interface Cable NovAtel s part number for the Universal IMU Enclosure interface cable is 01018299 see Figure 27 This cable provides power to the IMU from an external power source and enables input and output between the receiver and the IMU Figure 27 Universal IMU Enclosure Interface Cable P3 GRN
7. Appendix B Commands ASCII Binary T Binary Binary Binary Field C Field Type Value Value Description Format Bytes Offset 1 SPANAUTH This field contains the H 0 header command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary 2 state REMOVE 0 Remove the SPAN Enum 4 H authcode from the System ADD 1 Add the SPAN authcode to the system default 3 part1 4 digit hexadecimal Authorization code ULong 4 H 4 O FFFF section 1 4 part2 4 digit hexadecimal Authorization code ULong 4 H 8 O FFFF section 2 5 part3 4 digit hexadecimal Authorization code ULong 4 H 12 O FFFF section 3 6 part4 4 digit hexadecimal Authorization code ULong 4 H 16 O FFFF section 4 7 part5 4 digit hexadecimal Authorization code ULong 4 H 20 O FFFF section 5 8 model Alpha Null Model name of the String Variable 1 Variable numeric terminated receiver max 16 9 date Numeric Null Expiry date entered as String Variable 1 Variable terminated yymmdd in decimal max 7 In the binary log case additional bytes of padding are added to maintain 4 byte alignment 200 SPAN SE User Manual Rev 9 Commands Appendix B B 4 50 SPANMODEL Switch to a previously authorized model This command is used to switch the receiver between models previously added with the SPANAUTH command see page 199 When this command is issued the receiver saves this model as the active model The active mod
8. 1 LOG See Table 39 Binary This field contains the H 0 binary Message Header Structure message header header on page 218 2 port See Table 23 COM Serial Output port Enum 4 H Port Identifiers on page 136 3 message Any valid message ID Message ID of log to output UShort 2 H 4 4 message Bits 0 4 Reserved Message type of log Char 1 H 6 type Bits 5 6 Format 00 Binary 01 ASCII 10 Abbreviated ASCII NMEA 11 Reserved Bit 7 Response Bit 0 Original Message 1 Response Message 5 Reserved Char 1 H 7 Continued on the following page 160 SPAN SE User Manual Rev 9 Commands Appendix B Field Field Description Field Binary Binary Name Binary Value Type Bytes Offset 6 trigger 0 ONNEW Does not output current Enum 4 H 8 message but outputs when the message is updated not necessarily changed 1 ONCHANGED Outputs the current message and then continue to output when the message is changed 2 ONTIME Output on a time interval 3 ONNEXT Output only the next message 4 ONCE Output only the current message 7 period Valid values for the high rate Log period for ONTIME Double 8 H 12 logging are 0 05 0 1 0 2 trigger in seconds 0 25 and 0 5 For logging slower than 1Hz any integer value is accepted 8 offset A valid value is any integer Offset for period ONTIME Double 8 H 20 smaller than the period trigger in seconds If you Th
9. a RS 422 compatible SPAN SE User Manual Rev 9 115 Appendix A Technical Specifications Table 17 Legacy ilMU FSAS Cable Y Adapter Pin Out DB 9 Male to FSAS DB 9 Female to Function COM 3 Cable FSASI O Cable Description DAS 1 Data acquisition and control signals DO 2 Data output signal RS 422 DI 3 Data input signal RS 422 DGND 5 9 Digital ground DIN 7 Data input signal RS 422 DON 8 Data output signal RS 422 A 2 4 2 ilMU FSAS Odometer Cabling The iIMU FSAS with the O wheel sensor option provides wheel sensor input from the Distance Measurement Instrument DMI through the DB 9 connector labelled ODO on the IMU interface cable The IMU data goes through the IMU and then into the SPAN receiver through the serial communication line There are two DMI products that are compatible with the IMU FSAS system e IMWS V2 Magnetic Wheel Sensor from iMAR A magnetic strip and detector are installed inside the wheel The signal then goes through a box that translates the magnetic readings into pulses that are then passed through the cable into the ODO connector on the IMU cable See also Figure 39 below WPT Wheel Pulse Transducer from Corrsys Datron 116 SPAN SE User Manual Rev 9 Technical Specifications Appendix A A transducer traditionally fits to the outside of a non drive wheel A pulse is then generated from the transducer which
10. Frame Description Notation SPAN body frame The physical IMU axes b SPAN computational Standard SPAN computational frame where Z is up Y is b frame 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 gb mount body frame when gimbal angles are zero Mount computation Mapping 5 applied to the mount body frame mc frame Gimbal computation Mapping 5 applied to the gimbal body frame gc frame Mount SPAN frame Mapping five and GIMBALSPANROTATION 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 g gimbal frame so that the gimbal and SPAN frames are coincident SPAN SE User Manual Rev 9 85 Chapter 6 Variable Lever Arm The next two figures illustrate a basic scenario for the information in the table above The first figure shows a possible configuration for the mount body frame and SPAN frame The second figure shows the desired result of all rotations all three frames have the same axis definitions Mount Body Frame m Figure 19 Simple Configuration yon SPAN Computation Frame b or si Figure 20 Rotation Results 86 SPAN SE
11. 228 D 3 2 BESTPOS Best Position and BESTGPSPOS Best GPS Position 229 D 3 3 BESTVEL Best Available Velocity Data and BESTGPSVEL Best Available GPS Ve le 235 D 3 4 BESTLEVERARM BESTLEVERARM 2 IMU to Antenna Lever Arm 237 D 3 5 COMCONFIG Current COM Port Confouraton ec eeeseeeeeeeeeneeeeeneeeeneeeeeee 238 D 3 6 COMPROTOCOL COM Port Protocol eee 240 D 3 7 CORRIMUDATA and CORRIMUDATAS Corrected IMU measurements 241 D 3 8 DIRENT SD Card File Ust sse 243 D 3 9 EXTHDGOFFSET Log the Angular Offset ccccesceceeeceeeeeeeeeeeeeeeeseseeeeeeeeeeeeeeees 245 SPAN SE User Manual Rev 9 D 3 10 GIMBALLEDPVA Display gimballed position ee 246 D 3 11 GLOCLOCK GLONASS Clock Information 247 D 3 12 GLOEPHEMERIS GLONASS Ephemeris Data 249 D 3 13 GLORAWEPHEM Raw GLONASS Ephemeris Data 252 D 3 14 GPALM Almanac Data 253 D 3 15 GPGGA GPS Fix Data and Undulation seeee 255 D 3 16 GPGLL Geographic Position 257 D 3 17 GPGRS GPS Range Residuals for Each Satellite AAA 259 D 3 18 GPGSA GPS DOP and Active Satellites 260 D 3 19 GPGST Pseudorange Measurement Noise StatiStiCS rrreeerrroooooreoonos 262 D 3 20 GPGSV GPS Satellites in View mem 264 D 3 21 GPHDT NMEA Heading Log 266 D 3 22 GPVTG Track Made Good And Ground Speed A 267 D 3 23 GPZDA UTC Time and Date sse emm ener 268
12. ciere denne tenete tense annie 355 Fasten Internal Cable Harness A 356 install ONGS T M 356 Install Enclosure Body on the Base sse eee eene 357 Screw Enclosure Base to Body 5 cedent cer edet ka nin pandan aa 358 Final Assembly ipee ape SR e In dece en dee a bd Peek ve vese 359 Required Parts 2 eren e RU ROUES ee ut prie PESE op EN 360 Bolts and Hex KOY p Ny 361 Lift Top Cover Tube Body and 3 Ring Spacer Screws seem 362 SPAN IMU Re Assembly naisiin anan anann enaA Ka tadenn Ed en nene ennemis 363 Attach Flex Cable 5 inerte edere obedit eie RR rm 364 Incorrect Bowed Flex Cable Installation esseeeem 365 Correct Flat Flex Cable Installation sese eme 365 HG1700 SPAN MU erit ppt inet ol okap eret eur de ree adh ceceeds dea po ak kin bek bon 365 REMOVE Base oso csc 367 Disconnect Wiring Harness from SDLC Card seen 368 IMU Bracket ec eer Heec ee o pee a ip E pee E 368 Remove IMU BrackeGDL C A 369 Install LN 200 IMU KEE 370 InstalliBracke t 1o Base eere tr etic ERR ERR IRR IRE PER 371 Making Connections ei eire neret i re ene HR den kek ai ct cB Raid PEE kasek uie ens 372 Connect Internal Cable Harness A 373 Installing the Enclosure Body to the Base A 374 Screw Enclosure Base to Body ssssssssss
13. CIRCUIT 1 IDENTIFIED ON THIS SURFACE APPROX LOCATION SHOWN FOR REF 1 GND 2 Vin Voltage Range 9 to 28 VDC 3 GND 4 Vin Voltage Range 9 to 28 VDC SPAN SE User Manual Rev 9 387 Appendix 388 SPAN SE Interface Card Table 90 J601 Multi Communication Header A Pin Description Signal Levels n m m m mn gm m an ooo BH B dd 1 COM1 CTS 2 GND 3 COM1 Tx RS232 RS422 configurable 4 COM1 Rx RS232 RS422 configurable 5 GND 6 COM1 RTS RS232 RS422 configurable 7 IMU Rx 8 IMU CTS 9 IMU RTS 10 IMU Tx 11 Event Out 3 OV to 3 3 V 12 GND 13 Event Out 2 OV to 3 3 V 14 Event Out 1 OV to 3 3 V 15 GND 16 Event Out 4 OV to 3 3 V 17 GND 18 Vcc 19 Spare GPIO 0 20 Spare GPIO 2 21 Spare GPIO 3 22 Spare GPIO 1 23 Event In 3 0 3 to 3 75 V 24 GND 25 Event In 2 0 3 to 3 75 V 26 Event In 1 0 3 to 3 75 V 27 GND 28 Event In 4 0 3 to 3 75 V 29 COM2 RTS 30 COM2 Tx SPAN SE User Manual Rev 9 SPAN SE Interface Card Table 91 J606 Multi Communication Header B SPAN SE User Manual Rev 9 Pin Description a nou anno sa a EENG 1 COM2 Rx 2 COM2 CTS 3 COM3 CTS 4 GND 5 COM3 Tx 6 COM3 Rx 7 GND 8 COM3 RTS 9 COM3 Rx 10 COM4 CTS 11 COM4 RTS 12 COM4 Tx 13 CAN1 H 14 GND 15
14. e 88 A1 1 SPAN SE Receiver oie nte tr D eth rer ines 88 A 2 Inertial Measurement Units Mile 97 A 2 1 Universal IMU Encdosure eme nennen nnnm enne 97 A 2 2 HG1700 IMU Single Connector Enclosure cc ceeeeeeeeeeeeeeeeeeeeneeeeenaeeeeeeeeeenneeeee 104 A 2 3 LN 200 IMU Single Connector Enclosure een 107 AZ2 4 IMU ZR SAS EIE 110 A 2 5 1MU CPT EE 120 Appendix B Commands 125 B 1 Command Fotmals pa pe twb an kika an e oke bet aene 125 B 2 Using a Command as alogge 125 B 3 DOS Commande eene nrnen nennen aaea daia a Eaa sanni 126 B 3 1 DIR Show Directory e n Ire nee eR ee eie dede deed 127 B 3 2 CD Change Directory erecto i eet eire devon dy SOU eee e ee pode eire 127 B 3 3 FORMAT Format storage medium 127 B 3 4 MKDIR Make Directory essen emere nennen ennemis 127 B 3 5 RMDIR Remove Directory irienna anian e A aada 127 B 3 6 PWD Present Working Direchory eem 128 BITEN aua eub etre oi tr ee UP BRA D ERE ENS 128 BA SPAN SE Command Reference A 129 B 4 1 ALIGNMENTMODE Set the alignment mode 0 0 0 eeeeeeeeeeeneeeeeeeeeeesneeeeeneeeeeeees 129 B 4 2 APPLICATION Start and remove applications 0 ce eeeeeeeeeeeeeeeeeeeeeeeeeneeeeeeeees 130 B 4 3 APPLYVEHICLEBODYROTATION Enable vehicle to body rotatiOn 131 B 4 4 ASSIGNLBAND Set L band satellite communication parameters 132 B 4 5 COM Port configuration Control 13
15. 196 SPAN SE User Manual Rev 9 Commands B 4 47 SOFTLOADFILE Loads a file to the SPAN SE Appendix B Use this command to load a hexadecimal file from an external source to reprogram the SPAN SE The SOFTLOADFILE command reprograms the system firmware using a NovAtel formatted input message This allows anybody to reprogram the system in an embedded environment where using WinLoad isn t practical or possible The SoftLoad feature allows reprogramming of the SPAN SE firmware any of the three user applications and the firmware on the OEMV2 and OEMV3 Abbreviated ASCII Syntax SOFTLOADFILE Storage File Dest Abbreviated ASCII Example SOFTLOAD SD SCD000300RN0000 hex SPAN Message ID 1302 z Field Binary ES Binary Binary Binary Field Type ASCII Value Value Description Format Bytes Offset 1 header This field contains the H 0 command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary 2 Storage SD 0x00 The type of storage that Enum 4 H USBSTICK 0x01 contains the file to load Filenames have a 64 RAMDRIVE 0x02 character limit 3 File The hex file to load Char 64 64 H 4 4 Dest SPAN 0 SPAN destination device Enum 4 H 68 OEMV3 1 OEMV3 destination device OEMV2 2 OEMV2 destination device SPAN SE User Manual Rev 9 197 Appendix B Commands B 4 48 SOFTPOWER Power down the SPAN SE Use the SOFTPOWER command
16. Nibble 2 Bit Mask Description Bit 0 Bit 1 NO 0 0x00000001 SDRAM status OK Error 1 0x00000002 Firmware status OK Error 2 0x00000004 ROM status OK Error 3 0x00000008 FPGA status OK Error N1 4 0x00000010 Electronic Serial Number ESN access OK Error status 5 0x00000020 Authorization code status OK Error 6 0x00000040 Slow ADC status OK Error 7 0x00000080 Supply voltage status OK Error N2 8 0x00000100 Thermometer status OK Error 9 0x00000200 Temperature status OK Error 10 0x00000400 MINOSS status OK Error 11 0x00000800 PLL RF1 hardware status L1 OK Error Continued on the following page 332 SPAN SE User Manual Rev 9 Data Logs Appendix D Nibble 2 Bit Mask Description Bit 0 Bit 1 N3 12 0x00001000 PLL RF2 hardware status L2 OK Error 13 0x00002000 RF1 hardware status L1 OK Error 14 0x00004000 RF2 hardware status L2 OK Error 15 0x00008000 NVM status OK Error N4 16 0x00010000 Software resource limit OK Error 17 0x00020000 Model status Valid Invalid 18 0x00040000 COM port power status Not Over Over Current Current 19 0x00080000 Reserved N5 20 0x00100000 Remote loading in progress No Yes 21 0x00200000 Export restriction OK Error 22 0x00400000 Reserved 23 0x00800000 N6 24 0x01000000 25 0x02000000 26 0x04000000 27 0x08000000 N7 28 0x10000000 29 0x20000000 30 0x40000000 31
17. Field ASCII EN Binary Binary Binary Field D t ic Type Value EE ie Format Bytes Offset 1 header This field contains the H 0 command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary 2 NOPORT 0 The port that is used to Enum 4 H mark communicate with an COMI 1 external ALIGN receiver COM2 2 Selecting NOPORT default disables dual antenna functionality COM3 3 COM4 19 SPAN SE User Manual Rev 9 141 Appendix B Commands B 4 9 EVENTINCONTROL Control mark input properties This command controls up to four Event In input triggers See also Section 3 11 Synchronizing External Equipment starting on page 74 Abbreviated ASCII Syntax Message ID 614 EVENTINCONTROL mark polarity t bias t guard Abbreviated ASCII Example EVENTINCONTROL MARK1 COUNT Field ASCII Binary Binary Binary Binary Field Description Type Value Value Format Bytes Offset 1 header This field contains the command H 0 name or the message header depending on whether the command is abbreviated ASCII ASCII or binary Choose the Event In to use Enum 4 H 2 mark MARK1 MARK2 MARK3 MARK4 3 event DISABLE EVENT Disables Event input Enum 4 H 4 O N gt O Captures a single asynchronous event with the input COUNT 2 Increments a counter with each input for a wheel sensor for example Period of co
18. A coarse alignment routine requires the vehicle to remain stationary for at least 1 minute If that is not possible an alternate fast alignment routine 1s available The fast or moving alignment is performed by estimating the attitude from the GNSS velocity vector and injecting it into the SPAN filter as the initial system attitude See also Section 3 4 3 on page 55 for more details on coarse and fast alignments 3 4 2 INS Configuration Command Summary This section gives a brief recap of the commands necessary to get the SPAN system running 1 Issue the SETIMUTYPE command to specify the type of IMU being used see the SETIMU TYPE command on page 186 setimutype imu 1n200 2 Issue the SETIMUTOANTOFFSET command to enter the distance from the IMU to the GNSS antenna see page 184 setimutoantoffset 0 1 0 1 0 1 0 01 0 01 0 01 3 4 3 System Start Up and Alignment Techniques The system requires an initial attitude estimate to start the navigation filter This is called system alignment On start up the system has no position velocity or attitude information When the system is first powered up the following sequence of events happens 1 The first satellites are tracked and coarse time is solved 2 Enough satellites are tracked to compute a position 3 Receiver fine time is solved meaning the time on board the receiver is accurate enough to begin timing IMU measurements 4 Raw IMU measurements begin to be timed by the receiv
19. Field Field ASCII Binary Binary Binary Binary Type Value Value PR Format Bytes Offset 1 Header This field contains the H 0 command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 Heading 180 0 180 0 Angular offset for the DOUBLE 8 H azimuth or heading between the external aiding source and the IMU forward axis Input in degrees 3 HeadingSTD 0 to 10 0 Input heading offset DOUBLE 8 H 8 standard deviation Input in degrees 4 Pitch 90 0 to 90 0 Angular offset for the DOUBLE 8 H 16 pitch between the external aiding source and the IMU forward axis Input in degrees Default 0 0 5 PitchSTD 0 to 10 0 Input pitch offset DOUBLE 8 H 24 standard deviation Input in degrees Default 0 0 SPAN SE User Manual Rev 9 Commands Appendix B B 4 12 FORMAT Format the SD Card This command allows you to format the SC card in the SPAN SE Abbreviated ASCII Syntax Message ID 1057 FORMAT device volume Abbreviated ASCII Example FORMAT SD Field ASCII Binary PRE Binary Binary Binary Field D t i Type Value Value ord ae Format Bytes Offset 1 header This field contains the H 0 command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary 2 device Choose a mass storage Enum 4 H device see Table 27 on page 126 3 volume DOS volum
20. 186 7 Note 1 The Center of Navigation shown on the HG1700 label for the internal IMU is the same as the enclosure s center The enclosure center measurements are labelled as IMU Enclosure Center in this figure 2 Dimensions are shown in millimetres Figure 30 HG1700 Enclosure Side Dimensions 105 SPAN SE User Manual Rev 9 Appendix A Technical Specifications A 2 2 1 HG1700 IMU Interface Cable The IMU interface cable provides power to the IMU from an external power source and enables input and output between the receiver and IMU It is the same as the cable supplied with the Universal Enclosure shown in Figure 27 on page 100 A 2 2 2 PERFORMANCE IMU IMU Performance IMU H58 Gyro Input Range 1000 degrees s Gyro Rate Bias 1 0 degree hr Gyro Rate Scale Factor 150 ppm Angular Random Walk 0 125 degrees rt hr Accelerometer Range 50g Accelerometer Linearity 500 ppm Accelerometer Scale Factor 300 ppm Accelerometer Bias 1 0 mg IMU H62 Gyro Input Range 1000 degrees s Gyro Rate Bias 5 0 degrees hr Gyro Rate Scale Factor 150 ppm Angular Random Walk 0 5 degrees rt hr Accelerometer Range 50g Accelerometer Linearity 500 ppm Accelerometer Scale Factor 300 ppm Accelerometer Bias 3 0 mg A 2 2 3 Electrical and Environmental ELECTRICAL IMU Power Consumption IMU H58 9 W max IMU H62 8 W max IMU Input Voltage 12 to 28 V DC System Power Consumption 14 8 W typical
21. 1 The COMCONTROL command see page 138 may conflict with handshaking of the selected COM port If handshaking is enabled then unexpected results may occur 2 Watch for situations where the COM ports of two receivers are connected together and the baud rates do not match Data transmitted through a port operating at a slower baud rate may be misinterpreted as break signals by the receiving port if it is operating at a higher baud rate This is because data transmitted at the lower baud rate is stretched relative to the higher baud rate In this case configure the receiving port to have break detection disabled using the COM command 3 Baud rates higher than 115200 bps are not supported by standard PC hardware Special PC hardware may be required for higher rates including 230400 bps 460800 bps and 921600 bps Also some PC s have trouble with baud rates beyond 57600 bps Abbreviated ASCII Syntax Message ID 4 COM port bps parity databits stopbits handshake echo break Factory Default COM COMI 9600 N 8 1 N OFF ON COM COM2 9600 N 8 1 N OFF ON COM COM3 9600 N 8 1 N OFF ON COM COM4 9600 N 8 1 n OFF ON Abbreviated ASCII Example COM COM1 57600 N 8 1 N OFF ON SPAN SE User Manual Rev 9 135 Appendix B 136 Commands Table 23 COM Serial Port Identifiers Binary ASCII Description 1 COM1 COM Port 1 2 COM2 COM Port 2 3 COM3
22. z axis points up through the roof of the vehicle perpendicular to the ground y axis points out the front of the vehicle in the direction of travel x axis completes the right handed system out the right hand side of the vehicle when facing forward See the VEHICLEBODYROTATION command on page 207 for information on entering the rotation into the system and see the RVBCALIBRATE command on page 174 for information on calibrating this rotation Figure 14 Vehicle Frame 3 2 Communicating with the SPAN System Once the receiver is connected to the PC antenna and power supply install NovAtel s OEMV PC Utilities Connect and Convert4 available from the NovAtel website at www novatel com through Support Firmware Software and Manuals You can find installation instructions in your receiver s Quick Start Guide Alternatively you can use a terminal emulator program such as HyperTerminal to communicate with the receiver Refer also to the Connect Help file for more details on Connect The Help file is accessed by choosing Help from the main menu in Connect Start Connect on your PC to enable communication 1 Launch Connect from the Start menu folder specified during the installation process The default location is Start All Programs NovAtel PC Software NovAtel Connect 2 To define a new connection select New Connection from the Device menu If a connection is already defined or if connections were imported
23. Input Output Connectors MIL C 38999 III 22 pin all IMU s IMU Interface Temperature Humidity RS 232 or RS 422 Operating Storage 95 non condensing ENVIRONMENTAL IMU 30 C to 60 C 22 F to 140 F 45 C to 80 C 49 F to 176 F a For replacement connectors on the interface and power cables see Section K 3 Manufacturer s Part Numbers on page 407 106 SPAN SE User Manual Rev 9 Technical Specifications Appendix A A 2 3 LN 200 IMU Single Connector Enclosure Table 14 LN 200 IMU Specifications PHYSICAL IMU Enclosure Size 135 mm x 153 mm x 130 mm 5 315 x 6 024 x 5 118 IMU Size 89 mm D x 85 mm H 3 504 D x 3 346 H IMU Weight 3 kg 6 6 Ib MECHANICAL DRAWINGS ES mi 143 7 i i I i ET 8 1 4 PLCS AXMNWITT 76 8 16 2 PA W CENTER od d ZIN Li Enclosure Center 824 134 6 NAVIGATION x Du OFFSETS Navigation Center 1 SCALE 0 800 Note 1 The Center of Navigation offsets shown on the LN 200 label are for the internal IMU Db and are different than for the enclosure Navigation Center R92 9 center The enclosure center is labelled as Enclosure Center in this figure 76 3 2 Dimensions are shown in millimetres Enclosure Center Figure 31 LN 200 IMU Enclosure Top Bottom Dimensions and Centre of Navigation SPAN SE User Manual Rev 9 10
24. log marklcounta onnew ASCII Example MARK1COUNTA COM1 0 98 5 FINESTEERING 1520 515353 000 00000000 0000 137 1000000 1 1786750b Binary Binary Field Field type Data Description Format Bytes Offset 1 MARKxCOUNT Log header H 0 header 2 Period Delta time Ulong 4 H 3 Count Tick count Ushort 2 H 4 SPAN SE User Manual Rev 9 305 Appendix D Data Logs D 3 49 MARK1PVA MARK2PVA MARKS3PVA MARK4PVA Position Velocity and Attitude at Mark This log outputs position velocity and attitude information received on a Mark input By default the MARKXxPVA logs contain the solution at the IMU center in the SPAN computation frame If the SETMARKXOFFSET command has been entered the MARKxPVA log will contain the solution translated and then rotated by the values provided in the command See also the SETMARKXOFFSET commands valid at the time on page 193 MARKIPVA Message ID 1067 MARK2PVA Message ID 1068 MARK3PVA Message ID 1118 MARKAPVA Message ID 1119 Log Type Synch Recommended Input log markpvaa onnew 1 ASCII Example MARK4PVAA COM1 0 93 0 EXACT 1635 491268 341 00000000 0000 406 1635 491268 34 052475 51 116354114 114 038189654 1047 542785217 0 003821896 0 000978162 0 001633065 0 419833850 0 633450994 20 646068306 INS SOLUTION GOOD 620d9261 481 251850 001000000 51 116573435 114 037237211 1040 805671970 0 000257666 0 003030102 0 000089758 3 082229474 1 019023628 89 2
25. 3 11 Synchronizing External Equipment The SPAN SE allows you to synchronize with external equipment in two ways 1 The receiver has three configurable output strobes Each strobe is synchronous with GPS time and can be configured for pulse length and polarity 2 The receiver accepts up to four input pulses events Each event signal can be configured for positive or negative polarity Time or a solution position velocity attitude can be generated and output synchronously with each input pulse 3 11 1 Configuring a Synchronous Output Pulse The EVENTOUTCONTROL command see page 143 is used to configure an output strobe There are three output strobe lines in the receiver called MARK1 MARK2 and MARK3 and each of them can be configured independently The event strobes toggle between 3 3 V and 0 V Each strobe can supply 24 mA The pulse consists of two states an active state and a not active state The start of the active state is synchronized with the top of the GPS time second and the polarity of the signal indicates whether the active period is 3 3 V or 0 V The not active period immediately follows the active period and has the alternate voltage Each output strobe can be configured in the following ways Polarity The polarity defines the signal state of the active portion of the signal A positive polarity dictates that the active portion of the signal is in a high state 3 3 V Active Period Width The active period st
26. 348 SPAN SE User Manual Rev 9 II d HG1700IMU in Universal Enclosure Important Assemble in accordance with applicable industry standards Ensure all wv ESD measures are in place in particular use a ground strap before exposing or handling any electronic items including the IMU Take care to prevent damaging or marring painted surfaces O rings sealing surfaces and the IMU The following procedure provides the necessary information to install the HG1700 sensor into the Universal Enclosure NovAtel part number 01018589 both illustrated below The steps required for this procedure are e Disassemble the Universal Enclosure e Install the HG1700 Sensor Unit e Reassemble the Universal Enclosure HG1700 Sensor Unit HG1700 Flex Cable Universal Enclosure 1 Use thread locking fluid on all fasteners except for the flex cable connectors 2 Torque values for all fasteners including those for the flex cable are as follows Size 2 56 0 20 0 25 N m 1 8 2 2 Ib in 28 35 oz in Size M4 1 36 1 58 N m 12 0 14 0 Ib in Size 8 32 1 55 1 70 N m 13 7 15 0 Ib in SPAN SE User Manual Rev 9 349 Appendix E HG1700 IMU in Universal Enclosure E 1 Disassemble the Universal Enclosure Disassemble the Universal Enclosure as follows 1 Usinga3 mm hex bit remove the M4 screws they will be reused and the base as shown in Figure 44 Ensure the O rings come with the base when it is re
27. Appendix D Data Logs D 3 40 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 INSVELA USB1 0 19 0 FINESTEERING 1543 236173 000 00000000 9 95 37343 1543 23 6173 002500000 14 139471871 0 070354464 0 044204369 INS SOLUTION GOOD 3e3To0Ic Field Field Type Data Description Format Yid Binary 1 Log Header Log header H 0 2 Week GPS Week Ulong 4 H 3 Seconds into Seconds from week start Double 8 H 4 Week 4 North Velocity Velocity North in metres per Double 8 H 12 second 5 East Velocity Velocity East in metres per second Double 8 H 20 6 Up Velocity Velocity Up in metres per second Double 8 H 28 7 Status INS status see Table 5 on Enum 4 H 36 page 54 8 XXXX 32 bit CRC ASCII Binary and Hex 4 H 40 Short Binary only 9 CRI LF Sentence terminator ASCII only 290 SPAN SE User Manual Rev 9 Data Logs Appendix D D 3 41 INSVELS Short INS Velocity This is a short header version of the INSVEL log on page 290 Message ID 324 Log Type Synch Recommended Input log insvelsa ontime 1 ASCII Example INSVELSA USB2 0 18 5 FINESTEERING 1541 487942 000 00040000 9c95 37343 1541 4 87942 000549050 12 656120921 3 796947104 0 1000244
28. Commands Appendix B B 4 14 GIMBALSPANROTATION Gimbal frame to SPAN frame rotation This command is used to specify a rotational offset between a gimbal mount and the SPAN computation frame This command must be used if the mount frame and SPAN computation frame do not match after the mapping from SETGIMBALORIENTATION is applied to the mount See Chapter 6 Variable Lever Arm for details on frame definitions The message s format and definitions are identical to those in the VEHICLEBODYROTATION command The angles must be entered in the SPAN computation frame and the direction of the angles is from the mount to the SPAN computation frame Abbreviated ASCII Syntax Message ID 1319 GIMBALSPANROTATION XAngle Y Angle ZAngle XUncert YUncert ZUncert Abbreviated ASCII Examples GIMBALSPANROTATION 0 0 90 GIMBALSPANROTATION 0 0 90 0 1 0 1 1 0 ASCII Bina Description Pinaty y Te Binary bi P Format Bytes Offset Value 1 header This field contains the command H 0 name or the message header depending on whether the command is abbreviated ASCII ASCII or binary 2 XAngle 180 180 Right hand rotation around the Double 8 H degrees SPAN frame X axis in degrees 3 YAngle 180 180 Right hand rotation around the Double 8 H 8 degrees SPAN frame Y axis in degrees 4 ZAngle 180 180 Right hand rotation around the Double 8 H 16 degrees SPAN frame Z axis in degrees 5 XUncert 0 180 Uncertainty
29. 5 period Any positive double Log period for ONTIME trigger in seconds Double value larger than the default is O receiver s minimum see Footnote 2 on page 161 raw measurement period 6 offset Any positive double Offset for period ONTIME trigger in seconds To log Double value smaller than the data at 1 second after every minute set the period to 60 period and the offset to 1 default is 0 7 hold NOHOLD Allow log to be removed by the UNLOGALL command Enum default HOLD Prevent log from being removed by the UNLOGALL command 162 SPAN SE User Manual Rev 9 Commands Appendix B B 4 24 LOGFILE Log Data to a File on the SD Card This command allows you to log data to a file on the SD Card Abbreviated ASCII Syntax Message ID 157 LOGFILE action device filename Abbreviated ASCII Example LOGFILE OPEN SD SITE1 GPS Field Field ASCII Binary Description Binary Binary Binary Type Value Value Format Bytes Offset 1 header This field contains the H 0 command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary 2 action Open 0 Open a file to log to it or close Enum 4 H a file Close 1 3 device Choose a mass storage Enum 4 H 4 device see Table 21 on page 126 Default is SD 4 filename Filename where filenames Char 12 12 H 8 have a maximum 12 character limit Default is SPAN log where is the next number in the list starting at
30. CES i 4X d m 7 F e 419 015 M A B C S 5 440 e e 1382 e f SR SE e e reve oo 080 L 5 310 I 2 174349 l ALIGNMENT HOLES FOR 0 125 DOWEL PINS L 6 104 155 J Figure 41 IMU CPT Top Front and Bottom View SPAN SE User Manual Rev 9 121 Appendix A Technical Specifications A 2 5 1 IMU CPT Cable The NovAtel part number for the IMU CPT cable is 60723114 This cable provides power to the IMU from an external power source and enables input and output between the receiver and the IMU DB9 Female Position 4 Position 8 EICH Km A B FI RA Position 1 Figure 42 IMU CPT Development Terminated Cable The IMU CPT cable has a green ground line terminated in a ring lug as shown in Figure 42 that is grounded to the IMU CPT connector body and enclosure Table 20 IMU CPT Connector Pin Out Descriptions Bare Female 8 POS Pin No Function Connectors DB9 MOLEX Comments 1 Power Return BLK 2 9 16 VDC Power Input WHT 3 20 Reserved 21 IMU RS422 TX 2 22 IMU RS422 TX 8 23 24 Reserved 25 IMU RS422 Signal Ground 5 26 34 Reserved 35 TOV Output 4a 36 Reserved 37 Chassis GND WHT Chassis GND GRN Ring lug a This pin connects to EVENT IN 4 of the yellow SPAN SE cable Refer to Table 9 on page 96 for pin out information 122 SPAN SE User Manual Rev 9 Technical Speci
31. Field ASCII Binary Binary Binary Binary Field Type Value Value Description Format Bytes Offset 1 NMEA This field contains the H 0 TALKER command name or the header 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 GNSS GP GL GN and or Inertial IN SPAN SE User Manual Rev 9 165 Appendix B Commands B 4 26 PSRDIFFSOURCE Set the pseudorange correction source This command lets you identify from which base station to accept differential corrections This 1s useful when the receiver is receiving corrections from multiple base stations See also the RTKSOURCE command on page 172 1 To use L band differential corrections an L band receiver and a subscription to the OmniSTAR service is required Contact NovAtel for details see page 20 2 Since several errors affecting signal transmission are nearly the same for two receivers near each other on the ground a base at a known location can monitor the errors and generate corrections for the rover to use This method is called Differential GPS and is used by surveyors to obtain millimeter accuracy Major factors degrading GPS signals which can be removed or reduced with differential methods are the atmosphere ionosphere satellite orbit errors and satellite clock errors Errors not removed include receiver noise and multipath Abbreviated ASCII Syn
32. GPZDA log 268 graphical user interface 49 H handshaking 136 138 hardware reset 169 setup 33 HDOP see dilution of precision header 213 221 ascii 215 log 312 HEADING log 269 health almanac 254 Heave 180 271 HEAVE log 271 height 231 232 position 234 help 46 hexadecimal 215 218 HG1700 installation Universal IMU Enclosure 349 HG1700 installation sensor 353 363 SPAN HG enclosure 360 hold 159 161 162 302 303 HP XP OmniSTAR expiration date 294 status 297 299 tracking state 295 I I model 346 ICOMCONFIG command 151 SPAN SE User Manual Rev 9 ICOMSTATUS log 272 identifier serial port 220 239 311 iIMU FSAS cables 113 commands 187 dimensions 110 FAQ 408 models 32 performance 119 replacement parts 407 scale factor 328 specifications 110 impedance 88 IMU CPT cable 122 dimensions 120 electrical 124 environmental 124 FAQ 408 models 32 sensor specifications 123 specifications 120 inertial measurement unit IMU connection 106 109 113 status 321 type 186 inertial navigation system INS 154 input strobe 75 input output I O 88 INPUTGIMBALANGE command 152 INSATT log 276 INSATTS log 277 INSCOMMAND command 154 INSCOV log 278 INSCOVS log 280 INSPOS log 281 INSPOSS log 282 INSPOSSYNC log 283 INSPVA log 284 INSPVAS log 285 INSSPD log 286 INSSPDS log 287 INSUPDATE log 288 INSVEL log 290 INSVELS log 291 INSZUPT command 155 INSZUPTCONTROL 156 SPAN SE User Manual Rev 9 Index
33. LN 200 IMU in Universal Enclosure Appendix G 2 Using along 3 mm hex bit install the IMU bracket SDLC to the base as shown in Figure 69 Use thread locking fluid on each M4 screw Access for long hex bit Figure 69 Install Bracket to Base SPAN SE User Manual Rev 9 371 Appendix G LN 200 IMU in Universal Enclosure 3 Connect the cable harness to the board assembly and IMU routing it as shown in Figure 70 Ensure latching of the cable connector housings and fasten the 6 32 screw at the IMU end using a 5 32 hex bit Do not use thread locking fluid and do not overtighten CONNECT L CONNECT Figure 70 Making Connections 372 SPAN SE User Manual Rev 9 LN 200 IMU in Universal Enclosure Appendix G 4 While carefully holding the body over the bracket connect the internal cable harness to the board assembly as shown in Figure 71 S 5S ae 7 ET CONNECT Figure 71 Connect Internal Cable Harness SPAN SE User Manual Rev 9 373 Appendix G LN 200 IMU in Universal Enclosure 5 Clean the surface of the enclosure body where it will mate with the O rings using isopropyl alcohol While ensuring all wires will fit inside the bracket without being pinched align the reference markers and pilot holes screws of the enclosure body and base and carefully lower the body onto the base observin
34. The Universal IMU Interface Cable shown in Figure 36 is provided with new iIMU FSAS IMUS The NovAtel part number is 01018299 see Table 11 Universal IMU Enclosure Interface Cable Pinouts on page 101 for pinout descriptions This cable has an optional odometer connector NovAtel part number 01018388 See also Section 4 2 4 2 iIMU FSAS Odometer Cabling on page 116 if applicable The iIMU interface cable supplied provides power to the IMU from an external power source and enables input and output between the receiver and IMU Figure 37 on page 114 shows the iIMU interface cable connections when used with a SPAN SE receiver To connect the SPAN SE with a legacy iIMU FSAS interface cable NovAtel part number 01018221 a FSAS SPAN SE Y Adapter cable is needed Please see Table 17 on page 116 for cable pin out information Figure 36 Universal IMU Interface Cable SPAN SE User Manual Rev 9 113 Appendix A Technical Specifications 1 ELI TR ANT TIT mi I Figure 37 ilMU Interface Cable Connections with a SPAN SE Reference Description 1 SPAN SE receiver 2 iIMU FSAS IMU 3 WO 2 yellow cable s 30 pin connector to I O 2 port on the SPAN SE 4 iIMU interface cable s DB 9 IMU connector to I O 2 yellow cable s DB 9 IMU connector 5 iIMU interface cab
35. Z SPAN SE User Manual Rev 9 183 Appendix B Commands B 4 38 SETIMUTOANTOFFSET Set IMU to antenna offset It is recommended that you mount the IMU as close as possible to the GNSS antenna particularly in the horizontal plane This command is used to enter the offset between the IMU and the GNSS antenna The measurement should be done as accurately as possible preferably to within millimetres especially for RTK operation The x y and z fields represent the vector from the IMU to the antenna phase center in the IMU enclosure frame The a b and c fields allow you to enter any possible errors in your measurements If you think that your x offset measurement is out by a centimetre for example enter 0 01 in the a field The X pitch Y roll and Z azimuth directions of the inertial frame are clearly marked on the IMU This command must be entered before or during the INS alignment mode not after or the INS will reset and require alignment again Abbreviated ASCII Syntax Message ID 383 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 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 x 100 x offset m Double 8 H
36. interface cable 34 36 38 113 115 116 command 148 210 FSAS status 321 graphical 49 gyro time out 321 log and command 54 port specific 150 replacement parts 406 Interface card SPAN MPPC 390 SPAN SE 384 390 Internet Protocol IP 73 76 77 153 interrupt 311 introduction 29 IPCONFIG command 153 J J model 346 K kinematic alignment 56 63 L L model 346 latency 229 latitude longitude 232 fix data 256 position 234 L band 132 166 293 295 LBANDINFO log 293 LBANDSTAT log 295 LED 67 68 lever arm 157 237 LEVERARMCALIBRATE command 157 link 310 link loss of 229 Litef LCI 1 connector 407 enclosure frame 45 181 equipment returns 18 external cable harness 406 IMU status 322 IMU type 187 models 32 power requirements 40 LN 200 413 Index 414 cable 109 commands 187 dimensions 108 FAQ 408 models 32 performance 109 replacement parts 406 scale factors 328 sensor installation 364 366 370 377 380 381 383 SPAN IMU enclosure 377 universal enclosure 366 local level coordinate frame 44 locktime current 315 L band 299 log list 301 trigger 214 type 214 LOG command 159 LOGFILE command 163 logging 69 125 213 LOGLIST log 301 M MAC log 304 manual alignment 57 mark input pulse 307 Mark trigger 193 MARKXCOUNT log 305 MARKXxPVA log 306 MARKXTIME log 307 mask priority 336 mean sea level 232 fix 256 position 234 memory buffer space 159 non volatile 146 sav
37. 10 Roll Right handed rotation from local level Double 8 H 60 around Y axis in degrees 11 Pitch Right handed rotation from local level Double 8 H 68 around X axis in degrees 12 Azimuth Left handed rotation around Z axis Double 8 H 76 Degrees clockwise from North 13 Status INS Status see Table 5 on page 54 Enum 4 H 84 14 XXXX 32 bit CRC Hex 4 H 88 15 CRI LF Sentence Terminator ASCII only SPAN SE User Manual Rev 9 Data Logs Appendix D D 3 36 INSPVAS Short INS Position Velocity and Attitude This is a short header version of the INSPVA log on page 284 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 COMPLETE 855d6f76 A i Sp Bi Bi Field Field Type Description Format Guter Offset 1 Log Header Log header H 0 2 Week GPS Week Ulong 4 H 3 Seconds Seconds from week start Double 8 H 4 4 Latitude Latitude WGS84 Double 8 H 12 5 Longitude Longitude WGS84 Double 8 H 20 6 Height Ellipsoidal height WGS84 Double 8 H 28 7 North Velocity Velocity in a northerly direction a negative Double 8 H 36 value implies a southerly direction 8 East Velocity Velocity in an easterly direction a negative Double 8 H 44 value implies a wester
38. 198 prerequisites 28 processing 312 processor 215 219 pseudorange error estimate 312 jump 312 measurement 262 315 316 noise statistic 262 solutions 229 PSRDIFFSOURCE command 166 pulse 307 PWD command 128 SPAN SE User Manual Rev 9 Index Q quality NMEA 262 quotation mark 215 R R model 346 range bias 222 compressed 317 measurement 312 residual 259 RANGE log 312 range residual 259 RANGECMP log 316 317 raw almanac 253 RAWEPHEM log 318 RAWIMU log 319 RAWIMUS log 327 reacquisition 313 real time kinematic RTK 229 receiver character 311 status 159 331 334 reference frames 44 replacement parts 406 407 reset 68 complete 170 hardware 146 169 RESET command 169 residual 259 resolution 170 RMDIR command 127 roll 181 184 237 276 root mean square RMS 263 rotation 131 174 RTCA 150 DGPS type 167 RTCM 150 DGPS type 167 RTCMV3 150 DGPS type 167 RTK filter 170 RTKCOMMAND command 170 RTKDYNAMICS command 171 RTKSOURCE command 172 RVB see vehicle to body rotation RVBCALIBRATE command 174 415 Index 416 RXCONFIG log 329 RXSTATUS log 331 RXSTATUSEVENT log 337 S S model 346 satellite active 260 in view 264 number of 317 range 259 raw 318 tracking 312 SAVECONFIG command 58 126 175 181 SBAS control 176 differential 166 system type 176 SBASCONTROL command 176 scale factor 316 scope 27 SD Card data 69 secure digital SD Card 69 serial port 150 239 311
39. 2 Li 2 75 PRESS PIN 1 L 529 z 2 08 727 2 86 2X 117 4 PINI 2a 4 62 on Yo 8 oS 2 S CHAMFER 4 6 0 18 X 45 4 PLCS 85 0 335 7x 815 V I G il l 66 7 8 oi 2 63 H i J602 D NS S E Ro F a z 3 x Es 2 NG SE 39 a Sa S ER Se SKT 40 x SKT 39 7x 36 0 14 N f 0 j 0 00 i 1168 PINI P 4 60 14x 3 5 0 14 4 29 3 98 2 95 2X 109 0 2X 101 0 2X 750 NOTES 1 DIMENSIONS ARE IN MM IN 2 MASS 75g 3 J600 J601 MICRO HEADER 2x20 1 27 0 05 PITCH SAMTEC FTSH 120 01 DV K 4 1602 SOCKET STRIP 2x20 2 54 0 10 PITCH SAMTEC SSM 220 DV 2X 625 2 46 2X 150 Figure 83 SPAN MPPC Interface Card SPAN SE User Manual Rev 9 0 59 2X 70 0 28 0 00 391 Appendix J SPAN MPPC Interface Card 8X SCREW 4 40 X 6 35 0 25 SPAN MPPC BOARD J602 CAREFULLY ALIGN CONNECTORS OEMV3 BOARD P1601 8X HEX STANDOFF F F 4 40 X 11 68 0 46 Figure 84 SPAN MPPC Board Stack perspective view 392 SPAN SE User Manual Rev 9 SPAN MPPC Interface Card Appendix J
40. 2 error Receiver error see Table 75 on ULong 4 H page 332 A value of zero indicates no errors 3 stats Number of status codes including receiver ULong 4 H 4 status 4 rxstat Receiver status word see Table 76 on ULong 4 H 8 page 334 5 rxstat pri Receiver status priority mask ULong 4 H 12 6 rxstat set Receiver status event set mask ULong 4 H 16 7 rxstat clear Receiver status event clear mask ULong 4 H 20 8 aux1stat Auxiliary 1 status word see Table 77 on ULong 4 H 24 page 335 9 aux1stat pri Auxiliary 1 status priority mask ULong 4 H 28 10 aux1stat set Auxiliary 1 status event set mask ULong 4 H 32 11 aux1stat clear Auxiliary 1 status event clear mask ULong 4 H 36 12 V3stat OEMV 3 status word see Table 78 on ULong 4 H 40 page 335 13 V3stat pri OEMV 3 status priority mask ULong 4 H 44 14 V3stat set OEMV 3 status event set mask ULong 4 H 48 15 V3stat clear OEMV 3 status event clear mask ULong 4 H 52 16 V2stat OEMV 2 status word see Table 79 on ULong 4 H 56 page 335 17 V2stat pri OEMV 2 status priority mask ULong 4 H 60 18 V2stat set OEMV 2 status event set mask ULong H 64 19 V2stat clear OEMV 2 status event clear mask ULong 4 H 68 20 Next status code offset H 8 number of stats x 16 variable xxxx 32 bit CRC ASCII and Binary only Hex 4 H 8 stats x 64 variable CR LF Sentence terminator ASCII only 336 SPAN SE User Manual Rev 9 Data Logs Appendix D D 3
41. 3 y t 100 y offset m Double 8 H 8 4 E t 100 z offset m Double 8 H 16 5 a 0 to 10 Uncertainty in x m Default is Double 8 H 24 1096 of the x offset to a minimum of 0 01 m 6 b 0 to 10 Uncertainty in y m Default is Double 8 H 32 1096 of the y offset to a minimum of 0 01 m 7 C 0 to 10 Uncertainty in z m Default is Double 8 H 40 1096 of the z offset to a minimum of 0 01 m 184 SPAN SE User Manual Rev 9 Commands Appendix B B 4 39 SETIMUTOANTOFFSET2 Set IMU to GPS2 antenna offset Set the lever arm for the GPS2 antenna Preferably the GPS1 antenna will be set up behind the IMU forward axis and the GPS2 antenna will be set up ahead of the IMU forward axis Entering both lever arms will automatically compute the angular offset between the ALIGN antennas and the IMU axes The format of this command is identical to the SETIMUTOANTOFFSET command Abbreviated ASCII Syntax Message ID 1205 SETIMUTOANTOFFSET x y z a b c Abbreviated ASCII Example SETIMUTOANTOFFSET2 0 54 0 32 1 20 0 03 0 03 0 05 Field ASCII Binary Type Value Value Binary Binary Field Format Bytes Offset Description This field contains the command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary x 100 x offset m Double header H 8 H 16 H 24 y 100 y offset m Double 100 z offset m Double ap A wl N N
42. Accelerometer Range Accelerometer Linearity Accelerometer Scale Factor Accelerometer Bias Gyro Rate Bias 1 0 deg hr Gyro Rate Scale Factor 150 ppm Angular Random Walk 0 125 deg rt hr Accelerometer Range 50 g Accelerometer Linearity 500 ppm Accelerometer Scale Factor 300 ppm Accelerometer Bias 1 0 mg HG1700 AG62 Gyro Input Range 1000 deg sec Gyro Rate Bias 5 0 deg hr Gyro Rate Scale Factor 150 ppm Angular Random Walk 0 5 deg rt hr Accelerometer Range 50 g Accelerometer Linearity 500 ppm Accelerometer Scale Factor 300 ppm Accelerometer Bias 3 0 mg LN 200 Gyro Input Range 1000 deg sec Gyro Rate Bias 1 0 deg hr Gyro Rate Scale Factor 100 ppm Angular Random Walk 0 07 deg rt hr Accelerometer Range 40 g Accelerometer Linearity Accelerometer Scale Factor 300 ppm Accelerometer Bias 0 3 mg LCI 1 Gyro Input Range 800 deg sec Gyro Rate Bias 1 0 deg hr Gyro Rate Scale Factor 500 ppm 0 15 deg rt hr 40g 1000 ppm 1 0 mg SPAN SE User Manual Rev 9 Technical Specifications Appendix A Table 12 Universal IMU Enclosure Electrical and Environmental ELECTRICAL IMU Power Consumption HG1700 AG58 9 W max HG1700 AG62 8 W max LN 200 16 W max LCI 1 16 W typical IMU Input Voltage 12 to 28 V DC all IMU s System Power Consumption 14 8 W typical for all IMU s Input Output Connectors MIL C 38999 III 22 pin all IMU s IMU Interface RS 232 or RS 422 ENVIRONMENTAL Temperature HG1700 AG58
43. Asynch ONCHANGED Polled ONCE or ONTIME 1 ONNEW ONCHANGED 1 Polled log types do not allow fractional offsets and cannot do ontime rates faster than 1Hz See Section D 1 6 Message Time Stamps on page 223 for information on how the message time stamp is set for each type of log 1 A SPAN SE user can request up to 25 logs from the OEMV 3 in addition to 30 SPAN specific logs If you attempt to log more than 30 logs at a time the receiver responds with an Insufficient Resources error 2 Asynchronous logs such as BESTLEVERARM should only be logged ONNEW Otherwise the most current data is not output when it is available This is especially true of the ONTIME trigger which may cause inaccurate time tags to result 3 Use the ONNEW trigger with the MARKxTIME or MARKxPVA logs Before the output of fields for ASCII and binary logs there is an ASCII or binary header respectively See the ASCII and Binary sections that follow There is no header information before Abbreviated ASCII output 214 SPAN SE User Manual Rev 9 Data Logs Appendix D D 1 1 ASCII ASCII messages are readable by both the user and a computer The structures of all ASCII messages follow the general conventions as noted here 1 The first character for each record is 2 Each log or command is of variable length depending on amount of data and format 3 All data fields are delimited by a comma with two exceptions The first exc
44. Bit Description 0 0x00000001 Subscription expired False True NO 1 0x00000002 Out of region False True 2 0x00000004 Wet error 1 False True 3 0x00000008 Link error 1 False True 4 0x00000010 No measurements False True N1 5 0x00000020 No ephemeris False True 6 0x00000040 No initial position False True 7 0x00000080 No time set False True 8 0x00000100 Velocity error False True N2 9 0x00000200 No base stations False True 10 0x00000400 No mapping message False True 11 Reserved N3 N5 12 23 24 25 i 26 0x04000000 Static initialization mode False True 27 Reserved N7 28 30 31 0x80000000 Updating data False True 298 1 Contact OmniSTAR for subscription support All other status values are updated by collecting the OmniSTAR data for 20 35 minutes SPAN SE User Manual Rev 9 Data Logs Appendix D Binary Binary Field Field Type Data Description Format Bytes Offset 1 Log header Log header H 0 2 freq Measured frequency of L band signal Hz Ulong 4 H 3 C No Carrier to noise density ratio Float 4 H 4 C No 10 log10 S No dB Hz 4 locktime Number of seconds of continuous tracking no Float 4 H 8 cycle slipping 5 Reserved Float 4 H 12 6 tracking Tracking status of L band signal see Table 58 Hex 2 H 16 on page 295 7 VBS status Status word for OmniSTAR VBS see Table 59 Hex 2 H 18 on page 296 8 bytes Number of bytes fed
45. HG1700 AG62 Operating 309C to 60 C Storage 45 C to 71 C LN200 Operating 30 C to 60 C Storage 45 C to 80 C LCI 1 Operating 409C to 60 C Storage 409C to 71 C Humidity Operates at 9596 RH non condensing all IMU s SPAN SE User Manual Rev 9 103 Appendix A Technical Specifications A 2 2 HG1700 IMU Single Connector Enclosure Table 13 HG1700 IMU Specifications PHYSICAL IMU Enclosure Size 193 mm x 167 mm x 100 mm 7 6 x 6 6 x 3 9 IMU Size 160 mm x 160 mm x 100 mm 6 3 x 6 3 x 3 9 IMU Weight 3 4 kg 7 49 Ib MECHANICAL DRAWINGS 174 6 m 658 1 UNI VC 4 PLCS p vig 1 T 907 AN CENTER OF AN 74 8 AN NAVIGATION 4 IMU Enclosure i ds OFFSETS N Center 166 4 x SCALE 0 600 ken kg 93 3 Note IMU Enclosure i F03 3 1 The Center of Navigation shown on Center the HG1700 label for the internal IMU is the same as the enclosure s center The enclosure center measurements are labelled as IMU Enclosure Center in this figure 2 Dimensions are shown in millimetres Figure 29 HG1700 Top Bottom Dimensions 104 SPAN SE User Manual Rev 9 Appendix A Technical Specifications 161 3 96 37 5 IMU Enclosure Center i
46. Recommended Input log gpzda ontime 1 Example SGPZDA 143042 00 25 08 2005 6E Data Logs Message ID 227 Log Type Synch Field Structure Field Description Symbol Example 1 GPZDA Log header GPZDA 2 utc UTC time hhmmss s 220238 00 S 3 day Day 01 31 XX 15 4 month Month 01 12 XX 07 5 year Year XXXX 1992 6 null Local zone description not XX empty when no data is available present 7 null Local zone minutes description XX empty when no data is not available present 8 XX Checksum hh 6F 9 CR LF Sentence terminator CR LF 1 Local time zones are not supported by OEMV family receivers Fields 6 and 7 are always null SPAN SE User Manual Rev 9 Data Logs Appendix D D 3 24 HEADING Heading Information The heading is the angle from True North of the GPSI to GPS2 vector in a clockwise direction Asynchronous logs such as HEADING should only be logged ONCHANGED or the most current data is not available or included in the output An example of this occurrence is in the ONTIME trigger If this trigger is not logged ONCHANGED it may cause inaccurate time tags This log is only available on the SPAN SE D Message ID 971 Log Type Asynch Recommended Input log headinga onchanged ASCII Example HEADINGA COM1 0 77 0 FINESTEERING 1481 418557 000 00000000 3663 36137 SOL COMPUTED L1 INT 5 913998127
47. field shows the status of the wheel sensor as specified by the INSUPDATE log The ALIGN Head field shows the heading from the dual antenna ALIGN solution as specified by the HEADING log The Position Type field shows the GPS only position type from the BESTGPSPOS log The NS Config uration Status section displays the IMU type IMU Status and local date time information The dial is a graphical display of the Roll Pitch and Azimuth values indicated by an arrow on each axis Azimuth 272 1986 0 99 SPAN SE User Manual Rev 9 49 Chapter 3 SPAN SE Operation 3 3 Software Configuration 3 3 1 GNSS Configuration 50 The GNSS configuration can be set up for different accuracy levels such as single point SBAS DGPS and RTK RTCA RTCM RTCM V3 and CMR SPAN SE receivers can also be set up for OmniSTAR HP or OmniSTAR VBS With no additional configuration the system operates in single point mode After the base and SPAN rover are set up you can configure them as shown in the configuration examples below which show how to configure your base and rover for GNSS GLONASS RTCA operation Refer to the OEMV Family user manuals for details on DGPS RTK L band or SBAS setup and operation The GNSS positioning mode of operation can also be configured using the position mode wizard in NovAtel s Connect software utility See the Connect Help and its wizard screens for more information See GNSSCARDCONFIG GNSS port configuratio
48. oj CO CO a 0 to 10 Uncertainty in x m Default is 10 Double of the x offset to a minimum of 0 01 m 6 b 0 to 10 Uncertainty in y m Default is 10 Double 8 H 32 of the y offset to a minimum of 0 01 m 7 C 0 to 10 Uncertainty in z m Default is 10 Double 8 H 40 of the z offset to a minimum of 0 01 m SPAN SE User Manual Rev 9 185 Appendix B Commands B 4 40 SETIMUTYPE Set IMU type 186 The SETIMUTYPE command is used to specify the type of IMU connected to the receiver The IMU type can be saved using the SAVECONFIG command Ensure that all windows other than the Console are closed in Connect and then use the SAVECONFIG command to save settings in NVM Otherwise unnecessary data logging occurs and may overload your system Abbreviated ASCII Syntax Message ID 569 SETIMUTYPE switch Abbreviated ASCII Example SETIMUTYPE IMU IMAR FSAS ASCII Binary Type Value Value Binary Binary Binary Format Bytes Offset Field Description Log Header This field contains the command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary 2 Switch See Table 35 IMU IMU Type ENUM 4 H Type on page 187 SPAN SE User Manual Rev 9 Commands Table 35 IMU Type Appendix B Binary ASCII Description 0 IMU UNKNOWN Unkno
49. on the enclosure is not pointing up the output attitude will be of the SPAN computational frame with respect to local level and not the frame marked on the enclosure See the SETIMUORIENTATION command on page 179 to determine what the SPAN computation frame will be given how your IMU is mounted To output the attitude in the vehicle frame see page 131 for information on the APPLYVEHICLEBODYROTATION command Message ID 263 Log Type Synch Recommended Input log insatta ontime 1 ASCII Example INSATTA COM1 0 94 5 FINESTEERING 1635 489927 000 00000000 0000 406 1635 4899 26 997500000 0 000837120 0 000951510 19 997813587 INS SOLUTION GOOD ef487d49 Binary Binary Field Field Type Data Description Format Bytes Offset 1 Log Header Log header H 0 2 Week GPS Week Ulong 4 H 3 Seconds into Seconds from week start Double 8 H 4 Week 4 Roll Right handed rotation from local Double 8 H 12 level around Y axis in degrees 5 Pitch Right handed rotation from local Double 8 H 20 level around X axis in degrees 6 Azimuth Left handed rotation around Z axis Double 8 H 28 Degrees clockwise from North 7 Status INS status see Table 5 on page 54 Enum 4 H 36 8 XXXX 32 bit CRC ASCII Binary and Hex 4 H 40 Short Binary only 9 CRI LF Sentence terminator ASCII only 1 Axis of the SPAN computation frame If the APPLYVEHICLEBODYROTATION command has been invoked it will be
50. pseudorange inputs does not represent carrier phase based positions Instead it reflects the accuracy of the pseudorange position The GPGST log outputs these messages with contents without waiting for a valid almanac Instead it uses a UTC time calculated with default parameters In this case the UTC time status is set to WARNING since it may not be 100 accurate When a valid almanac is available the receiver uses the real parameters Then the UTC time is set to VALID Accuracy is based on statistics reliability is measured in percent When a receiver can measure height to one meter this is an accuracy Usually this is a one sigma value one SD A one sigma value for height has a reliability of 68 that is the error is less than one meter 68 of the time For a more realistic accuracy double the one sigma value 1 m and the result is 95 reliability error is less than 2 m 95 of the time Generally GPS heights are 1 5 times poorer than horizontal positions As examples of statistics the GPSGST message and NovAtel performance specifications use root mean square RMS Specifications may be quoted in CEP RMS Root mean square a probability level of 68 CEP Circular error probable the radius of a circle such that 50 of a set of events occur inside the boundary Message ID 222 Log Type Synch Recommended Input log gpgst ontime 1 Example 1 GPS only GPGST 141451 00 1 18 0 00 0 00 0 0000 0 00 0 00 0 00
51. tighten the jam nut to 6 9 N m 61 Ib in 5 1 Ib ft Figure 51 Fasten Internal Cable Harness 6 Ensure the O rings are in place If they are not as necessary make sure the grooves of the enclosure base are clean and free of debris using isopropyl alcohol As shown in Figure 52 install the outer environmental and inner EMI O rings in the enclosure base being careful not to stretch or twist them O rings must remain flat within the grooves during the remainder of the assembly procedure Figure 52 Install O rings 356 SPAN SE User Manual Rev 9 HG1700 IMU in Universal Enclosure Appendix E 7 Cleanthe surface ofthe enclosure body where it mates with the O rings using isopropyl alcohol As shown in Figure 53 align the reference markers and pilot holes pins of the enclosure body and base Carefully lower the body onto the base observing the O rings and alignment of corners Press the enclosure body into place starting with the round pilot hole indicated in Figure 53 ROUND PILOT HOLE ABOVE THIS PILOT PIN REFERENCE MARKERS Figure 53 Install Enclosure Body on the Base SPAN SE User Manual Rev 9 357 Appendix E HG1700 IMU in Universal Enclosure 358 While squeezing and holding the enclosure body and base together to maintain tight contact carefully turn the assembly over and place it on its top as shown in Figure 54 Using a 3 mm hex bit lightly fasten four equally spaced M4 screws to hold the parts together
52. year MM month DD day 1 31 comp time HH MM SS HH hour MM minutes SS seconds 1 This field may be empty if the revision is not stamped onto the processor 2 One character for each of the COM ports 1 2 and 3 Characters are 2 for RS 232 4 for RS 422 T for LV TTL and X for user selectable valid for COM1 of the OEMV 2 only Therefore the example is for a receiver that uses RS 232 for COM 1 and COM 2 and LV TTL for COM 3 SPAN SE User Manual Rev 9 347 Appendix D Data Logs D 3 68 WHEELSIZE Wheel Size The SPAN filter models the size of the wheel to compensate for changes in wheel circumference due to hardware or environmental changes The default wheel size is 1 96 m A scale factor to this default size is modeled in the filter and this log contains the current estimate of the wheel size Message ID 646 Log Type Asynch Recommended Input log wheelsizea onnew ASCII Example WHEELSIZEA COM3 0 44 0 EXACT 0 0 000 00000000 85 8 33738 1 025108123 2 009211922 0 000453791 157 d50b Binary Binary Field Field Type Data Description Format Bytes Offset 1 Log Header Log header H 0 2 Scale Wheel sensor scale factor Double 8 H 3 Circum Wheel circumference m Double 8 H 8 4 Var Variance of circumference m Double 8 H 16 5 XXXX 32 bit CRC ASCII Binary and Hex 4 H 24 Short Binary only 6 CRI LF Sentence terminator ASCII only
53. 0x00000020 Accelerometer Y Status 1 Valid 0 Invalid 6 0x00000040 Accelerometer Z Status 1 Valid 0 Invalid 7 0x00000080 Unused Set to 0 8 0x00000100 Unused N2 9 0x00000200 10 0x00000400 11 0x00000800 12 0x00001000 N3 13 0x00002000 14 0x00004000 15 0x00008000 16 0x00010000 N4 17 0x00020000 18 0x00040000 19 0x00080000 20 0x00100000 N5 21 0x00200000 22 0x00400000 23 0x00800000 24 0x01000000 N6 25 0x02000000 26 0x04000000 27 0x08000000 28 0x10000000 N7 29 0x20000000 30 0x40000000 31 0x80000000 SPAN SE User Manual Rev 9 325 Appendix D Table 73 HG1900 and HG1930 Status Nibble Bit Mask Description Range Value 0 0x00000001 1 0x00000002 NO Reserved 2 0x00000004 3 0x00000008 4 0x00000010 IMU Status Passed 0 Failed 1 5 0x00000020 IMU Status Passed 0 Failed 1 N1 6 0x00000040 IMU Status Passed 0 Failed 1 7 0x00000080 IMU Status Passed 0 Failed 1 8 0x00000100 9 0x00000200 N2 Reserved 10 0x00000400 11 0x00000800 12 0x00001000 13 0x00002000 N3 Reserved 14 0x00004000 15 0x00008000 16 0x00010000 17 0x00020000 N4 Reserved 18 0x00040000 19 0x00080000 20 0x00100000 21 0x00200000 N5 Reserved 22 0x00400000 23 0x00800000 24 0x01000000 IMU Status Passed 0 Failed 1 25 0x02000000 Reserved N6 26 0x04000000 IMU Status Passed 0 Failed 1 27 0x08000000 IMU Status Passed 0 Fai
54. 0x80000000 Component hardware failure OK Error SPAN SE User Manual Rev 9 333 Appendix D Table 76 SPAN Receiver Status Data Logs Nibble Bit Mask Description 0 0x00000001 Error Flag see Table 75 SPAN No error Error Receiver Error on page 332 NO 1 0x00000002 Temperature status OK Warning 2 0x00000004 Power supply OK Warning 3 0x00000008 Antenna power Powered Not powered 4 0x00000010 Reserved N1 5 0x00000020 Antenna open OK Open 6 0x00000040 Antenna shorted OK Shorted 7 0x00000080 SPAN CPU overload No overload Overload 8 0x00000100 COM1 buffer overrun No overrun Overrun N2 9 0x00000200 COM2 buffer overrun No overrun Overrun 10 0x00000400 COM3 buffer overrun No overrun Overrun 11 0x00000800 COM4 buffer overrun No overrun Overrun 12 0x00001000 USB buffer overrun No overrun Overrun N3 13 0x00002000 Ethernet buffer overrun No overrun Overrun 14 0x00004000 IMU buffer overrun No overrun Overrun 15 0x00008000 RF1 AGC status OK Bad 16 0x00010000 INS reset detected No INS Reset INS Reset N4 17 0x00020000 RF2 AGC status OK Bad 18 0x00040000 Almanac UTC known Valid Invalid 19 0x00080000 Position solution Valid Invalid 20 0x00100000 Position fixed Not Fixed Fixed N5 21 0x00200000 Clock steering Enabled Disabled 22 0x00400000 Clock model Valid Invalid 23 0x00800000 Reserved 24 0x01000000 Sof
55. 1 LBANDINFO Log header H 0 header 2 freq Selected frequency for L band service kHz Ulong 4 H 3 baud Communication baud rate from L band satellite Ulong 4 H 4 4 ID L band signal service ID Ushort 2 H 8 5 Reserved Ushort 2 H 10 6 OSN L band serial number Ulong 4 H 12 7 vbs sub L band VBS subscription type see Table 57 Enum 4 H 16 on page 293 8 vbs exp week GPS week number of L band VBS expiration Ulong 4 H 20 date 1 9 vbs exp secs Number of seconds into the GPS week of L Ulong 4 H 24 band VBS expiration date 10 hp sub OmniSTAR HP or XP subscription type see Enum 4 H 28 Table 57 on page 293 11 hp exp week GPS week number of OmniSTAR HP or XP Ulong 4 H 32 expiration date 12 hp exp secs Number of seconds into the GPS week of Ulong 4 H 36 OmniSTAR HP or XP expiration date 13 hp sub mode HP or XP subscription mode if the subscription Ulong 4 H 40 is valid 0 HP 1 XP 14 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 44 15 CRI LF Sentence terminator ASCII only 294 1 If the subscription type is COUNTDOWN see Field 7 above the expiration week and expiration seconds into the GPS week contain the amount of running time remaining in the subscription If the subscription type is COUNTDOWNOVERRUN the expiration week and expiration seconds into GPS week count the amount of the overrun time SPAN SE User Manual Rev 9 Data Logs Appendix D D 3 44 LBANDSTAT
56. 139 Appendix B Commands B 4 7 COMVOUT Turn power to the ports on or off This command allows you turn power to the COM ports on or off all on or all off Power is supplied at the input voltage out through Pin 4 of COMI COM2 and COMA Power is turned on through Pin 4 of COMI COM2 and COMA and through Pin 4 of O the OEMV3 COMI Ensure the connections are correct before issuing this command to prevent damage to the electronics Abbreviated ASCII Syntax Message ID 779 COMVOUT switch Factory Default COMVOUT OFF Abbreviated ASCII Example COMVOUT ON Field ASCII Binary Binary Binary Binary Field ai Tn T escription Format Bytes Offset Type Value Value 1 header This field contains the H 0 command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary 2 switch O0 OFF The state of the output Enum 4 H power lines 140 SPAN SE User Manual Rev 9 Commands Appendix B B 4 8 DUALANTENNAPORTCONFIG SPAN MPPC Dual Antenna Port Setup Use this command to select the SPAN MPPC COM port that is used to communicate with an external ALIGN capable receiver Although the SPAN MPPC COM port is selectable the port you choose must be connected to COM2 of the external ALIGN receiver Abbreviated ASCII Syntax Message ID 1356 DUALANTENNAPORTCOMFIG port Abbreviated ASCII Example DUALANTENNAPORTCONFIG COM4
57. 28 PZ 90 02 in meters 15 pos y Y coordinate for satellite at reference time Double 8 H 36 PZ 90 02 in meters 16 pos z Z coordinate for satellite at reference time PZ Double 8 H 44 90 02 in meters 17 vel x X coordinate for satellite velocity at reference Double 8 H 52 time PZ 90 02 in meters s 18 vel y Y coordinate for satellite velocity at reference Double 8 H 60 time PZ 90 02 in meters s 19 vel z Z coordinate for satellite velocity at reference Double 8 H 68 time PZ 90 02 in meters per second 20 LS acc x X coordinate for lunisolar acceleration at Double 8 H 76 reference time PZ 90 02 in meters per second per second 21 LS acc y Y coordinate for lunisolar acceleration at Double 8 H 84 reference time PZ 90 02 in meters per second per second 22 LS acc z Z coordinate for lunisolar acceleration at Double 8 H 92 reference time PZ 90 02 in meters per second per second 23 tau n Correction to the nth satellite time t n relative to Double 8 H 100 GLONASS time t c in seconds 24 delta tau n Time difference between navigation RF signal Double 8 H 108 transmitted in L2 sub band and navigation RF signal transmitted in L1 sub band by nth satellite in seconds 25 gamma Frequency correction in seconds per second Double H 116 26 Tk Time of frame start since start of GLONASS Ulong 4 H 124 day in seconds 27 P Technological parameter Ulong 4 H 128 28 Ft User range Ulong 4 H 132 29 age Age of data in da
58. 28 ON 1 Enable break detection default SPAN SE User Manual Rev 9 137 Appendix B Commands B 4 6 COMCONTROL Control the RS232 hardware control lines This command is used to control the hardware control lines of the COM ports On SPAN SE the mode of COMI COM2 COMG and COMA can be configured to be RS232 or RS422 On OEMV products the mode is only hardware configurable The TOGGLEPPS mode of this command is typically used to supply a timing signal to a host PC computer by using the RTS or DTR lines The accuracy of controlling the COM control signals is better than 900 us As a SPAN SE user you have access to 3 event out lines that can provide precise PPS output The other modes are typically used to control custom peripheral devices Also it is possible to communicate with all three serial ports simultaneously using this command 1 If handshaking is disabled any of these modes can be used without affecting regular RS232 communications through the selected COM port However if handshaking is enabled it may conflict with handshaking of the selected COM port causing unexpected results 2 Be aware that RS422 transceiver code and hardware handshaking are mutually exclusive 3 The PULSEPPSLOW control type cannot be issued for a TX signal 4 Only PULSEPPSHIGH FORCEHIGH and FORCELOW control types can be used for a TX signal 5 The IMU port does not need to be configured by the user Do not attem
59. 4 H 12 port 6 acc rx chars Total number of accepted characters received Ulong 4 H 16 through the port 7 dropped Number of software overruns Ulong 4 H 20 chars 8 interrupts Number ofinterrupts on this port Ulong 4 H 24 9 breaks Number of breaks Ulong H 28 This field does not apply for a USB port and is always set to O for USB 10 par err Number of parity errors Ulong 4 H 32 This field does not apply for a USB port and is always set to 0 for USB 11 fram err Number of framing errors Ulong 4 H 36 This field does not apply for a USB port and is always set to 0 for USB 12 overruns Number of hardware overruns Ulong 4 H 40 13 Next port offset H 4 port number x 40 14 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 4 port x 40 15 CRI LF Sentence terminator ASCII only SPAN SE User Manual Rev 9 311 Appendix D Data Logs D 3 53 RANGE Satellite Range Information 312 RANGE contains the channel measurements for the currently tracked satellites When using this log please keep in mind the constraints noted along with the description It is important to ensure that the receiver clock has been set This can be monitored by the bits in the Receiver Status field of the log header Large jumps in pseudorange as well as accumulated Doppler range ADR occur as the clock is being adjusted If the ADR measurement is being used in precise phase processing it is important not to use the ADR if the parit
60. Agreement and the rights and licences hereby granted shall continue in force in perpetuity unless terminated by NovAtel or Licensee in accordance herewith In the event that the Licensee shall at any time during the term of this Agreement i be in breach of its obligations hereunder where such breach is irremediable or if capable of remedy is not remedied within 30 days of notice from NovAtel requiring its remedy then and in any event NovAtel may forthwith by notice in writ ing terminate this Agreement together with the rights and licences hereby granted by NovAtel Licensee may terminate this Agreement by providing written notice to NovAtel Upon termination for any reasons the Licensee shall promptly on NovAtel s request return to NovAtel or at the election of NovAtel destroy all copies of any documents and extracts comprising or containing the Software The Licensee shall also erase any copies of the Software residing on Licensee s computer equipment Ter mination shall be without prejudice to the accrued rights of either party including payments due to NovAtel This provision shall survive termination of this Agreement howsoever arising 6 Warranty NovAtel does not warrant the contents of the Software or that it will be error free The Software is furnished AS IS and without warranty as to the performance or results you may obtain by using the Software The entire risk as to the results and performance of the Software is assumed by
61. Any Purchase Order or other form from the Purchaser which purports to expand alter or amend these terms and conditions is expressly rejected and is and shall not become a part of any agreement between NovAtel and the Purchaser This agreement shall be interpreted under the laws of the Province of Alberta 6 LIMITED WARRANTY AND LIABILITY Warranty Period Products 1 year Accessories 90 days in each case from the date of invoice NovAtel warrants that during the Warranty Period that a the Product will be free from defects in material and workmanship and conform to NovAtel specifications b the software will be free from error which materially affect performance and c if applicable as defined in the User s Manual be eligible for access to post contract support and software updates when available THESE WARRANTIES ARE EXPRESSLY IN LIEU OF ALL OTHER WARRANTIES EXPRESS OR IMPLIED INCLUDING WITHOUT LIMITATION ALL IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE NOVATEL SHALL IN NO EVENT BE LIABLE FOR SPECIAL INDIRECT INCIDENTAL OR CONSEQUENTIAL DAMAGES OF ANY KIND OR NATURE DUE TO ANY CAUSE SPAN SE User Manual Rev 9 Terms and Conditions Purchaser s exclusive remedy for a claim under this warranty shall be limited to the repair or replacement at NovAtel s option and at NovAtel s facility of defective or nonconforming materials parts or components or in the case of software provision of a softwar
62. BACK 10mm TIN WITA RONS COMPLIANT DRAIN WIRE Mme jan 1450 450 0 0 01 Reference Description P1 ODU 4 pin Vin 9 to 28 V DC Figure 21 SPAN SE Power Cable 92 SPAN SE User Manual Rev 9 Technical Specifications Appendix A A 1 1 2 I O 1 Green Cable NovAtel part number 01018134 This cable supplied with the SPAN SE see Figure 22 provides a means of connecting with communications and I O devices The cable is equipped with a 30 pin connector at the receiver end plus four DB 9 connectors at the other end one for each serial port The serial ports available on this cable are COM3 COMA both used for command input and data output a direct connection to the internal OEMV 3 COMI used for RTK correction input and a direct connection to the internal OEMV 2 COMI There is also an end with six bare cables for CAN configurations See Table 8 I O 1 Green Cable Connector Pin Outs on page 94 This cable is RoHS compliant 1331 0 25 00 0 00 45 ODU Straight Plug Green Bend Relief p 10 00 1000 0 50 00 0 00 Label OEMV3 V3 COM 1 230 0 25 00 0 00 Label OEMV2 V2 COM 1 NOVATE L PI PART Label COM4 SE COM 4 180 0 5 0 Label COM3 SE COM 3 Reference Description P1 ODU 30 pin P3 to P6 DB 9 SPAN SE User
63. CAN2 L 16 CAN1 L 17 GND 18 CAN2 H 19 GND 20 Vcc 21 OEMV2 RTS 22 OEMV2 Tx 23 OEMV2 CTS 24 OEMV2 Rx 25 OEMV2 Tx 26 GND 27 OEMV3 Rx 28 OEMV3 RTS 29 GND 30 OEMV3 CTS Appendix I 389 II TIR SPAN MPPC Interface Card This appendix provides technical specifications mechanical dimensioned drawings connector pin outs and cable information for the SPAN MPPC Interface card NovAtel part number 01018318 Figure 83 shows the SPAN MPPC interface card Figure 84 and Figure 85 show the SPAN MPPC board stack NovAtel part number 01018411 which includes a SPAN MPPC interface card and an OEMV receiver For further information on the OEMV receivers refer to NovAtel technical publication OM 20000093 OEMV Family Installation and Operation User Manual 390 SPAN SE User Manual Rev 9 SPAN MPPC Interface Card J 4 SPAN MPPC Mechanical Drawings Appendix J 500 1 97 0 0 00 A h d i ls A Ge PIN 39 i wo ne E PIN 40 l 00000000 E z i 00000000 Z e a L1 Ex ua 29 qw do nz IE ST Et ga n Wiii o m d E as ug A 383 1 n 1 55 z 1 To je ez
64. CRI LF Sentence terminator ASCII only 1 In the binary log case an additional bytes of padding are added to maintain 4 byte align ment 248 SPAN SE User Manual Rev 9 Data Logs Appendix D D 3 12 GLOEPHEMERIS GLONASS Ephemeris Data GLONASS ephemeris information is available through the GLOEPHEMERIS log GLONASS ephemerides are referenced to the SGS 90 geodetic datum and GLONASS coordinates are reconciled internally through a position filter and output to WGS84 GLONASS measurements can be used for post processed positioning solutions or in user designed programs NovAtel plans to offer GLONASS only positioning in the future In the meantime OEMV based output is compatible with post processing software from the Waypoint Products Group NovAtel Inc See also www novatel com for details Message ID 723 Log Type Asynch Recommended Input log gloephemerisa onchanged Example GLOEPHEMERISA COM1 3 49 0 SATTIME 1364 413624 000 00000000 60664 2310 43 8 1 0 1364 413114000 10786 792 0 0 87 0 9 0260864257812500e 06 6 1145468750000000e 06 2 2926090820312500e 07 1 4208841323852539e 03 2 8421249389648438e 03 1 9398689270019531e 02 0 00000000000000000 2 79396772384643555e 06 2 79396772384643555e 06 2 12404876947402954e 04 1 396983862e 08 3 63797880709171295e 12 78810 3 15 0 12 a02cel8b GLOEPHEMERISA COM1 2 49 0 SATTIME 1364 413626 000 00000000 65064 2310
65. Char 12 H 4 8 3 format 4 FileSize Output filesize in KB ULONG 4 H 16 5 Media SD O default Output media Enum 4 H 20 USBSTICK 1 300 SPAN SE User Manual Rev 9 Data Logs Appendix D D 3 46 LOGLIST List of System Logs Outputs a list of log entries in the system The following tables show the binary ASCII output See also the RXCONFIG log on page 329 for a list of current command settings Message ID 5 Log Type Polled Recommended Input log loglista once ASCII Example LOGLISTA COM1 0 93 5 FINESTEERING 1521 319135 030 00000000 0000 149 7 COM RXSTATUSEVENTA ONNEW 0 000000 0 000000 HOLD COM2 RXSTATUSEVENTA ONNEW 0 000000 0 000000 HOLD COM3 RXSTATUSEVENTA ONNEW 0 000000 0 000000 HOLD COM4 RXSTATUSEVENTA ONNEW 0 000000 0 000000 HOLD COM1 LOGLISTA ONCE 0 000000 0 000000 NOHOLD COM2 RAWIMUSB ONNEW 0 000000 0 000000 NOHOLD COM2 INSPVASB ONTIME 0 020000 0 000000 NOHOLD 21ed4ccd Do not use undocumented logs or commands Doing so may produce errors and void your warranty SPAN SE User Manual Rev 9 301 Appendix D Data Logs Field 8 Field type Data Description Format Binary Binary YP P Bytes Offset 1 LOGLIST Log header H 0 binary header 2 logs Number of messages to follow Long 4 H maximum 60 3 port Output port see Table 23 COM Serial Enum 4 H 4 Port Identifiers on page 136 4 message Message I
66. Commands B 4 38 SETHEAVEWINDOW Set Heave Filter Length This command allows user control over the length of the heave filter This filter determines the heave vertical displacement of the IMU relative to a long term level surface Heave functionality is available on SPAN SE only Abbreviated ASCII Syntax Message ID 1383 SETHEAVEWINDOW filterlength Abbreviated ASCII Example SETHEAVEWINDOW 35 Field Ke ASCII Value ml Description SC Bae pwobl 1 Header This field contains the H 0 command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 Filter Integer This filter length will be Int 4 H Length 1 300s used in the heave filter default 20 s Typically set the filter length to 5 x Wave Period 180 SPAN SE User Manual Rev 9 Commands Appendix B B 4 37 SETIMUORIENTATION Set IMU Orientation The SETIMUORIENTATION command is used to specify which of the IMU axis is aligned with gravity The IMU orientation can be saved using the SAVECONFIG command so that on start up the SPAN system does not have to detect the orientation of the IMU with respect to gravity This is particularly useful for situations where the receiver is powered while in motion 1 The default IMU axis definitions are Y forward Z up X out the right hand side It is strongly recommended that you mount your I
67. D t Value Value kit at l Format Bytes Offset 1 PSRDIFFSOURCE This field contains the H 0 header command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary 2 type See Table 31 ID Type All types may revert Enum 4 H on page 167 to SBAS if enabled or SINGLE position types See also Table 44 Position or Velocity Type on page 229 3 Base Station ID Char 5 or ANY ID string Char 5 82 H 4 1 If you choose ANY the receiver ignores the ID string Specify a Type when you are using base station IDs 2 Inthe binary log case an additional 3 bytes of padding are added to maintain 4 byte alignment 168 SPAN SE User Manual Rev 9 Commands Appendix B B 4 27 RESET Perform a hardware reset This command performs a hardware reset Following a RESET command the receiver initiates a cold start boot up Therefore the receiver configuration reverts either to the factory default if no user configuration was saved or the last SAVECONFIG settings See also the FRESET command on page 146 The optional delay field is used to set the number of seconds the receiver is to wait before resetting The RESET command can be used to erase any unsaved changes to the receiver configuration Abbreviated ASCII Syntax Message ID 18 RESET delay Abbreviated ASCII Example RESET 120 Field ASCII Binary Description Binary Binary Bi
68. IMU CPT interface cable connected to the connector labelled IMU and the event line labelled EVENT IN 4 both on the SPAN SE I O 2 yellow cable SPAN SE User Manual Rev 9 SPAN SE Installation Chapter 2 Figure 4 Typical Static Base Set Up Rover set up refer to Figure 3 on page 34 jai Connect antenna to the receiver Connect user supplied power refer to Table 3 on page 40 Connect user supplied PC for set up and monitoring to COMI Bop Connect user supplied radio device to COM2 Ensure a user supplied radio device is connected to the connector labelled OEMV3 on the SPAN SE I O green cable SPAN SE User Manual Rev 9 35 Chapter 2 SPAN SE Installation The sections that follow outline how to set up the system s parts and cables Data can be collected through any of the peripheral devices USB Ethernet or serial COM ports If you have chosen to connect the receiver using a COM port the port must be configured for a suitably high baud rate to handle the size of the logs you request USB is recommended for logging of high rate data Data storage is via a Secure Digital SD memory card that you access in the front of the SPAN SE See also Section 3 8 SD Card starting on page 69 Figure 5 SD Memory Card The back panel of the SPAN SE is shown in Figure 6 The SPAN SE has multiple COM and I O connectors Note that there is more than
69. J33 Serial Port Connection Pin Description 1 Not used 2 COM2 RXo COM2 TXo SPAN SE User Manual Rev 9 403 Appendix J SPAN MPPC Interface Card Pin Description Not used GND Not used COM2 TXO COM2 RXo Not used ojl ol NI ol ol A Table 106 SPAN MPPC Breakout Board J34 Serial Port Connection Pin Description Not used COM3 RXo COM3 TXo Not used GND Not used COM3 TXO CONG RXo Not used o o NI J a AJ oj N gt Table 107 SPAN MPPC Breakout Board J35 Serial Port Connection Pin Description Not used COM4 RXo COMA TXo Not used GND Not used COMA TXo COMA RXo Not used o CO NI oi ol AJ Ww N gt 404 SPAN SE User Manual Rev 9 SPAN MPPC Interface Card Appendix J J 4 SPAN MPPC to IMU Connection This section outlines the connections that are required between the SPAN MPPC and either an IMU Interface Cable a Deutsch connector on an LN200 or HG1700 enclosure or a NovAtel Power Communication Board used with an LN200 or HG1700 IMU Pin 36 on the J600 connector is one of many available ground pins See Table 93 J600 Multi Communication Header A on page 394 1f an alternate ground connection is required Table 108 SPAN MPPC IMU Connections SPAN MPPC Multi IMU DB 9 Power Communication Interface 8 Posit
70. L band Status Information This log outputs status information for a standard L band OmniSTAR XP Extra Precision or OmniSTAR HP High Performance service 1 In addition to a NovAtel receiver with L band capability a subscription to the OmniSTAR service is required Contact NovAtel for details 2 In binary the receiver outputs 48 bytes without the checksum when the LBANDSTATB log is requested Message ID 731 Log Type Asynch Recommended Input log lbandstata ontime 1 ASCII Example LBANDSTATA COM1 0 73 5 FINESTEERING 1314 494510 000 00000000 c797 1846 1551488896 43 19 62 3 0 00 0082 0000 7235 11 0 0000 0001 7762 04000000 0 93f7d2af Table 58 L band Signal Tracking Status Nibble Bit Mask Description Range Value 0 0x0001 Tracking state 0 Searching 1 Pull in NS 1 0x0002 2 Tracking 3 Idle 2 0x0004 3 0x0008 4 0x0010 Reserved N1 5 0x0020 6 0x0040 Bit timing lock 0 Not Locked 1 Locked 7 0x0080 Phase locked 0 Not Locked 1 Locked 8 0x0100 DC offset unlocked 0 Good 1 Warning N2 9 0x0200 AGC unlocked 0 Good 1 Warning 10 0x0400 11 0x0800 12 0x1000 RESEINEG N3 13 0x2000 14 0x4000 15 0x8000 Error 0 Good 1 Error SPAN SE User Manual Rev 9 295 Appendix D Data Logs Table 59 OmniSTAR VBS Status Word Nibble Description Bit 0 Bit 1 0 0x0001 Subscription Expired
71. LSB HG1700 AG58 HG1900 CA29 HG1930 AA99 2 0 ft s LSB hIcxrA NE YANN 0 33 rad LSB 2 0 ft s L SB HG1700 AG62 IMU CPT 0 1 3600 0x256 0 rad LSB 0 05 219 m s LSB ilMU FSAS 0 1x 28 arcsec LSB 0 05 x 21 m s LSB Litef LCI 1 4 x 2 deg LSB 2x 2 m s LSB LN 200 2 19 rad LSB 2714 m s L SB 328 SPAN SE User Manual Rev 9 Data Logs D 3 58 RXCONFIG Receiver Configuration This log is used to output a list of all current command settings When requested an RXCONFIG log is output for each setting See also the LOGLIST log on page 301 for a list of currently active logs Message ID 128 Log Type Polled Recommended Input Appendix D log rxconfiga once ASCII Example RXCONFIGA COM1 21 96 5 UNKNOWN 0 0 000 40000020 0000 143 COMA COM1 21 96 5 UNKNOWN 0 0 000 40000020 0000 143 COM1 9600 N 8 1 N OFF ON e4f 2d9b6 3e13 c235 RXCONFIGA COM1 20 96 5 UNKNOWN 0 0 000 40000020 0000 143 COMA COM1 20 96 5 UNKNOWN 0 0 000 40000020 0000 143 COM2 9600 N 8 1 N OFF ON 1f 0609b3 1f61f 4e9 RXCONFIGA COM1 19 96 5 UNKNOWN 0 0 000 40000020 0000 143 COMA COM1 19 96 5 UNKNOWN 0 0 000 40000020 0000 143 COM3 9600 N 8 1 N OFF ON 0678ad5c aa03e067 RXCONFIGA COM1 18 96 5 UNKNOWN 0 0
72. Log header GPGSV 2 msgs Total number of messages 1 9 x 3 3 msg Message number 1 9 x 1 4 sats Total number of satellites in view May be different xx 09 than the number of satellites in use see also the GPSGSA log on page 260 5 prn Satellite PRN number XX 03 GPS 1 to 32 SBAS 33 to 64 add 87 for PRN s GLO 65 to 96 1 6 elev Elevation degrees 90 maximum XX 51 7 azimuth Azimuth degrees True 000 359 XXX 140 8 SNR SNR C No 00 99 aB null when not tracking XX 42 Next satellite PRN number elev azimuth SNR Last satellite PRN number elev azimuth SNR variable xx Checksum hh 72 variable CR LF Sentence terminator CR LF 1 The NMEA GLONASS PRN numbers are 64 plus the GLONASS slot number Current slot numbers are 1 to 24 which give the range 65 to 88 PRN numbers 89 to 96 are available if slot numbers above 24 are allocated to on orbit spares SPAN SE User Manual Rev 9 265 Appendix D Data Logs D 3 21 GPHDT NMEA Heading Log This log is only available on the SPAN SE D This log provides actual vessel heading in degrees True from True North Refer also to information in the HEADING command section of the Firmware Reference Manual You can also set a standard deviation threshold for this log as outlined in HDTOUTTHRESHOLD command section of the OEMV Family Firmware Reference Manual You must have a SPAN SE dual antenna model to use this log For furthe
73. M 0 049 N 0 090 K D 2B Example 2 Combined GPS and INS SINVTG 190 919 T 190 919 M 0 856 N 1 585 K A 31 If the NMEATALKER command see page 164 is set to AUTO the talker the first 2 characters after the sign in the log header is set to GP GPS satellites only or IN GNSS INS solution Field Structure Field Description Symbol Example 1 GPVTG Log header GPVTG 2 track true Track made good degrees True X X 24 168 3 T True track indicator T T 4 track mag Track made good degrees Magnetic X X 24 168 5 M Magnetic track indicator M M 6 speed Kn Speed over ground knots X X 0 4220347 7 N Nautical speed indicator N Knots N N 8 speed Km Speed kilometers hour X X 0 781608 9 K Speed indicator K km hr K K 10 mode ind Positioning system mode indicator a A 11 XX Checksum hh 7A 12 CRI LF Sentence terminator CR LF Refer also to Zable 51 NMEA Positioning System Mode Indicator on page 257 SPAN SE User Manual Rev 9 267 Appendix D D 3 23 GPZDA UTC Time and Date This NMEA log outputs messages with contents without waiting for a valid almanac Instead it uses a UTC time calculated with default parameters In this case the UTC time status is set to WARNING since it may not be 100 accurate When a valid almanac is available the receiver uses the real parameters Then the UTC time is set to VALID See also Section D 2 NMEA Standard Logs on page 268 225
74. Memory Card on page 36 The SD Card access door is shown closed in Figure 17 Move the arrow latch to the left to open the access door To remove the SD Card unlock the access door When the door is open you can see the card Push it slightly to partially eject it Then grasp the card and pull it all the way out Figure 17 SD Card Access Door To insert the card ensure that it is correctly aligned before gently sliding it into the slot If you attempt to insert the card incorrectly it will not go all the way in In this case do not force the card Remove it orient it properly and then insert it After the card is locked in place close the cover by moving the arrow latch to the right until it clicks in place The SPAN SE does not support SD Cards formatted with partition tables If you insert an SD Card with partition tables the SD Card LED lights solid red indicating that the SD Card is full If you check the contents of the SD Card using the DIR command or DIRENT log the listing shows no files and 0 bytes free To use the SD Card you need to format the card using the FORMAT command Note that formatting the SD Card erases all of the contents of the card SPAN SE User Manual Rev 9 69 Chapter 3 SPAN SE Operation 3 9 Logging Data to the SD Card 3 9 1 Insert the SD Card 1 Insert the card into the SD Card slot 2 Wait for the SD LED to turn solid green Large memory sized cards may take a few minutes to mount During th
75. NO 1 0x00000002 2 0x00000004 3 0x00000008 4 0x00000010 Gyro warm up Passed 0 Failed 1 N1 5 0x00000020 Gyro self test active Passed O Failed 1 6 0x00000040 Gyro status bit set Passed O Failed 1 7 0x00000080 Gyro time out command interface Passed 0 Failed 1 8 0x00000100 Power up built in test PBIT Passed 0 Failed 1 N2 9 0x00000200 Reserved 10 0x00000400 Interrupt Passed 0 Failed 1 11 0x00000800 Reserved 12 0x00001000 Warm up Passed 0 Failed 1 N3 13 0x00002000 Reserved 14 0x00004000 15 0x00008000 Initiated built in test IBIT Passed 0 Failed 1 16 0x00010000 Reserved N4 17 0x00020000 18 0x00040000 Accelerometer Passed 0 Failed 1 19 0x00080000 Accelerometer time out Passed 0 Failed 1 20 0x00100000 Reserved N5 21 0x00200000 Gyro initiated BIT Passed 0 Failed 1 22 0x00400000 Gyro self test Passed 0 Failed 1 23 0x00800000 Gyro time out Passed O Failed 1 24 0x01000000 Analog to Digital AD Passed 0 Failed 1 N6 25 0x02000000 Test mode Passed 0 Failed 1 26 0x04000000 Software Passed O Failed 1 27 0x08000000 RAM ROM Passed 0 Failed 1 28 0x10000000 Reserved N7 29 0x20000000 Operational Passed 0 Failed 1 30 0x40000000 Interface Passed 0 Failed 1 31 0x80000000 Interface time out Passed 0 Failed 1 SPAN SE User Manual Rev 9 321 Appendix D Data Logs Table 69 L
76. PASHR log uses a UTC time calculated with default parameters to output NMEA messages without waiting for a valid almanac The UTC time status is set to WARNING since it may not be 100 accurate When a valid almanac is available the receiver uses the real parameters and sets the UTC time to VALID For more information about NMEA refer to the OEMV Firmware Reference Manual found on our website The PASHR log contains only INS derived attitude information and is only filled when an inertial solution is available Message ID 1177 Log Type Synch Recommended Input log pashr ontime 1 Example SPASHR 0 68 empty PASHR 195124 00 305 30 T 40 05 0 13 0 180 0 185 4 986 1 2B Field Structure Field Description Symbol Example 1 PASHR Log Header PASHR 2 Time UTC Time hhmmss ss 195124 00 3 Heading Heading value in decimal degrees HHH HH 305 30 4 True Heading T displayed if heading is relative to true T T north 5 Roll Roll in decimal degrees The sign is RRR RR 0 05 always displayed 6 Pitch Pitch in decimal degrees The signis PPP PP 0 13 always displayed 7 Reserved 8 Roll Accuracy Roll standard deviation in decimal rr rrr 0 180 degrees 9 Pitch Accuracy Pitch standard deviation in decimal pp ppp 0 185 degrees 10 Heading Accuracy Heading standard deviation in decimal hh hhh 4 986 degrees 11 GPS Update 0 No position 1 1 Qual
77. SBAS RTKSOURCE RTCM ANY PSRDIFFSOURCE RTCM ANY SBASCONTROL ENABLE AUTO 172 SPAN SE User Manual Rev 9 Commands Appendix B ASCII Bi Bi TUE Field inary Description inary inary inary Type Value Value Format Bytes Offset RTKSOURCE header This field contains the command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary 2 type See Table 31 DGPS ID Type 1 Enum 4 H Type on page 167 3 Base Station Char 5 or ANY ID string Char 5 82 H 4 ID 1 If you choose ANY the receiver ignores the ID string Specify a Type when you are using base station IDs 2 In the binary log case an additional 3 bytes of padding are added to maintain 4 byte alignment SPAN SE User Manual Rev 9 173 Appendix B Commands B 4 31 RVBCALIBRATE Vehicle to Body Rotation Control The RVBCALIBRATE command is used to enable or disable the calculation of the vehicle frame to the SPAN computation frame angular offset These angular offsets must be known in the SPAN system before a kinematic alignment can be attempted The angular offset can be entered with the VEHICLEBODYROTATION command or solved for with the RVBCALIBRATE command This command should be entered when the IMU 1s re mounted in the vehicle or if the rotation angles available are known to be incorrect After the RVBCALIBRATE ENABLE command is entered there are n
78. The equipment listed generates uses and can radiate radio frequency energy and 1f not installed and used in accordance with the instructions may cause harmful interference to radio communications However there is no guarantee that interference will not occur in a particular installation If this equipment does cause harmful interference to radio or television reception which can be determined by turning the equipment off and on the user is encouraged to try to correct the interference by one or more of the following measures e Re orient or relocate the receiving antenna Increase the separation between the equipment and the receiver e Connect the equipment to an outlet on a circuit different from that to which the receiver is connected Consult the dealer or an experienced radio TV technician for help To maintain compliance with the limits of a Class B digital device you must use wv properly shielded interface cables such as Belden 9539 or equivalent when using the serial data ports and double shielded cables such as Belden 9945 or equivalent when using the I O strobe port A shielded Ethernet cable must be used to maintain emission and immunity compliance Industry Canada SPAN SE Class B digital apparatus comply with Canadian ICES 003 SPAN SE appareil num rique de la classe B est conforme la norme NMB 003 du Canada SPAN SE User Manual Rev 9 23 Notices CE NOTICE The enclosures carry the C
79. User Manual Rev 9 Variable Lever Arm Chapter 6 6 3 Usage The following are basic commands that you can use to affect the variable lever arm e SETGIMBALORIENTATION rotates the standard gimbal axis definition to the standard SPAN definition see SETIMUORIENTATION on page 181 for more information e GIMBALSPANROTATION defines the rotation from the gimbal mount computation frame mc to the span computation frame b This applies if the axes of the IMU and gimbal mount are not the same after SETIMUORIENTATION and SETGIMBALORIENTATION commands are applied VEHICLEBODYROTATION defines the rotation from the vehicle frame v to the SPAN computation frame b See 3 1 4 Vehicle Frame on Page 46 for more information SPAN SE User Manual Rev 9 87 II TA Technical Specifications This appendix details the technical specifications of the IMUs and the SPAN SE receiver ATI SPAN SE SPAN SE is a SPAN capable receiver The SPAN SE receiver s technical specifications follow For the other OEMV based and SPAN capable receivers details refer to the OEMV Family Installation and Operation User Manual A 1 1 SPAN SE Receiver INPUT OUTPUT CONNECTORS Antenna Input 1 and 2 TNC female jack 50 O nominal impedance 5 V DC 100 mA max output from SPAN SE to antenna LNA Power ODU Mini Snap Series K 4 pin connector 9 to 28 V DC System Power Consumption Single Antenna 10 W typical Dual Antenna 12 W typical USB Ho
80. WHEELSIZE Wheel Gize e nennen nennen nennen rna nass eis 348 Appendix E HG1700 IMU in Universal Enclosure 349 E 1 Disassemble the Universal Enclosure nnne nnne 350 E 2Install the HG1700 Sensor Unit tiere nre riter eoo tona NEEN 353 Appendix F HG1700 IMU in SPAN HG Enclosure 360 F 1 Disassemble the SPAN IMU Enclosure nnne nennen 361 F 2 Install the HG1700 Sensor Un 363 F 3 Make the Electrical Connections 2 00 0 c ccc cc ccc ceeccese esses eeecececeececeeaueesseeeeeeseeaueaueaseeeeeeeeseneeeas 364 F 4 Re Assemble the SPAN IMU Enclosure nennen nennen nnne 365 Appendix G LN 200 IMU in Universal Enclosure 366 G 1 Disassemble the Universal Endoeure nnne mener nnne 367 G 2 Install the LN 200 Sensor Un 370 Appendix H LN 200 IMU in SPAN IMU Enclosure 377 H 1 Disassemble the SPAN IMU Enclosure enne nennen 378 H 2 Install the LN 200 Sensor Un 380 H 3 Make the Electrical Connections nennen nnne nnn enne 381 H 4 Re Assemble the SPAN IMU Enclosure nnne 383 Appendix I SPAN SE Interface Card 384 Appendix J SPAN MPPC Interface Card 390 J 1 SPAN MPPC Mechanical Drawings eee enne em nennen 391 J 2 SPAN MPPC Connector Pin Outs c ccsseececeececeececeeauesseseeeeeeeeeeeeaeaaueaseeeeeeeeeeeseeauaanenes 394 J 3 8PAN MPPG Breakout Board s RII tice reote vestre env eU Sese aee deve nas 398 JA SPAN MPPC to IMU Connechon nennen n nn nne nennen nnn n nnn nna 405 Appendix K Replacement Parts 406 KT SPANSySIeII istic il
81. Z axis are with respect to the SPAN frame If the IMU enclosure is mounted with the Z axis pointing upwards the SPAN frame is the same as the markings on the enclosure If the IMU is mounted in another way SPAN transforms the SPAN frame axes such that Zpoints up for SPAN computations You must enter the angles in SETINITATTITUDE with respect to the transformed axis See SETIMUORIENTATION on page 8 for a description of the axes mapping that occurs when the IMU 1s mounted differently from Z up This command is not save configurable see the SAVECONFIG command on page 175 and if needed must be entered at startup 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 179 unless you have your IMU mounted with the Z axis not pointing up Then use the tables in the SETIMUORIENTATION command on pages 182 183 to determine the azimuth axis that SPAN is using Abbreviated ASCII Syntax Message ID 862 SETINITATTITUDE pitch roll azimuth pitchSTD rollSTD azSTD Abbreviated ASCII Example SETINITATTITUDE 0 0 90 5 5 5 In this example the initial roll and pitch have been set to zero degrees with a standard deviation of 5 degrees for both This means that the SPAN system is very close to level with respect to the local gravity field The azimuth is 90 degrees see the SETINITAZIMUTH example on page 190 also with a 5 degrees sta
82. a few seconds on power up before the GPS receiver has locked onto its first few satellites If your antenna is obstructed or not plugged in and you have entered a FIX POSITION command then you may see PENDING indefinitely SPAN SE User Manual Rev 9 231 Appendix D Data Logs Field Field type Data Description Format Binary Binary Bytes Offset 1 header Log header H 0 2 Sol Status Solution status see Table 45 on page 231 Enum 4 H 3 Pos Type Position type see Table 44 on page 229 Enum 4 H 4 4 Lat Latitude Double 8 H 8 5 Lon Longitude Double 8 H 16 6 Hgt Height above mean sea level Double 8 H 24 7 Undulation Undulation Float 4 H 32 8 Datum ID Datum ID refer to the DATUM command in the Enum 4 H 36 OEMV Family Firmware Reference Manual 9 Lato Latitude standard deviation Float 4 H 40 10 Lon c Longitude standard deviation Float 4 H 44 11 Hgt o Height standard deviation Float 4 H 48 12 Stn ID Base station ID Char 4 4 H 52 13 Diff age Differential age Float 4 H 56 14 Sol age Solution age in seconds Float 4 H 60 15 obs Number of observations tracked Uchar 1 H 64 16 solnSVs Number of satellite solutions used in solution Uchar 1 H 65 17 L1 Number of GPS and GLONASS L1 ranges above Uchar 1 H 66 the RTK mask angle 18 L2 Number of GPS and GLONASS L2 ranges above Uchar 1 H 67 the RTK mask angle 19 Reserved U
83. and are compatible with an IMU See Table 1 for firmware model details Each model is capable of multiple positioning modes of operation For a discussion on GNSS positioning refer to APN 051 Positioning Modes of Operation available from our website at www novatel com Support Knowledge and Learning Application Notes Each model has the following standard features e NovAtel s advanced OEMV L1 L2 GNSS GLONASS and PAC technology Four bidirectional COM ports three of which support data transfer rates of up to 921 600 bits s e A USB port for PC communication e A serial port capable of communication with an IMU See also Table 1 on page 32 An Ethernet port for TCP or UDP communication with the receiver Field upgradeable firmware program software What makes most models different from others is software not hardware This unique feature means that the firmware can be updated any time anywhere without any mechanical procedures whatsoever For example a model with L1 L2 only capabilities can be upgraded to a model with L1 L2 RT 2 in only a few minutes in your office instead of the days or weeks that would be required if the receiver had to be sent to a service depot All that is required to unlock the additional features is a special authorization code Refer to the SPANAUTH command on page 199 for further details on this topic Rates higher than 115 200 are not standard on most PCs and may require extra PC hard
84. as shown in the log headers and you are not getting a good status value something is wrong and the hardware setup must be checked out Check the IMU status word in the RAWIMU or RAWIMUS log and verify that the times in the RAWIMU or RAWIMUS logs are changing over time Please also refer to the OEMV Family Firmware Reference Manual for information on the supplied Convert4 program that lets you change binary to ASCII data or short binary to short ASCII data and vice versa Convert4 is also capable of RINEX conversions to and from ASCII or binary SPAN SE User Manual Rev 9 213 Appendix D Data Logs D 1 Log Types Refer to the LOG command see page 159 for details on requesting logs The receiver is capable of generating many different logs These logs are divided into the following three types synchronous asynchronous and polled The data for synchronous logs is generated on a regular schedule Asynchronous data is generated at irregular intervals If asynchronous logs are collected on a regular schedule they do not output the most current data The data is delayed until the scheduled output time The data in polled logs is generated on demand An example of a polled log is RXCONFIG It would not make sense to log this kind of data ONCHANGED or ONNEW The following table outlines the log types and the valid triggers to use Table 37 Log Type Triggers Type Recommended Trigger Illegal Trigger Synch ONTIME ONNEW ONCHANGED
85. at 28 bytes This is nearly as long as the data portion of many of the INS logs and creates excess storage and baud rate requirements Note that the INS related logs contain a time tag within the data block in addition to the time tag in the header The time tag in the data block should be considered the exact time of applicability of the data All the described INS logs except the INSCOV INSPOSSYNC and INSUPDATE can be obtained at rates up to the full rate of the IMU subject to the limits of the output baud rate 1 Each log ends with a hexadecimal number preceded by an asterisk and followed by a line termination using the carriage return and line feed characters for example 1234ABCD CR LF This value is a 32 bit CRC of all bytes in the log excluding the or Yo identifier and the asterisk preceding the four checksum digits See also Section D 1 4 ASCII and Binary Logs with Short Headers on page DIT 2 The BESTPOS position log can be logged at rates up to 20 Hz directly from the OEMV port but is available at 1 Hz or 5 Hz from any SPAN SE port Other GNSS logs RANGE PSRPOS and so on can be logged up to 20 Hz from the SPAN ports The BESTGPSPOS log is available from SPAN SE only at 1 Hz or 5 Hz 3 Table 5 Inertial Solution Status on page 54 shows the status values included in the INS position velocity and attitude output logs If you think you have an IMU unit hooked up properly your GNSS time status is FINESTEERING
86. calibration runs for 600 s or until the estimated lever arm standard deviation is 0 05 m in each direction x y z whichever happens first Abbreviated ASCII Example 3 LEVERARMCALIBRATE OFF 0 This command stops the calibration The current estimate when the command was received is output in the BESTLEVERARM log and used in the SPAN computations SPAN SE User Manual Rev 9 157 Appendix B Commands Binary Value Binary Binary Binary ASCII Value Format Bytes Offset Description 1 header This field contains the H 0 command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary 2 swith OFF 0 Enableordisablethelever Enum 4 H ON default arm calibration routine 3 maxtime 0 1000 Maximum calibration time Double 8 H 4 s 4 maxstd 0 02 0 5 Maximum offset Double 8 H 12 uncertainty m 158 SPAN SE User Manual Rev 9 Commands Appendix B B 4 23 LOG Request logs from the receiver Many different types of data can be logged using several different methods of triggering the log events The ONTIME trigger option requires the addition of the period parameter See Section D 1 Log Types starting on page 214 for further information and a complete list of data log structures The LOG command tables in this section show the binary format followed by the ASCII command format The optional pa
87. carrier to noise density ratio cables antenna 406 IMU interface 106 109 113 power 40 warranty 18 calibration 59 63 174 237 card configuration 148 carrier to noise density ratio C No 265 299 315 CD command 127 channel range measurement 312 tracking status 314 316 checksum 215 218 clock SPAN SE User Manual Rev 9 adjust 312 internal 222 offset 308 receiver 342 set 312 status 308 validity 307 CMR 150 dgps type 167 coarse alignment 56 COM command 135 COM port 160 238 310 COMCONFIG command 238 COMCONTROL command 138 command as a log 125 formats 125 prompt interface 210 212 communication 46 COMPROTOCOL log 240 computation frame 45 COMVOUT command 140 configuration 346 alignment 55 non volatile memory 146 port 135 238 receiver 169 329 331 reset 169 save 175 connector antenna 88 green 94 input output 88 yellow 96 coordinated universal time UTC log 268 offset 308 position 256 263 status 342 copyright 2 correction RTCA 150 RTK 346 CORRIMUDATA log 241 CPU 159 cyclic redundancy check CRC 217 219 SPAN SE User Manual Rev 9 Index D D model 78 346 data collection 58 65 69 datum 232 best position 234 DC antenna 88 default factory 169 DGPS command 263 differential 229 differential age 229 232 234 differential correction station 166 172 dilution of precision DOP 256 NMEA 260 DIR command 127 DIRENT log 243 distance exceeded 231 Doppler 315 ac
88. configured to compute the GNSS baseline ALIGN solution No specific configuration commands need to be sent to the receiver to start the ALIGN processing When the antennas are connected properly to the GPS1 and GPS2 connectors on the SPAN SE the dual antenna ALIGN solution will start automatically on boot up As with all ALIGN capable products the baseline solution is available from the GPHDT and HEADING logs 4 4 Configuring ALIGN with SPAN MPPC D ALIGN on SPAN MPPC D requires the use of an external NovAtel receiver typically an OEMV2 The external receiver must be an ALIGN capable model Connect the SPAN MPPC D to the external receiver with a null serial cable between COM2 on the external receiver and any SPAN COM port COM2 by default To select a different SPAN COM port use the DUALANTENNAPORTCONFIG command See Section B 4 8 DUALANTENNAPORTCONFIG SPAN MPPC Dual Antenna Port Setup on page 141 Once the two receivers are connected SPAN will automatically configure ALIGN communication When the antennas are properly connected to each receiver the dual antenna ALIGN solution will start automatically As with all ALIGN capable products the baseline solution 1s available from the GPHDT and HEADING logs 4 5 Configuring SPAN with ALIGN on SE D and MPPC D Models To enable the dual antenna ALIGN solution to aid the INS alignment and provide heading updates the offset between the antennas and the IMU must be known This is achieved
89. due to hardware changes or environmental conditions Information on how the wheel sensor updates are being used is available in the INSUPDATE log see page 286 Wheel sensor information can be input into the system using one of three separate methods 1 Directly connecting the wheel sensor to one of the event input lines available on the SPAN SE 2 Using the wheel sensor interface on the iIMU FSAS IMU 3 Entering the WHEELVELOCITY commands see page 209 through the user interface Specific details on the three methods of wheel sensor input are described below 3 5 1 Wheel Sensor Updates Using the Event Input Lines 64 The event input lines in SPAN SE can be configured to accept a wheel sensor signal directly Any of the four available event input lines can be used but only one can be used at a time the system does not support multiple wheel sensors This method currently only supports A mode directionless and not A B directional mode of operation for the wheel sensor The receiver automatically accumulates the wheel sensor pulses calculates a distance travelled and applies the constraint information in the SPAN GNSS INS filter To connect your wheel sensor to the SPAN SE event input line connect Signal A from the wheel sensor to one of the event input lines available on the I O 2 yellow cable see LO 2 Yellow Cable on page 95 The event input line must be configured for wheel sensor input and the size of the wheel and the numb
90. from SD Card CWD QUOTE DEV lt device gt Change Working Directory Change the currently selected media device The valid options for device are a b or z where a SD card b USB stick z internal 32 MB RAM drive PUT filename Upload a file to the currently selected media device To change the selected media device use the QUOTE DEV command 128 SPAN SE User Manual Rev 9 Commands Appendix B BA SPAN SE Command Reference For convenience some commonly used OEMV commands are included in this manual All SPAN specific commands are included in this manual Please refer to the OEMV Family Firmware Reference Manual for a complete list of GNSS only commands categorized by function and then detailed in alphabetical order B 4 1 ALIGNMENTMODE Set the alignment mode Abbreviated ASCII syntax ALIGNMENTMODE mode Abbreviated ASCII Example ALIGNMENTMODE AIDED TRANSFER gt Field ASCII Binary Binary Binary Binary Field D t ZS Type Value Value Tee PUn Format Bytes Offset 1 header This field contains the H 0 command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary 2 mode UNAIDED 0 Regular SPAN static coarse Enum 4 H or kinematic alignment mode AIDED 1 Seed the static coarse STATIC alignment with an initial azimuth AIDED 2 Seed the full attitude from TRANSFER an A
91. in Universal Enclosure 2 While squeezing and holding the assembly tightly together carefully turn the assembly over and set it down as shown in Figure 65 Raise the enclosure body and disconnect the internal cable harness at the SDLC board as shown Ensure the O rings remain with the base when it is removed and that they are not damaged Wires not shown Figure 65 Disconnect Wiring Harness from SDLC Card 3 Liftthe enclosure lid off the assembly to expose the IMU bracket shown in Figure 66 Disconnect the harness at the SDLC card and remove Disconnect harness at SDLC card and remove Figure 66 IMU Bracket 368 SPAN SE User Manual Rev 9 LN 200 IMU in Universal Enclosure Appendix G 4 Usinga3 mm hex bit unscrew 4 mm screws and remove the IMU bracket with SDLC as shown in Figure 67 Figure 67 Remove IMU Bracket SDLC SPAN SE User Manual Rev 9 369 Appendix G LN 200 IMU in Universal Enclosure G 2 Install the LN 200 Sensor Unit To install the LN 200 sensor unit in the Universal Enclosure 1 Usinga3 mm hex bit remove original captive 6 32 screws and washers 4 each from the LN 200 IMU Add three washers under each of the original washers and fasten the IMU to the enclosure base as shown in Figure 68 Use thread locking fluid on each screw Figure 68 Install LN 200 IMU to Base 370 SPAN SE User Manual Rev 9
92. is fed directly to the ODO connector on the IMU cable See also Figure 38 on page 117 Figure 38 Corrsys Datron WPT The WPT mounts to the wheel lug nuts via adjustable mounting collets The torsion protection rod which maintains rotation around the wheel axis affixes to the vehicle body with suction cups Refer to the Corrsys Datron WPT user manual for mounting instructions The MAR iMWS V2 sensor is on the inside of the wheel so that all you can see in the vehicle is the grey signal converter box Figure 39 iMAR iMWS Pre Installed iMAR provides a sensor that operates with a magnetic strip glued inside the rim of a non drive wheel and a special detector iRS mounted on the inside of the wheel the disk of the wheel suspension brake cover or brake caliper holder Details are shown in the installation hints delivered with the system The NovAtel IMU interface cable with ODO is the same as that in Section 4 2 4 1 but with some of the reserved pins having odometer uses It still provides power to the IMU from an external source and enables input and output between the receiver and IMU See also Section 3 5 on page 64 The cable modification is shown in Table 18 below Connect the female DB9 connector to the male ODO end of the Universal IMU interface cable SPAN SE User Manual Rev 9 117 Appendix A 118 Technical Specifications Table 18 Cable Modification for Corrsys Datron WPT 8 pi
93. log requests currently in use Field ASCII Binary M Binary Binary Binary Field D t P Type Value Value EH Format Bytes Offset 1 UNLOGALL This field contains the command H 0 header name or the message header depending on whether the command is abbreviated ASCII ASCII or binary 2 port See Table 23 COM Port to clear Default is Enum 4 H Serial Port Identifiers ALL PORTS on page 136 3 held FALSE 0 Does not remove logs with the Enum 4 H 4 HOLD parameter default TRUE 1 Removes previously held logs even those with the HOLD parameter 206 SPAN SE User Manual Rev 9 Commands Appendix B B 4 55 VEHICLEBODYROTATION Vehicle to SPAN frame rotation Use the VEHICLEBODY ROTATION command to set angular offsets between the vehicle frame direction of travel and the SPAN computation frame If you estimate the angular offsets using the RVBCALIBRATE command the VEHICLEBODY ROTATION command values are used as the initial values The uncertainty values are optional defaults 0 0 Please see Section 3 4 8 Vehicle to SPAN Frame Angular Offsets Calibration Routine starting on page 63 for more details For more information on reference frames see Section 3 1 Definition of Reference Frames within SPAN starting on page 44 RVBCALIBRATE command information is on page 174 The VEHICLEBODYROTATION message can be requested as a log and will report whatever the user entered as a command or the
94. long enough for the coarse alignment to finish The alignment is complete when the INS status changes to INS ALIGNMENT COMPLETE see Table 5 on page 54 Another indication that the alignment is complete is the availability of INSCOV log on page 278 Enable the vehicle to body calibration using the RVBCALIBRATE ENABLE command see page 174 Start to move the system As with the lever arm calibration movement of the system is required for the observation of the angular offsets Drive a series of manoeuvres such as figure eights 1f the driving surface is not level or a straight course if on level ground remember that most roads have a crown resulting in a constant roll of a few degrees Avoid driving on a surface with a constant non zero slope to prevent biases in the computed angles Vehicle speed must be greater than 5 m s 18 km hr for the calibration to complete When the uncertainties of the offsets are low enough to be used for a fast alignment the calibration stops and the VEHICLEBODY ROTATION log see page 345 is overwritten with the solved values To monitor the progress ofthe calibration log VEHICLEBODYROTATION using the ONCHANGED trigger The rotation parameters are saved in NVM for use on start up in case a kinematic alignment is required Each time the IMU is re mounted this calibration should be performed again See also Sections 3 4 3 1 and 3 4 3 2 starting on page 56 for details on coarse and kinematic alignment Af
95. matrix indices first as rows 1 3 and then columns 1 3 0 sinn 3 2 6 tan R 3 1 in code use atan2 for proper quadrant resolution o L R63 J d tan Ri L2 RAL2 R 2 2 SPAN SE User Manual Rev 9 SPAN SE Operation Chapter 3 3 4 8 Vehicle to SPAN Frame Angular Offsets Calibration Routine Kinematic fast alignment requires that the angular offset between the vehicle and IMU SPAN frame is known approximately If the angles are simple that is a simple rotation about one axis the values can easily be entered manually through the VEHICLEBODYROTATION command see page 199 If the angular offset is more complex that is rotation is about 2 or 3 axis then the calibration routine provides a more accurate estimation of the values As with the lever arm calibration the vehicle to SPAN frame angular offset calibration requires RTK GNSS The steps for the calibration routine are 1 Apply power to the receiver and IMU see the IMU choices and their technical specifications starting on page 88 Configure the RTK corrections and make sure that the BESTGPSPOS log see page 229 reports a good RTK solution Configure the IMU see Section 3 3 2 SPAN IMU Configuration starting on page 52 Ensure that an accurate lever arm has been entered into the system either manually or through a lever arm calibration see page 59 Allow the system to complete a coarse alignment see page 56 Remain stationary
96. mode the polarity time bias and time guard entries in the EVENTINCONTROL log are ignored The maximum signal frequency for the count mode is 50 kHz When an input strobe is configured for COUNT mode the totals are available by logging the MARKXCOUNT logs see page 305 For example the following gives the total pulses on event strobe every second LOG MARKICOUNTA ONNEW 3 12 SPAN SE Ethernet Connection The SPAN receiver has four Ethernet ports The device has a unique Media Access Control MAC address hard coded into flash and user configurable IP information There are four ports available for Ethernet Ports 3000 3001 3002 and 3003 are used to access ICOM1 ICOM2 ICOMG and ICOM4 respectively Each port can be used for both Transmission Control Protocol TCP and User Datagram Protocol UDP traffic but not simultaneously SPAN SE uses a static IP address Dynamic Host Configuration Protocol DHCP is a protocol for automating the configuration of computers that use TCP IP There is no DHCP support at this time An FTP port is available for transfer of data files from the data logging SD Card The receiver is shipped with a default configuration as follows e Default IP 192 168 0 10 Default mask 255 255 255 0 Default Gateway 192 168 0 1 The MAC address is available to the user through the MAC log 3 12 1 Configuring for TCP or UDP Operation Each SPAN SE Ethernet port can be configured for either TCP or UDP The d
97. of the SPAN Technology system Separate GNSS and IMU enclosures provide a simple modular system This allows the IMU mounting at the most suitable location while the GNSS receiver is mounted where it is most convenient SPAN Technology provides a robust GNSS and Inertial solution as well as a portable high performance GNSS receiver in one system Scope This manual contains sufficient information on the installation and operation of the SPAN system It is beyond the scope of this manual to provide details on service or repair Contact your local NovAtel dealer for any customer service related inquiries see Customer Service on page 21 After the addition of accessories an antenna and a power supply the SPAN system is ready to go The receiver utilizes a comprehensive user interface command structure which requires communications through its communications COM ports This manual also describes the INS specific commands and logs Refer to the OEMV Family Firmware Reference Manual for information on the logs and commands available for the OEMV 3 that is the GNSS engine of your SPAN SE Visit www novatel com through Support Firmware Software and Manuals to download any NovAtel product manual It is recommended that these documents be kept together for easy reference SPAN system output is compatible with post processing software from NovAtel s Waypoint Products Group Visit our website at www novatel com for details SPAN SE User Ma
98. of the data link though a different value can be set using the DGPSTIMEOUT command refer to the OEMV Family Firmware Reference Manual When in INS mode the position is calculated at the antenna phase center On SPAN SE the BESTPOS and BESTGPSPOS logs are available at 1 Hz 1 Hz and 5 Hz only BESTGPSPOS is a SPAN only log and is not available directly from the OEMV BESTGPSPOS Message ID 423 BESTPOS Message ID 42 Log Type Synch Recommended Input log bestgpsposa ontime 1 ASCII Example BESTGPSPOSA COM1 0 62 5 FINESTEERING 1036 484878 000 00000028 63e2 0 SOL COMPUTED SINGLE 51 11629893124 114 03820302746 1052 3434 16 271287293 61 19 6934 13 1515 23 8561 0 0 60 000 10 10 0 0 0 0 0 0 1051ada9 Table 44 Position or Velocity Type arid a Posse Description 0 NONE No solution 1 FIXEDPOS Position has been fixed by the FIX POSITION command or by position averaging 2 FIXEDHEIGHT Position has been fixed by the FIX HEIGHT or FIX AUTO command or by position averaging 3 Reserved 4 FLOATCONV Solution from floating point carrier phase ambiguities 5 WIDELANE Solution from wide lane ambiguities 6 NARROWLANE Solution from narrow lane ambiguities Continued on the following page SPAN SE User Manual Rev 9 229 Appendix D Data Logs Position Type Position Type binary ASCII Description 7 Re
99. on the system after you enter both lever arms refer to Section 4 5 on page 79 The angular offsets between the dual antenna baseline and the SPAN computation frame will be computed internally and be available for output via the EXTHDGOFFSET log For message structure refer to Section B 4 11 on page 144 SPAN SE User Manual Rev 9 245 Appendix D Data Logs D 3 10 GIMBALLEDPVA Display gimballed position Use this log to view re calculated gimballed position velocity and attitude whenever a new INPUTGIMBALANGLE command is received NOTE The log is not output until the INS alignment is complete Message ID 1321 Log Type Asynch Recommended Input log gimballedpvaa onnew ASCII Example GIMBALLEDPVAA COM1 0 93 5 FINESTEERING 1635 320568 514 00000000 0000 407 163 5 320568 514000000 51 116376614 114 038259915 1046 112025828 0 000291756 0 000578067 0 030324466 0 243093917 0 127718304 19 495023227 INS ALIGNMENT COMPLETE 32fbb61b 246 a NT Binary Binary Field Field Type Description Format Bytes Offset 1 Log Header Log Header H 0 2 Week GPS week Ulong 4 H 3 Seconds Seconds from week start Double 8 H 4 4 Latitude WGS84 latitude in degrees Double 8 H 12 5 Longitude WGS84 longitude in degrees Double 8 H 20 6 Height WGS84 ellipsoidal height Double 8 H 28 7 NorthVelocity Velocity in a northerly direction Double 8 H 36 8 EastVelocity Velocity in an easterly directio
100. one interface cable with the SPAN SE Figure 6 Receiver Enclosure Back Panel Table 2 on page 37 shows a summary of the receiver s back panel port names 36 SPAN SE User Manual Rev 9 SPAN SE Installation Chapter 2 Table 2 Receiver Enclosure Back Panel Labels SPAN Enclosure Port Label Description Power 9 28 VDC Supply Voltage USB Host USB Host USB Device USB Device Ethernet Ethernet GPS1 Antenna 1 SPAN SE GPS2 Antenna 2 optional Green multi pin connector 1 containing WO 1 SPAN SE COM ports OEMV COM port event inputs and output strobes Yellow multi pin connector 2 containing WO 2 SPAN SE COM ports IMU COM port event inputs and output strobes Each connector can be inserted in only one way to prevent damage to both the receiver and the cables Furthermore the connectors that are used to mate the cables to the receiver require careful insertion and removal Observe the following when handling the cables To insert a cable make certain you are using the appropriate cable for the port the I O cable has a different connector number of pins than the power cable Insert the connector until it is straight on and secure To remove a cable grasp it by the connector and pull C Do not pull directly on the cable Review this section s hardware set up subsections and follow the numbered steps in bold to install your SPAN system The example graphics in the sect
101. outputs these messages with contents without waiting for a valid almanac Instead it uses a UTC time calculated with default parameters In this case the UTC time status is set to WARNING since it may not be 100 accurate When a valid almanac is available the receiver uses the real parameters Then the UTC time is set to VALID The GPGSV log can be used to determine which satellites are currently available to the receiver Comparing the information from this log to that in the GPGSA log shows you if the receiver is tracking all available satellites 1 Satellite information may require the transmission of multiple messages The first field specifies the total number of messages minimum value 1 The second field identifies the order of this message message number minimum value 1 2 A variable number of PRN Elevation Azimuth SNR sets are allowed up to a maximum of four sets per message Null fields are not required for unused sets when less than four sets are transmitted Message ID 223 Log Type Synch Recommended Input log gpgsv ontime 1 Example Including GPS and GLONASS sentences GPGSV 3 1 11 18 87 050 48 22 56 250 49 21 55 122 49 03 40 284 47 78 GPGSV 3 2 11 19 25 314 42 26 24 044 42 24 16 118 43 29 15 039 42 7E GPGSV 3 3 11 09 15 107 44 14 11 196 41 07 03 173 4D 264 SPAN SE User Manual Rev 9 Data Logs Appendix D Field Structure Field Description Symbol Example 1 GPGSV
102. provides the ability to specify how the receiver looks at the data There are three modes STATIC DYNAMIC and AUTO The STATIC mode forces the RTK software to treat the rover station as though it were stationary regardless of the output of the motion detector DYNAMIC forces the software to treat the receiver as though it were in motion If the receiver 1s undergoing very slow steady motion 2 5 cm s for more than 5 seconds you should use DYNAMIC mode as opposed to AUTO to prevent inaccurate results and possible resets On start up the receiver defaults to the DYNAMIC setting 1 Forreliable performance the antenna should not move more than 1 2 cm when in static mode 2 Use the static option to decrease the time required to fix ambiguities and reduce the amount of noise in the position solution If you use STATIC mode when the antenna is not static the receiver will have erroneous solutions and unnecessary RTK resets Abbreviated ASCII Syntax Message ID 183 RTKDYNAMICS mode Factory Default RTKDYNAMICS dynamic Abbreviated ASCII Example RTKDYNAMICS static Table 32 Dynamics Mode ASCII Binary Description AUTO 0 Automatically determine dynamics mode STATIC 1 Static mode DYNAMIC 2 Dynamic mode Field ASCII Binary f dos Binary Binary Binary Description Type Value Value Format Bytes Offset 1 RTKDYNAMICS This field contains the command H 0 header name or the message header d
103. results of the RVBCALIBRATE process whichever is most recent The rotation values are used during kinematic alignment The rotation is used to transform the vehicle frame attitude estimates from GNSS into the SPAN frame of the IMU during the kinematic alignment If you use the APPLYVEHICLEBODYROTATION command on page 131 the reported attitude in INSPVA or INSATT will be in the vehicle frame otherwise the reported attitude will be in the SPAN frame The uncertainty values report the accuracy of the angular offsets The VEHICLEBODYROTATION command sets the initial estimates for the angular offset The uncertainty values are optional To estimate your VEHICLEBODYROTATION angles follow these steps 1 Imagine a frame coincident with the vehicle frame 2 Rotate your imagined frame about the vehicle Z axis so that the Y axis of your frame is approxi mately aligned coplanar with the assumed Y axis of the IMU enclosure as defined by your IMU orientation in Table 34 on page 183 This angle is the gamma angle in the command and follows the right hand rule for sign correction Rotate about the vehicle X axis This angle is the alpha angle in the command 4 Finally rotate about the vehicle Y axis This angle is the beta angle in the command Your imag ined frame should now be coincident with the assumed IMU enclosure frame D Enter rotation angles in degrees For further information refer to Section 3 4 7 Vehicle to Body R
104. rotation computation ENABLE 2 174 SPAN SE User Manual Rev 9 Commands Appendix B B 4 32 SAVECONFIG Save current configuration in NVM This command saves the user s present configuration in non volatile memory The configuration includes the current log settings FIX settings port configurations and so on Its output is in the RXCONFIG log see page 329 See also the FRESET command page 146 If you are using this command in Connect ensure that you have all windows other than the Console window closed Otherwise log commands used for the various windows are saved as well This will result in unnecessary data being logged Abbreviated ASCII Syntax Message ID 19 SAVECONFIG SPAN SE User Manual Rev 9 175 Appendix B Commands B 4 33 SBASCONTROL Set SBAS test mode and PRN This command allows you to dictate how the receiver handles Satellite Based Augmentation System SBAS corrections The receiver automatically switches to Pseudorange Differential RTCM or RTCA or RTK if the appropriate corrections are received regardless of the current setting To enable the position solution corrections you must issue the SBASCONTROL ENABLE command The receiver does not attempt to track any GEO satellites until you use the SBASCONTROL command to tell it to use either WAAS EGNOS or MSAS corrections DISABLE stops the corrections from being used When in AUTO mode if the receiver is outside the defined
105. status on page 314 and the example in Table D 3 57 13 Next PRN offset H 4 obs x 44 variable xxxx 32 bit CRC ASCII and Binary only Hex 4 H 4 obs x 44 variable CR LF Sentence terminator ASCII only 1 Satellite PRNs may have two lines of observations one for the L1 frequency and the other for L2 SPAN SE User Manual Rev 9 315 Appendix D Data Logs D 3 54 RANGECMP Compressed Version of the RANGE Log Message ID 140 Log Type Synch Recommended Input log rangecmpa ontime 10 Example RANGECMPA COM1 0 63 5 FINESTEERING 1429 226780 000 00000000 9691 2748 26 049c10081857f2df1if4a130ba2888eb9600603a709030000 Ob9c3001225bf58f334a13O0bble2bed473062fa609020000 449c1008340400e0aaa9a109a7535bac2015c 71c6030000 4p9c300145030010a6a9a10959c2 09120151 7166030000 Ob9d301113c8ffefc284000c6ea051dbf 3089dala0o0o10000 249d1018c6b7f67fa228820af2e5e39830180aela8030000 2b9d301165c4f8ffb228820a500a089f31185fe0a8020000 449d1018bel8f41f2aacad0ala934efc40074ecf88030000 4b59d301182b9f69f38acadla3Ze3Jac28841079fcb88020000 849d101817a1f 95f 16d7af0a69fbelfa401d3fd064030000 8b9Jd30O112909fb2f20d7afla9f24a687521ddece64020000 2 2 8 8 49e1118af4e0470 66d4309a0a631cd642c 55821320000 b9eb110a55903502 6e4309ee28d1ad032c7cb7e1320000 49e11185878 54 4ed2aa098c35558a5325bde1765220000 b9ebllO0abcff71f5ed2aa09cb6ad0f 903209d16c5220000 0eeead18 Table 67 Rang
106. steered 130 FREEWHEELING Position is lost and the range bias cannot be calculated 140 FINEADJUSTING Time is adjusting to fine precision 160 FINE Time has fine precision 180 FINESTEERING Time is fine set and is being steered 20 SATTIME Time from satellite This is only used in logs containing satellite data such as ephemeris and almanac 1 See also Section D 1 6 Message Time Stamps on page 223 There are several distinct states that the receiver goes through UNKNOWN e COARSE FREEWHEELING FINE FINESTEERING On start up and before any satellites are being tracked the receiver can not possibly know the current time As such the receiver time starts counting at GPS week 0 and second 0 0 The time status flag is set to UNKNOWN After the first ephemeris is decoded the receiver time is set to a resolution of 10 milliseconds This state is qualified by the COARSE or COARSESTEERING time status flag depending on the state of the CLOCKADJUST switch Once a position is known and range biases are being calculated the internal clock model begins modelling the position range biases and the receiver clock offset Modelling continues until the model is a good estimation of the actual receiver clock behavior At this time the receiver time will adjusts again this time to an accuracy of 1 microsecond This state is qualified by the FINE time status flag If for some reason position is lost and th
107. the RVBCALIBRATE routine See also Section 3 4 8 Vehicle to SPAN Frame Angular Offsets Calibration Routine starting on page 63 The kinematic alignment begins when the receiver has a good GNSS position fine time is solved the configuration parameters have been set and a GNSS velocity of at least 1 15 4 km h m s is observed During kinematic alignment keep the vehicle roll at less then 10 Straight line driving is best The accuracy of the initial attitude of the system following the kinematic alignment varies and depends on the dynamics of the vehicle and the accuracy of the RVB estimates The attitude accuracy will converge to within specifications once some motion is observed by the system This transition can be observed by monitoring the INS Status field in the INS logs 3 4 3 3 Manual Alignment If you know the attitude of your vehicle roll pitch azimuth you can manually enter the attitude information using the SETINITATTITUDE command See Section B 4 41 SETINITATTITUDE Set initial attitude of SPAN in degrees on Page 166 Alternatively if you know only the azimuth of your vehicle you can manually enter the azimuth information using the SETINITAZIMUTH command See Section B 4 42 SETINITAZIMUTH Set initial azimuth and standard deviation on Page 190 3 4 3 4 Dual Antenna Alignment SPAN can also use information available from a NovAtel ALIGN solution to perform an alignment See Chapter 4 Dual Antenna Functional
108. the axis of the vehicle frame See Section 3 1 Definition of Ref erence Frames within SPAN on page 44 for frame definitions SPAN SE User Manual Rev 9 Data Logs Appendix D D 3 29 INSATTS Short INS Attitude This is a short header version of the INSATT log on page 276 Message ID 319 Log Type Synch Recommended Input log insattsa ontime 1 ASCII Example SINSATTSA 1541 487975 000 1541 487975 000549050 2 755452422 4 127365126 323 289778434 INS SOLUTION GOOD ba08754f Binary Binary Field Field Type Data Description Format Bytes Offset 1 Log Header Log header H 0 2 Week GPS Week Ulong 4 H 3 Seconds into Seconds from week start Double 8 H 4 Week 4 Roll Right handed rotation from local Double 8 H 12 level around Y axis in degrees 5 Pitch Right handed rotation from local Double 8 H 20 level around X axis in degrees 6 Azimuth Left handed rotation around Z Double 8 H 28 axis Degrees clockwise from North 7 Status INS status see Table 5 on page Enum 4 H 36 54 8 XXXX 32 bit CRC ASCII Binary and Hex 4 H 40 Short Binary only 9 CRI LF Sentence terminator ASCII only 1 Axis of the SPAN computation frame If the APPLYVEHICLEBODYROTATION command has been invoked it will be the axis of the vehicle frame See Section 3 1 Definition of Ref erence Frames within SPAN on page 44 for frame definitions SPAN SE User Manual Rev 9 277 Appendix D Data Logs D
109. this alignment routine is meant only for ground based vehicles The assumptions used for the alignment may not hold for marine or airborne applications For the fast alignment routine to work optimally the course over ground s azimuth and pitch must match the SPAN computation frame s azimuth and pitch For example a plane being blown in the wind has a a large crab angle and the course over ground trajectory will not match the direction the IMU is pointing Additional configuration parameters are necessary to enable the kinematic alignment In order to simplify this configuration it is strongly suggested that you mount the IMU in parallel to the vehicle SPAN SE User Manual Rev 9 SPAN SE Operation Chapter 3 frame The Y axis marked on the IMU enclosure should point in the direction of travel Specify which IMU axes are most closely aligned with gravity using the SETIMUORIENTATION command If the IMU is mounted with the Z axis up and the Y axis pointing in the direction of travel then the command would be SETIMUORIENTATION 5 Specify the angular offsets between the SPAN frame and the vehicle frame known as vehicle body rotation or RVB using the VEHICLEBODY ROTATION command see page 199 If the IMU is mounted coincidentally with the vehicle frame defined as z up and y pointing in the direction of travel then the command would be VEHICLEBODYROTATION 0 0 0 Alternatively solve the vehicle to IMU frame angular offsets using
110. to power down the SPAN SE This command is meant for automated setups where the user may not be able to physically touch the SPAN SE but needs to shut the system down Abbreviated ASCII Syntax Message ID 213 SOFTPOWER priority Abbreviated ASCII Example SOFTPOWER NOW Field ASCII Binary Type Value Value Binary Binary Binary Format Bytes Offset H 0 Field Description 1 header This field contains the command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary 2 priority NOW 1 Power down the SPAN SE Enum 4 H immediately 198 SPAN SE User Manual Rev 9 Commands Appendix B B 4 49 SPANAUTH Add an authorization code for a new model This command is used to add or remove authorization codes from the receiver Authorization codes are used to authorize models of software for a receiver The receiver is capable of keeping track of 5 authorization codes at one time The SPANVALIDMODELS log see page 339 lists the current available models in the receiver This simplifies the use of multiple software models on the same receiver If there is more than one valid model in the receiver the receiver uses the model of the last spanauth code entered via the SPANAUTH command The SPANAUTH command causes a reset automatically To change models on the internal OEMV 3 use the AUTH MODEL and VALIDMODELS commands defined in the OEMV Family Firmware Referen
111. to the IMU enclosure frame axis Abbreviated ASCII Syntax Message ID 676 SETINSOFFSET xoffset yoffset zoffset Abbreviated ASCII Example SETINSOFFSET 0 15 0 15 0 25 Field ASCII Binary Binary Binary Binary Field Format Bytes Offset Description Type Value Value 1 header This field contains the command H 0 name or the message header depending on whether the command is abbreviated ASCII ASCII or binary 2 X offset 100 Offset along the IMU enclosure Double 8 H frame X axis m 3 Y offset 100 Offset along the IMU enclosure Double 8 H 8 frame Y axis m 4 Z offset 100 Offset along the IMU enclosure Double 8 H 16 frame Z axis m 192 SPAN SE User Manual Rev 9 Commands Appendix B B 4 44 SETMARK1OFFSET SETMARK2OFFSET SETMARKS3OFFSET SETMARK4OFFSET Set Mark offset Set the offset to the Mark1 Mark2 Mark3 or Mark4 trigger event See also the MARKIPVA to MARKAPVA logs on page 306 The X Y Z offset is measured from the IMU to the asked location in the IMU enclosure frame Abbreviated ASCII Syntax Message ID 1069 SETMARKIOFFSET xoffset yoffset zoffset aoffset Boffset yoffset Abbreviated ASCII Syntax Message ID 1070 SETMARK2OFFSET xoffset yoffset zoffset aoffset Boffset yoffset Abbreviated ASCII Syntax Message ID 1116 SETMARK30OFFSET xoffset yoffset zoffset aoffset Boffset yoffset Abbreviated ASCII Syntax Message ID 1117 SETMARK
112. you See product enclosure if any for any additional warranty 7 Indemnification NovAtel shall be under no obligation or liability of any kind in contract tort or oth erwise and whether directly or indirectly or by way of indemnity contribution or otherwise howsoever to the Licensee and the Licensee will indemnify and hold NovAtel harmless against all or any loss dam age actions costs claims demands and other liabilities or any kind whatsoever direct consequential special or otherwise arising directly or indirectly out of or by reason of the use by the Licensee of the Software whether the same shall arise in consequence of any such infringement deficiency inaccu racy error or other defect therein and whether or not involving negligence on the part of any person 8 Disclaimer and Limitation of Liability a THE WARRANTIES IN THIS AGREEMENT REPLACE ALL OTHER WARRANTIES EXPRESS OR IMPLIED INCLUDING ANY WARRANTIES OF MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE NovAtel DISCLAIMS AND EXCLUDES ALL OTHER WARRANTIES IN NO EVENT WILL NovAtel s LIABILITY OF ANY KIND INCLUDE ANY SPECIAL INCIDENTAL OR CONSEQUENTIAL DAMAGES INCLUDING LOST PROFITS EVEN IF NovAtel HAS KNOWLEDGE OF THE POTENTIAL LOSS OR DAMAGE b NovAtel will not be liable for any loss or damage caused by delay in furnishing the Software or any other performance under this Agreement c NovAtel s entire liability and your exclusive remedies for our liabili
113. 0 4 The Lock Time field of the RANGECMP log is constrained to a maximum value of 2 097 151 which represents a lock time of 65535 96875 s 2097151 32 5 C No is constrained to a value between 20 51 dB Hz Thus if it is reported that C No 20 dB Hz the actual value could be less Likewise if it is reported that C No 51 the true value could be greater a Jik Binary Binary Field Field Type Data Description Format Bytes Offset 1 RANGECMP Log header H 0 header 2 obs Number of satellite observations with Long 4 H information to follow 3 1st range Compressed range log in format of Hex 24 H 4 record Table 67 on page 316 4 Next rangecmp offset H 4 obs x 24 variable xxxx 32 bit CRC ASCII and Binary only Hex 4 H 4 obs x 24 variable CR LF Sentence terminator ASCII only SPAN SE User Manual Rev 9 317 Appendix D Data Logs D 3 55 RAWEPHEM Raw Ephemeris 318 This log contains the raw binary information for subframes one two and three from the satellite with the parity information removed Each subframe is 240 bits long 10 words 24 bits each and the log contains a total 720 bits 90 bytes of information 240 bits x 3 subframes This information is preceded by the PRN number of the satellite from which it originated This message is not generated unless all 10 words from all 3 frames have passed parity Ephemeris data whose TOE Time Of Ephemeris is
114. 0 0 ETHA ICOM3 TCP 3002 0 0 0 0 ETHA ICOMA TCP 3003 0 0 0 0 ETHA Binary Binary Binary Field Field Type Description Format Bytes Offset 1 Header Log Header H 2 CommPort Communications port See Table 23 Enum 4 H on page 136 3 Protocol Ethernet protocol Enum 4 H 4 TCP 2 UDP 3 EthPort Ethernet port number Ulong 4 H 8 IP IP address Ulong 4 H 12 3 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 16 4 CRI LF Sentence terminator ASCII only 272 SPAN SE User Manual Rev 9 Data Logs Appendix D D 3 27 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 The number of lever arms supported will equal the number of antennas supported in the model For example one for single antenna two for dual antenna This log contains the same information as the BESTLEVERARM or BESTLEVERARM2 logs for each lever arm but is intended as a single source for all antenna lever arm information available on the system Message ID 1270 Log Type Asynch Abbreviated ASCII Syntax log imutoantoffsets Example log OK COM1 IMUTOANTOFFSETS COMI 0 98 5 FINESTEERING 1581 339209 733 60000041 0000 265 02 lt LEVER_ARM_PRIMARY 0 326000000 0 126000000 1 285000000 0 032600000 0 012600000 0 128500000 LEVER_ARM_FROM_COMMAND E LEVER ARM SECONDARY 0 325000000 1 155000000 1
115. 0 0005095575483948 1 c92787 278 SPAN SE User Manual Rev 9 Data Logs Appendix D Binary Binary Field Field Type Data Description Format Bytes Offset 1 Log Header Log header H 0 2 Week GPS Week Ulong 4 H 3 Seconds into Week Seconds from week start Double 8 H 4 4 Position Covariance Position covariance matrix in local List of 9 72 H 12 level frame meters squared Doubles 5 Attitude Covariance Attitude covariance matrix in local List of 9 72 H 84 level frame degrees squared Doubles rotation around the given axis 6 Velocity Covariance Velocity covariance matrix in local List of 9 72 H 156 level frame meters per second Doubles squared 7 XXXX 32 bit CRC ASCII Binary and Hex 4 H 228 Short Binary only 8 CRI LF Sentence terminator ASCII only SPAN SE User Manual Rev 9 279 Appendix D D 3 31 INSCOVS Short INS Covariance Log This is a short header version of the INCOV log on page 278 These values are also computed once per 280 second Recommended Input log inscovsa onchanged ASCII Example INSCOVSA 1105 425385 020 1105 425385 000000000 0 0997319969301073 0 0240959791179416 0 0133921499963209 0 0240959791179416 0 1538605784734939 0 0 0133921499963210 0 0440068023663887 0 0 0034190251365443 0 0000759398593357 0 0 0000759398593363 0 0032413999569636 0 Data Logs Message ID 320 Log Type Asynch 04400680236
116. 0 0x40000000 31 0x80000000 322 SPAN SE User Manual Rev 9 Data Logs Appendix D Table 70 Mode Indication MDI3 MDI2 MDI1 MRF Current IMU Mode 0 0 0 0 Power On BIT PBIT 0 0 0 1 Standby Mode 0 1 1 0 Initiated BIT IBIT 0 1 1 1 IBIT Ready 1 1 0 1 Operational Mode Table 71 HG1700 and LN200 Status Nibble Number Bit Mask HG1700 Description LN200 Description NO 0 0x00000001 Reserved IMU Status Passed 0 Failed 1 1 0x00000002 Reserved IMU Status Passed 0 Failed 1 2 0x00000004 Reserved IMU Status Passed 0 Failed 1 3 0x00000008 Reserved IMU Status Passed 0 Failed 1 N1 4 0x00000010 IMU Status Passed 0 IMU Status Passed O Failed 1 Failed 1 5 0x00000020 IMU Status Passed 0 IMU Status Passed 0 Failed 2 Failed 1 6 0x00000040 IMU Status Passed 0 IMU Status Passed 0 Failed 3 Failed 1 7 0x00000080 IMU Status Passed 0 IMU Status Passed 0 Failed 4 Failed 1 N2 8 0x00000100 Reserved IMU Status Passed 0 Failed 1 9 0x00000200 Reserved IMU Status Passed 0 Failed 1 10 0x00000400 Reserved IMU Status Passed O Failed 1 11 0x00000800 Reserved IMU Status Passed O Failed 1 Continued on the following page SPAN SE User Manual Rev 9 323 Appendix D Data Logs Nibble Number Bit UE HG1700 Description LN200 Description N3 12 0
117. 000 40000020 0000 143 COMA COM1 18 96 5 UNKNOWN 0 0 000 40000020 0000 143 COM4 9600 N 8 1 N OFF ON e 7579e2 eed07 66 RXCONFIGA COM1 17 96 5 UNKNOWN 0 0 000 40000020 0000 143 COMCONTROLA COM1 7 96 5 UNKNOWN 0 0 000 40000020 0000 143 COM1 RTS DEFAULT RS232 2c5c183c 2559fe22 RXCONFIGA COM1 16 96 5 UNKNOWN 0 0 000 40000020 0000 143 COMCONTROLA COM1 16 96 5 UNKNOWN 0 0 000 40000020 0000 143 COM2 RTS DEFAULT RS232 dfb9f449 cd8f0al0 RXCONFIGA COM1 15 96 5 UNKNOWN 0 0 000 40000020 0000 143 COMCONTROLA COM1 15 96 5 UNKNOWN 0 0 000 40000020 0000 143 COM3 RTS DEFAULT RS232 98ecb75 d8c3a160 RXCONFIGA COM1 14 96 5 UNKNOWN 0 0 000 40000020 0000 143 COMCONTROLA COM1 14 96 5 UNKNOWN 0 0 000 40000020 0000 143 COMA4 RTS DEFAULT RS232 e3032ae2 1945e7 7 RXCONFIGA COM1 13 96 5 UNKNOWN 0 0 000 40000020 0000 143 f INTE CEMODEA COMI 13 96 5 UNKNOWN 0 0 000 40000020 0000 143 COM1 NOVATEL NOVATEL ON fffl4 e7d5cb24 RXCONFIGA COM1 12 96 5 UNKNOWN 0 0 000 40000020 0000 143 f INTE CEMODEA COMI 12 96 5 UNKNOWN 0 0 000 40000020 0000 143 COM2 NOVATEL NOVATEL ON 39f4b 12706c90 RXCONFIGA COM1 11 96 5 UNKNOWN 0 0 000 40000020 0000 143 INTERFACEMODEA COM1 11 96 5 UNKNOWN 0 0 000 40000020 0000 143 COM3 NOVATEL NOVATEL ON b39ad4 3 e875ddd9 RXCONFIGA COM1 10 96 5 UNKNOWN 0 0 000 40000020 0000 143 INTERFACEMODEA COM1 10 96 5 UNKNOWN 0 0 000 40000020 0000 143 COM4 NOVATEL NOVATEL ON
118. 01 0000 394 SDLOG GP S 2019951634 1972610 20110323 220136 66b5b93c DIRENTA USB1 4 98 5 FINESTEERING 1635 320403 182 00000001 0000 394 SPAN O L 0G 52700 52 20110324 220806 03fda3c9 DIRENTA USB1 3 98 5 FINESTEERING 1635 320403 182 00000001 0000 394 SPAN 1 L OG 28570 28 20110324 220954 fb3e91le DIRENTA USB1 2 98 5 FINESTEERING 1635 320403 182 00000001 0000 394 SPAN 2 L OG 200454 196 20110510 213028 a9795169 DIRENTA USB1 1 98 5 FINESTEERING 1635 320403 182 00000001 0000 394 SPAN 3 L 06 134452 132 20110510 213902 89e77dd0 DIRENTA USB1 0 98 5 FINESTEERING 1635 320403 182 00000001 0000 394 SPAN 4 L 0G 15008 15 20110510 214156 49df871c Field Field Type Description Format Binary Binary Bytes Offset 1 header Log header H 0 2 Week GPS week ULONG 4 H 3 Seconds GPS seconds from week start DOUBLE 8 H 4 4 PitchRate About X axis rotation DOUBLE 8 H 12 5 RollRate About Y axis rotation DOUBLE 8 H 20 6 YawRate About Z axis rotation right DOUBLE 8 H 28 handed 7 LateralAcc INS Lateral Acceleration along DOUBLE 8 H 36 X axis 8 LongitudinalAcc INS Longitudinal Acceleration DOUBLE 8 H 44 along Y axis 9 VerticalAcc INS Vertical Acceleration along DOUBLE 8 H 52 Z axis 10 XXXX 32 bit CRC Hex 4 H 60T 11 CRI LF Sentence Terminator ASCII only 242 SPAN SE User Manual Rev 9 Data Logs Appendix D D 3 8 DIRENT SD Card File List The DIRENT log conta
119. 1 COM1 3 15 TXD1 COM1 2 8 VDC OUT COM1 4 17 GND COM1 5 14 RTS1 COM1 8 1 CTS1 COM1 7 22 EVENT OUT 4 IMU 1 25 RXD_IMU IMU 2 12 TXD IMU IMU 3 26 GND IMU 5 24 RTS IMU IMU 7 13 CTS IMU IMU 8 a Refer to connectors P1 P2 P7 and P10 and to the bare wires in Detail A and Detail B in Figure 23 on page 95 SPAN SE User Manual Rev 9 Technical Specifications Appendix A A 2 Inertial Measurement Units IMUs A 2 1 Universal IMU Enclosure The Universal IMU Enclosure is available with the LCI 1 HG1700 and LN200 IMU s Table 10 Universal IMU Enclosure Specifications IMU Size 168 mm x 195 mm x 146 mm IMU Weight 4 25 kg MECHANICAL DRAWINGS NOTES 1 This mounting hole top surface is masked from paint for grounding Ensure sufficient connection to ground 2 Dimensions are shown in millimetres and in inches in square brackets ToP SEE NOTE 1 195 0 7 68 180 00 28 AX R79 F 7 087 css ES esu BOTTOM II los 4X 6 60 LI 9 9 e 9 9 EN 0 260 n 25 0 6 30 0 02 PES ae MARKERS TYP r e 38 83 o 9 Figure 24 Universal IMU Enclosure Top Bottom Dimensions SPAN SE User Manual Rev 9 Appendix A Technical Specifications
120. 1017384 on page 110 SPAN SE UO 1 green multi connector cable 01018134 SPAN SE UO 2 yellow multi connector cable 01018133 SPAN SE power cable 01018135 External Cable Harness FSAS IMU 01018388 External Cable Harness Litef LCI 1 IMU Universal IMU Enclosure Interface Cable 01018299 KVH IMU CPT terminated cable 60723114 OEMV Connect and Convert4 disk refer to page 44 of this manual and to the OEMV 01017827 Family Installation and Operation User Manual SPAN MPPC Breakout Board with cables and packaging 01018504 SPAN SE User Guide OM 20000124 SPAN Technology for OEMV User manual OM 20000104 OEMV Family Installation and Operation User Manual OM 20000093 OEMV Family Firmware Reference Manual OM 20000094 K 2 Accessories and Options Part Description NovAtel Part Optional NovAtel GPSAntennas For aerodynamic applications ANT A72GA TW N For high accuracy applications GPS 702 For L band applications GPS 702L For high performance base station applications ANT C2GA TW N Optional RF Antenna Cable 5 meters GPS C006 15 meters GPS C016 406 SPAN SE User Manual Rev 9 Replacement Parts Appendix K K 3 Manufacturer s Part Numbers The following original manufacturer s part numbers and equivalents for the IMU interface cables are provided for information only and are not available from NovAtel as separate parts Part Description Part MIL Part 10 pin LEM
121. 2 19388136 659 0 167 80722615 862096 0 000 758 859 42 7 3714 860 0b19e2b 43 8 20375687 399 0 253 108919708 904476 0 012 2781 090 39 1 10629 934 8119e84 43 8 20375689 555 0 177 84715349 232514 0 000 2163 074 42 2 10619 916 0b19e8b fd2d3125 SPAN SE User Manual Rev 9 Data Logs Appendix D D On SPAN SE it is recommended the RANGE log be requested in binary only especially 1f high rates are desired An ASCII example is shown above for clarity and consistency Table 63 Tracking State State Description State Description 0 L1 Idle 7 L1 Frequency lock loop 1 L1 Sky search 8 L2 Idle 2 L1 Wide frequency band pull in 9 L2 P code alignment 3 L1 Narrow frequency band pull in 10 L2 Search 4 L1 Phase lock loop 11 L2 Phase lock loop 5 L1 Reacquisition 19 L2 Steering 6 L1 Steering Table 64 Correlator Type State Description N A Standard correlator spacing 1 chip Narrow Correlator spacing lt 1 chip Reserved Pulse Aperture Correlator PAC 6 Reserved aj SI ojl N Al o Table 65 Channel Tracking Example e Number State Syste m Channel L1 Phase 0 Lock Loop Signal Type Satellit Channel Tracking 1 For a complete list of hexadecimal and binary equivalents please refer to Unit Conversions on our website at www novatel com through Support Know
122. 2 LN 200 Enclosure Side Dimensions 108 33 ilMU FSAS Top Bottom Dimensions 110 34 ilMU FSAS Enclosure Side Dimensions nenne 111 35 ilMU FSAS Center of Navigation ssssssssssessssesseseneen enne enne nennen nnne nnne 112 36 Universal IMU Interface Cable sssssssssssssssese ener enne nnne nennen 113 37 iIMU Interface Cable Connections with a SPAN SE sse 114 38 Corrsys Datron WPT WEE 117 39 iMAR iMWS Pre Installed sesssssssssssesses ener nennen 117 40 IMU CPT Side and Perspective View ssssssssssssssseeeeeenenn ener nne 120 41 IMU CPT Top Front and Bottom View sssssssssseseneeneneeneneenetn ennt nnns 121 42 IMU CPT Development Terminated Cable ssssssssssseeeeen enne 122 43 IMU Center of Navigation example ssssssssssssseseenneeenenn nennen 181 44 REMOvVe Base E 350 45 Disconnect Wiring Harness from Enclosure Body 351 46 Remove IMU Mounting Plate and Bracket 352 47 Remove IMU Mounting Screws esee nemen nnne nennen 353 SPAN SE User Manual Rev 9 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 10 Connect IMU to IMU Mounting Plate seem emen 353 Installing IMU to Mounting Plate seseeene enm eene 354 Assemble Into Enclosure Body
123. 22 INS SOLUTION GOOD 407d82ba Field Field Type Data Description Format ved Binary 1 Log Header Log header H 0 2 Week GPS Week Ulong 4 H 3 Seconds into Week Seconds from week start Double 8 H 4 4 North Velocity Velocity North in metres per second Double 8 H 12 5 East Velocity Velocity East metres per second Double 8 H 20 6 Up Velocity Velocity Up metres per second Double 8 H 28 7 Status INS status see Table 5 on page 54 Enum 4 H 36 8 XXXX 32 bit CRC ASCII Binary and Hex 4 H 40 Short Binary only 9 CRI LF Sentence terminator ASCII only SPAN SE User Manual Rev 9 291 Appendix D Data Logs D 3 42 IPSTATUS Displays ethernet port settings Use this log to display settings for all Ethernet ports If DHCP is used to configure IP addresses this command displays automatically obtained dynamic addresses Message ID 1289 Log Type Asynch Recommended Input log ipstatus ASCII Example IPSTATUSA USB1 0 98 0 FINESTEERING 1635 320781 983 00000001 0000 394 1 ETHA 192 168 0 10 255 255 255 0 192 168 0 1 2854b03a Binary Binary Field Field Type Data Description Format Bytes Offset 1 Log Header Log header H 0 2 Interface Always ETHA Enum 4 H 3 IPAddress Ethernet IP address Ulong 4 H 4 4 NetMask Network mask Ulong 4 H 8 5 Gateway Network gateway Ulong 4 H 12 6 XXXX 32 bit CRC ASCII Binary and Short Hex 4 H 16 Binary only
124. 287000000 0 032500000 0 115500000 0 128700000 LEVER ARM FROM COMMAND COMI ASCII Example IMUTOANTOFFSETSA COM1 0 98 5 FINESTEERING 1581 339209 733 60000041 0000 265 0 2 LEVER ARM PRIMARY 0 326000000 0 126000000 1 285000000 0 032600000 0 012600000 0 128500000 LEVER ARM FROM COMMAND LEVER ARM SECONDARY 0 325000000 1 155000000 1 287000000 0 032500000 0 115500000 0 128700000 LEVER ARM FROM COMMAND 8f 0 90b5 SPAN SE User Manual Rev 9 273 Appendix D Data Logs 3 s is Binary Binary Binary Field Field Type Description Format Bytes Offset 1 Header Log Header H 2 IMU See Table 34 Full Mapping ULong 4 H Orientation Definitions on page 183 3 Number of Number of stored lever arms ULong 4 H 4 Entries 4 Lever Arm Type of lever arm See Table 53 Enum 4 H 8 Type Lever Arm Type on page 274 5 X Offset IMU Enclosure Frame m Double 8 H 12 6 Y Offset IMU Enclosure Frame m Double 8 H 20 7 Z Offset IMU Enclosure Frame m Double 8 H 28 8 X Uncertainty IMU Enclosure Frame m Double 8 H 36 9 Y Uncertainty IMU Enclosure Frame m Double 8 H 44 10 Z Uncertainty IMU Enclosure Frame m Double 8 H 52 11 Lever Arm Source of the lever arm See Enum 4 H 60 Source Table 54 Lever Arm Source on page 275 for the different values 12 Next component offset H 8 comp 56 variable XXXX 32 bit CRC ASCII and Binary Hex 4 H 8 only comp 56 variabl
125. 3 30 INSCOV INS Covariance Matrices The position and velocity matrices in this log each contain 9 covariance values with respect to the local level frame The attitude angles are given in the SPAN Computation Frame See below for the format of the variance output variance about variance about X rotation MP Y rotation angle pitch eX xy XZ angle roll yx yy yz ZX Zy variance about Z rotation angle azimuth or yaw and are displayed within the log output as XX XY XZ YX YY YZ ZX ZY ZZ These values are computed once per second and are only available after alignment See also Section 3 4 1 Configuration for Alignment starting on page 55 and Section 3 1 Definition of Reference Frames within SPAN on page 44 Message ID 264 Log Type Asynch Recommended Input log inscova onchanged ASCII Example INSCOVA COM3 0 0 0 EXACT 1105 425385 020 00040000 c45c 0 1105 425385 000000000 0 0997319969301073 0 0240959791179416 0 0133921499963209 0 0240959791179416 0 1538605784734939 0 0440068023663888 0 0133921499963210 0 0440068023663887 0 4392033415009359 0 0034190251365443 0 0000759398593357 0 1362852812808768 0 0000759398593363 0 0032413999569636 0 0468473344270137 0 1362852812808786 0 0468473344270131 117 5206493841025100 0 0004024901765302 0 0000194916086028 0 0000036582459112 0 0000194916086028 0 0004518869575566 0 0000204616202028 0 0000036582459112 0 0000204616202028
126. 320 0 0959421909646755 0 1226971902356540 1 1319295452903300 0 0100057787272846 0 0122604827412661 0 1131929545290330 9611d3c6 Binary Binary Field Field Type Data Description Format Bytes Offset 1 Log Header Log header H 0 2 XOffset SPAN body frame X axis offset Double 8 H 3 YOffset SPAN body frame Y axis offset Double 8 H 8 4 ZOffset SPAN body frame Z axis offset Double 8 H 16 5 XUncert X axis uncertainty in degrees Double 8 24 H 6 YUncert Y axis uncertainty in degrees Double 8 32 H 7 ZUncert Z axis uncertainty in degrees Double 8 40 H 8 XXXX 32 bit CRC ASCII Binary and Hex 4 H 24 Short Binary only 9 CR LF Sentence terminator ASCII only SPAN SE User Manual Rev 9 Data Logs Appendix D D 3 66 VEHICLEBODYROTATION Vehicle to SPAN Frame Rotation The VEHICLEBOD YROTATION log reports the angular offset from the vehicle frame to the SPAN frame The SPAN computation frame is defined by the transformed IMU enclosure axis with Z pointing up see the SETIMUORIENTATION command on page 179 If your IMU is mounted with the Z axis as marked on the IMU enclosure pointing up the IMU enclosure frame is the same as the SPAN computation frame This log reports whatever was entered using the VEHICLEBODYROTATION command page 207 or whatever was solved for after invoking the RVBCALIBRATE command see page 174 Recommended Input log vehiclebodyrotationa onchanged ASCII Exampl
127. 40000020 0000 143 LOGA COM1 3 96 5 UNKNOWN 0 0 000 40000020 0000 143 COM3 RXSTATUSEVENTA ONNEW 0 000000 0 000000 HOLD 55434e6b d01c75af RXCONFIGA COM1 2 96 5 U OWN 0 0 000 40000020 0000 143 LOGA COM1 2 96 5 UNKNOWN 0 0 000 40000020 0000 143 COM4 RXSTATUSEVENTA ONNEW 0 000000 0 000000 HOLD ed7 685 bd419430 RXCONFIGA COM1 1 96 5 FINESTEERING 1521 320402 983 40000020 0000 143 SETIMUTYPEA COM1 1 96 5 FINESTEERING 1521 320402 983 40000020 0000 143 IMU LN200 58dfc9b8 80e7837c RXCONFIGA COM1 0 96 5 FINESTEERING 1521 320402 984 40000020 0000 143 COMA COMI 0 96 5 FINESTEERING 1521 320402 984 40000020 0000 143 IMU 115200 N 8 1 N OFF OFF 4a567775 82ce86cf Do not use undocumented commands or logs Doing so may produce errors and void your warranty Binary Binary Field Field type Data Description Format Bytes Offset 1 RXCONFIG Log header H 0 header 2 e header Embedded header h H 3 e msg Embedded message Varied a H h 4 e XXXX Embedded inverted 32 bit CRC ASCII and Long 4 H h a Binary only The embedded CRC is inverted so that the receiver does not recognize the embedded messages as messages to be output but continues with the RXCONFIG message If you want to use the messages output from the RXCONFIG log simply flip the embedded CRC around for individual mess
128. 44 11 1 0 1364 413116000 10784 792 0 0 87 13 1 2882617187500000e 06 1 9318657714843750e 07 1 6598909179687500e 07 9 5813846588134766e 02 2 0675134658813477e 03 2 4769935607910156e 03 2 79396772384643555e 06 3 72529029846191406e 06 1 86264514923095703e 06 6 48368149995803833e 05 4 656612873e 09 3 63797880709171295e 12 78810 3 15 3 28 e2d5ef15 GLOEPHEMERISA COM1 1 49 0 SATTIME 1364 413624 000 00000000 65064 2310 45 13 0 0 1364 413114000 10786 0 0 0 87 0 1 1672664062500000e 07 2 2678505371093750e 07 4 8702343750000000e 05 1 1733341217041016e 02 1 3844585418701172e 02 3 5714883804321289e 03 2 79396772384643555e 06 2 79396772384643555e 06 0 00000000000000000 4 53162938356399536e 05 5 587935448e 09 2 36468622460961342e 11 78810 0 0 0 8 c15abfeb GLOEPHEMERISA COM1 0 49 0 SATTIME 1364 413624 000 00000000 65064 2310 59 17 0 0 1364 413114000 10786 0 0 0 87 0 2 3824853515625000e 05 1 6590188964843750e 07 1 9363733398437500e 07 1 3517074584960938e 03 2 2859592437744141e 03 1 9414072036743164e 03 1 86264514923095703e 06 3 72529029846191406e 06 1 86264514923095703e 06 7 92574137449264526e 05 4 656612873e 09 2 72848410531878471e 12 78810 0 0 0 12 ed7675 SPAN SE User Manual Rev 9 249 Appendix D Data Logs Table 49 GLONASS Ephemeris Flags Coding wo i Nbbk Nmbe 1 emen odd hammas 0 four 1 fie 00000008 RESERVED N 1 through N 7 Table 50 Bits 0 1 P1 Flag Range Values State Descriptio
129. 5 B 4 6 COMCONTROL Control the RS232 hardware control lines 138 B 4 7 COMVOUT Turn power to the ports on or off 140 B 4 8 DUALANTENNAPORTCONFIG SPAN MPPC Dual Antenna Port Setup 141 B 4 9 EVENTINCONTROL Control mark input properties seeeeee 142 B 4 10 EVENTOUTCONTROL Control event out properties sess 143 B 4 11 EXTHDGOFFSET Set the Angular Offset 144 B 4 12 FORMAT Format the SD Card sse 145 B 4 13 FRESET Factory reset eo ence eee retten an en pa kn NAS 146 B 4 14 GIMBALSPANROTATION Gimbal frame to SPAN frame rotation 147 B 4 15 GNSSCARDCONFIG GNSS port configuration ssee 148 B 4 16 ICOMCONFIG Set ICOMX Protocol esseeem eee 151 B 4 17 INPUTGIMBALANGLE Input gimbal angles into the SPAN SE 152 B 4 18 IPCONFIG Set IP information senem 153 B 4 19 INSCOMMAND INS control commande 154 B 4 20 INSZUPT Request Zero Velocity Update 0 0 ee eeeeeecenneeeeeeeeeesneeeeenaeeeeaeees 155 B 4 21 INSZUPTCONTROL INS Zero Velocity Update Control 156 B 4 22 LEVERARMCALIBRATE INS Calibration Command eene 157 B 4 23 LOG Request logs from the receiver eem 159 B 4 24 LOGFILE Log Data to a File on the SD Card sse 163 B 4 25 NMEATALKER Set the NMEA Talker ID eene 164 B 4 26 PSRDIFFSOURCE Set the pseudorange correction sourc
130. 53955744 NS SOLUTION GOOD Field Field Type Description Format Byes pinay 1 Log Header Log header H 0 2 Week GPS Week at Mark1 2 3 or 4 request Ulong 4 H 3 Seconds Seconds from week at Mark1 2 3 or 4 Double 8 H 4 4 Latitude Latitude WGS84 at Mark1 2 3 or 4 Double 8 H 12 5 Longitude Longitude WGS84 at Mark1 2 3 or 4 Double 8 H 20 6 Height Height WGS84 at Mark 2 3 or 4 Double 8 H 28 7 North Velocity Velocity in a northerly direction negative implies Double 8 H 36 a southerly direction at Mark1 2 3 or 4 8 East Velocity Velocity in an easterly direction negative implies Double 8 H 44 a westerly direction at Mark1 2 3 or 4 9 Up Velocity Velocity in an up direction at Mark1 2 3 or 4 Double H 52 10 Roll Right handed rotation from local level around Double H 60 Y axis in degrees at Mark1 2 3 or 4 11 Pitch Right handed rotation from local level around Double 8 H 68 X axis in degrees at Mark1 2 3 or 4 12 Azimuth Left handed rotation around Z axis degrees Double 8 H 76 clockwise from North at Mark1 2 3 or 4 13 Status INS Status see Table 5 on page 54 at Mark Enum 4 H 84 14 XXXX 32 bit CRC Hex 4 H 88 15 CR LF Sentence Terminator ASCII only 306 SPAN SE User Manual Rev 9 Data Logs Appendix D D 3 50 MARK1TIME MARK2TIME MARKSTIME MARKATIME Time of Mark Input Event This log contains the time of the leading edge of the det
131. 60 RXSTATUSEVENT Status Event Indicator This log is used to output event messages as indicated in the RXSTATUS log An event message is automatically generated for all receiver errors which are indicated in the receiver error word In addition event messages can be generated when other conditions which are indicated in the receiver status and auxiliary status words are met On start up the receiver is set to log the RXSTATUSEVENTA log ONNEW on all ports You can remove this message by using the UNLOG command see page 204 When a fatal event occurs for example in the event of a receiver hardware failure a bit is set in the receiver error word part of the RXSTATUS log on page 331 to indicate the cause of the problem Bit 0 is set in the receiver status word to show that an error occurred the error strobe is driven high and the LEDs flash red and yellow showing an error code An RXSTATUSEVENT log is generated on all ports to show the cause of the error Receiver tracking is disabled at this point but command and log processing continues to allow you to diagnose the error Even if the source of the error is corrected at this point the receiver must be reset to resume normal operation In the event of a SPAN SE receiver error the LEDs flash the binary number of the receiver error Red is 1 and green is 0 If you have an invalid auth code the LEDs will be green green red green red which is 5 in binary and that means bit 5 of t
132. 63 Once a list of logs has been specified for logging press the Log button on the SPAN SE once to start the logging into an auto named logging file in the current working directory Press the button a second time to stop the logging and close the file Press the button a third time to re start the logging to a new file and so on The LOGFILE command lets you start and stop logging and specify the file name to use If no file name is entered in the command a new auto generated file name 1s created every time you open a file to write to it For example LOGFILE OPEN SD FIRSTFILE GPS Open a file in the current working directory called FIRSTFILE GPS and start logging SPAN SE User Manual Rev 9 71 Chapter 3 SPAN SE Operation If the file name entered already exists on the card the command returns an error 3 9 5 When logging is enabled the SD LED flashes green When logging is stopped the SD LED is solid green When the card has 10 capacity remaining the SD LED turns orange When the card has less than 1 capacity remaining the SD LED turns red Log a Pre Defined List of Logs To log a pre defined list of logs needed for post processing follow these steps 3 9 6 Insert the SD Card Prepare the SD Card by letting it complete its mounting or format the card if necessary When the card is ready for logging the SD LED turns solid green if the card is empty or orange if the card has 10 of free space r
133. 63 HG1700 SPAN IMU SPAN SE User Manual Rev 9 365 huD ae LN 200 IMU in Universal Enclosure 366 Important Assemble in accordance with applicable industry standards Ensure all wv ESD measures are in place in particular use a ground strap before exposing or handling any electronic items including the IMU Take care to prevent damaging or marring painted surfaces O rings sealing surfaces and the IMU The following procedure provides the necessary information to install the LN 200 sensor into the Universal Enclosure NovAtel part number 01018590 both illustrated below The steps required for this procedure are e Disassemble the Universal Enclosure Install the LN 200 Sensor Unit e Reassemble the Universal Enclosure Wiring Harness LN 200 Universal Sensor Unit Enclosure 1 Use thread locking fluid on all fasteners except for the cable harness connectors 2 Torque values for all fasteners including those for the cable harness screws are as follows Size 6 32 0 79 0 90 N m 7 0 8 0 Ib in Size M4 1 36 1 58 N m 12 0 14 0 Ib in SPAN SE User Manual Rev 9 LN 200 IMU in Universal Enclosure Appendix G G 1 Disassemble the Universal Enclosure Disassemble the Universal Enclosure as follows 1 Usinga3 mm hex bit remove the M4 screws they will be reused and the base as shown in Figure 64 Figure 64 Remove Base SPAN SE User Manual Rev 9 367 Appendix G LN 200 IMU
134. 63888 4392033415009359 1362852812808768 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 p dl Binary Binary Field Field Type Data Description Format Bytes Offset 1 Log Header Log header H 0 2 Week GPS Week Ulong 4 H 3 Seconds into Week Seconds from week start Double 8 H 4 4 Position Covariance Position covariance matrix in local List of 9 72 H 12 level frame Meters squared Doubles XX XY XZ YX VY YZ ZX ZY ZZ 5 Attitude Covariance Attitude covariance matrix in local List of 9 72 H 84 level frame Degrees squared Doubles rotation around the given axis XX XY XZ YX VY YZ ZX ZY ZZ 6 Velocity Velocity covariance matrix in local Listof9 72 H 156 Covariance level frame Meters per second Doubles squared XX XY XZ YX YY YZ ZX ZY ZZ 7 XXXX 32 bit CRC ASCII Binary and Hex 4 H 228 Short Binary only 8 CRI LF Sentence terminator ASCII only SPAN SE User Manual Rev 9 Data Logs Appendix D D 3 32 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 you issue the SETINSOFFSET command see page 192 Messag
135. 6B 262 SPAN SE User Manual Rev 9 Data Logs Appendix D Field Structure Field Description Symbol Example 1 GPGST Log header GPGST 2 utc UTC time of position hours minutes seconds hhmmss ss 173653 00 decimal seconds 3 rms RMS value of the standard deviation of the X X 2 73 range inputs to the navigation process Range inputs include pseudoranges and DGPS corrections 4 smjr std Standard deviation of semi major axis of error x x 2 55 ellipse m 5 smnr std Standard deviation of semi minor axis of error x x 1 88 ellipse m 6 orient Orientation of semi major axis of error ellipse x x 15 2525 degrees from true north 7 lat std Standard deviation of latitude error m X X 2 51 8 lon std Standard deviation of longitude error m X X 1 94 9 alt std Standard deviation of altitude error m X X 4 30 10 XX Checksum hh GE 11 CRI LF Sentence terminator CRI LF SPAN SE User Manual Rev 9 263 Appendix D Data Logs D 3 20 GPGSV GPS Satellites in View This NMEA log provides the number of SVs in view PRN numbers elevation azimuth and SNR value See also Section D 2 NMEA Standard Logs on page 225 There are four satellites maximum per message When required additional satellite data sent in 2 or more messages a maximum of 9 The total number of messages being transmitted and the current message being transmitted are indicated in the first two fields The GPGSV log
136. 7 Technical Specifications Appendix A 36 8 IMU Enclosure Center Note 1 The Center of Navigation offsets shown on the LN 200 label are for the internal IMU and are different than for the enclosure center The enclosure center is labelled as IMU Enclosure Center in this figure 2 Dimensions are shown in millimetres Figure 32 LN 200 Enclosure Side Dimensions SPAN SE User Manual Rev 9 108 Technical Specifications Appendix A A 2 3 1 LN 200 IMU Interface Cable The IMU interface cable provides power to the IMU from an external power source and enables input and output between the receiver and IMU It is the same as the cable supplied with the Universal Enclosure shown in Figure 27 on page 100 A 2 3 2 IMU Performance PERFORMANCE IMU IMU LN200 Gyro Input Range 1000 degrees s Gyro Rate Bias 1 hr Gyro Rate Scale Factor 100 ppm Angular Random Walk 0 07 degrees rt hr Accelerometer Range 40g Accelerometer Linearity Accelerometer Scale Factor 300 ppm Accelerometer Bias 0 3 mg A 2 3 3 Electrical and Environmental ELECTRICAL IMU Power Consumption 16 W max IMU Input Voltage 12 to 28 V DC System Power Consumption ProPak V3 14 8 W typical Input Output Co
137. 7 CRI LF Sentence terminator ASCII only 292 SPAN SE User Manual Rev 9 Data Logs Appendix D D 3 43 LBANDINFO L band Configuration Information This log outputs configuration information for an L band service In addition to a NovAtel receiver with L band capability a subscription to the OmniSTAR service is required Contact NovAtel for details Contact information may be found on the back of this manual or you can refer to the Customer Service section in the OEMV Family Installation and Operation User Manual Message ID 730 Log Type Asynch Recommended Input log lbandinfoa ontime 1 ASCII Example 1 OmniSTAR HP LBANDINFOA COM2 0 81 5 FINESTEERING 1295 152639 184 00000240 c51d 34461 1547547 4800 c685 0 762640 EXPIRED 0 0 FIXEDTIME 1199 259199 0 8cc5e573 Table 57 L band Subscription Type Binary ASCII Description 0 EXPIRED The L band subscription has expired or does not exist 1 FIXEDTIME The L band subscription expires at a fixed date and time 2 COUNTDOWN The L band subscription expires after the specified amount ofrunning time 3 COUNTDOWNOVERRUN The COUNTDOWN subscription has expired but has entered a brief grace period Resubscribe immediately 16 UNKNOWN Unknown subscription SPAN SE User Manual Rev 9 293 Appendix D Data Logs Field Field Type Data Description Format Binary Binary Me P Bytes Offset
138. 75 566444397 0 152066842 0 0 0 104981117 0 222061798 AAAA 13 10 10 0 0 00 0 11 481a5bab SPAN SE User Manual Rev 9 269 Appendix D Field Field type Data Description Format Data Logs Binary Binary Bytes Offset 1 HEADING Log header H 0 header 2 sol stat Solution status see Table 45 on page 231 Enum 4 H 3 pos type Position type see Table 44 on page 229 Enum 4 H 4 4 length Baseline length 0 3000 m Float 4 H 8 5 heading Heading in degrees 0 360 0 degrees Float 4 H 12 6 pitch Pitch 90 degrees Float 4 H 16 7 Reserved Float 4 H 20 8 hdg std dev Heading standard deviation in degrees Float 4 H 24 9 ptch std dev Pitch standard deviation in degrees Float 4 H 28 10 stn ID Station ID string Char 4 4 H 32 11 SVs Number of observations tracked Uchar 1 H 36 12 solnSVs Number of satellites in solution Uchar 1 H 37 13 obs Number of satellites above the elevation mask Uchar 1 H 38 14 multi Number of satellites above the mask angle with Uchar 1 H 39 15 Reserved Uchar 1 H 40 16 ext sol stat Extended solution status see Table 47 Uchar 1 H 41 Extended Solution Status on page 233 17 Reserved Uchar H 42 18 sig mask Signals used mask If 0 signals used in solution Uchar 1 H 43 are unknown see Table 46 on page 233 19 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 44 20 CRI LF Sentence terminator ASCII only 270 S
139. AA 304 D 3 48 MARK1COUNT MARK2COUNT MARK3COUNT MARK4COUNT Mark Count 305 D 3 49 MARK1PVA MARK2PVA MARK3PVA MARKAPVA Position Velocity and Attitude at Mark intuitu ik pit dette trade p aee in dent 306 D 3 50 MARK1TIME MARK2TIME MARK3TIME MARK4TIME Time of Mark Input Event 307 D 3 51 PASHR NMEA Inertial Attitude Data 309 D 3 52 PORTSTATS Port Giattene enne enie aaite 310 D 3 53 RANGE Satellite Range Information A 312 D 3 54 RANGECMP Compressed Version of the RANGE Log eee 316 D 3 55 RAWEPHEM Raw Epohemers sese eem emen 318 D 3 56 RAWIMU Raw IMU Data 319 D 3 57 RAWIMUS Short Raw IMU Data eme emen 327 D 3 58 RXCONFIG Receiver Confouratton eccceesceeeeeeeeeeeeeeeeaeeeeeaeeseteeesnaeeeeeneees 329 D 3 59 RXSTATUS Receiver Status sse nennen eren nne 331 SPAN SE User Manual Rev 9 7 D 3 60 RXSTATUSEVENT Status Event Indicator 0 0c ceecseeceececeeceseeeeeaeeeeeeeeeeeneees 337 D 3 61 SPANVALIDMODELS Valid Model Information eee 339 D 3 62 TAGGEDMARKxPVA Output information from a MARK input 340 D 3 69 TIME Time Data ee e vere e ert AI EU Ye von pee eO 341 D 3 64 TIMEDWHEELDATA Timed Wheel Data 343 D 3 65 VARIABLELEVERARM Display variable lever arm details 344 D 3 66 VEHICLEBODYROTATION Vehicle to SPAN Frame Rotation 345 D 3 67 VERSION Version Information 346 D 3 68
140. AOFFSET xoffset yoffset zoffset aoffset Boffset yoffset Abbreviated ASCII Example SETMARKIOFFSET 0 324 0 106 1 325 00 0 ASCII Binary re Binary Binary Binary Value Value Description Format Bytes Offset 1 header This field contains the command H 0 name or the message header depending on whether the command is abbreviated ASCII ASCII or binary 2 x offset 360 Offset along the IMU enclosure Double 8 H frame X axis m for Mark1 2 3 or 4 3 y offset 360 Offset along the IMU enclosure Double 8 H 8 frame Y axis m for Mark1 2 3 or 4 4 z offset 360 Offset along the IMU enclosure Double 8 H 16 frame Z axis m for Mark1 2 3 or 4 5 aoffset 360 Roll offset for Mark in degrees Double 8 H 24 6 Boffset 360 Pitch offset for Mark in degrees Double 8 H 32 7 yoffset t 360 Azimuth offset for Mark in degrees Double 8 H 40 SPAN SE User Manual Rev 9 193 Appendix B Commands B 4 45 SETUPSENSOR Add a new camera sensor Use the SETUPSENSOR command to add a new camera sensor to the system Abbreviated ASCII Syntax Message ID 1333 SETUPSENSOR SensorID EventOut OPP OAP EventIn EIC MIP MITB MITG Abbreviated ASCII Example SETUPSENSOR SENSOR3 MARK1 POSITIVE 2 MARK4 EVENT POSITIVE 0 2 Field Binary T Binary Binary Binary Field Type ASCII Value Value Description F
141. ARK2 3465 ASCII Binary Value Value Binary Binary Binary Format Bytes Offset Field Field Type Description 1 header This field contains the H 0 command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary 2 Mark Mark1 1 The input event mark Enum 4 H Mark2 Mark3 Mark4 3 TagNum The ID tag that you Ulong 4 H 4 want to associate with the next input event on the selected mark 4 XXXX 32 bit CRC Hex 4 H 8 5 CRI LF Sentence Terminator ASCII only A j N 202 SPAN SE User Manual Rev 9 Commands B 4 52 TIMEDEVENTPULSE Add a new camera event Use this command to add a new camera event to the system TIMEDEVENTPULSE will send a pulse on the sensor MARK output at the selected GPS time and set the next trigger on the sensor MARK input to be tagged with an event ID Abbreviated ASCII Syntax TIMEDEVENTPULSE Sensors GPSWeek GPSSeconds EventID Abbreviated ASCII Example TIMEDEVENTPULSE 1 1617 418838 100 Appendix B Message ID 1337 a Binary AN Binary Binary Binary Field Field Type ASCII Value Value Description Format Bytes Offset 1 header This field contains the H 0 command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary 2 SensoriD ALL 1 The sensor s affected by Long 4 H SENSORS the trig
142. AS is recommended as it is for all high data rate logs CORRIMUDATA S can be logged with the ONTIME trigger up to the full data rate of the IMU Since the CORRIMUDATA S values are instantaneous if you log at a rate less than full data rate of the IMU you will receive the corrected IMU data at the epoch closest to the requested time interval If your IMU is mounted with the z axis as marked on the enclosure pointed up the SPAN computation frame is the same as the IMU enclosure frame The x y and z axes referenced in this log are of the SPAN computational frame by default For more information on how the SPAN computational frame relates to the IMU enclosure frame see Section 3 1 page 44 and the SETIMUORIENTATION command on page 179 If the APPLY VEHICLEBOD YROTATION command has been enabled see page 131 the values in CORRIMUDATA S logs will be in the vehicle frame not the SPAN computation frame Message ID 812 and 813 Log Type Synch Recommended Input log corrimudatasb ontime 0 01 Example log SCORRIMUDATASA 1581 341553 000 1581 341552 997500000 0 000000690 0 000001549 0 000001654 0 000061579 0 000012645 0 000029988 770c6232 Recommended Input log direnta ontime 30 SPAN SE User Manual Rev 9 241 Appendix D Data Logs ASCII Example DIRENTA USB1 5 98 5 FINESTEERING 1635 320403 182 000000
143. Abbreviated ASCII Syntax Message ID 847 SETWHEELPARAMETERS input polarity ticks circ spacing Abbreviated ASCII Example SETWHEELPARAMETERS 58 1 96 0 025 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 SPAN SE User Manual Rev 9 195 Appendix B Commands Binary Value Binary Binary Binary ASCII Value Format Bytes Offset Description 1 header This field contains the H 0 command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary 2 input See Table 36 on Optional field to specify to which Enum 4 H page 196 input the command should be applied Default is IMU 3 polarity NEGATIVE 0 Optional field to specify the Enum 4 H 4 polarity of the pulse to be POSITIVE 1 received on the mark input Default is POSITIVE 4 ticks 1 10 000 Number of ticks per revolution Ushort 41 H 8 5 circ 0 1 100 Wheel circumference m Double 8 H 12 6 spacing 0 001 1000 Spacing of ticks or resolution of Double 8 H 20 the wheel sensor m 1 In the binary log case an additional 2 bytes of padding are added to maintain 4 byte alignment Table 36 SETWHEELPARAMETERS Input Binary ASCII 0 IMU default 1 MARK1 2 MARK2 3 MARK3 4 MARK4
144. Apply thread locking fluid to each screw before inserting Install the remaining screws in similar fashion Tighten all screws then check all of them again for tightness Tighten these screws to 1 36 1 58 N m 12 14 Ib in Do not over tighten Figure 54 Screw Enclosure Base to Body SPAN SE User Manual Rev 9 HG1700 IMU in Universal Enclosure Appendix E 9 Ensure the product identification label the logo plate and the centre of navigation labels are properly affixed and contain the correct information The final assembled unit will be similar to that shown in Figure 55 Centre of Navigation Labels triangular Product icon for HG1700 should be here Identification Label W Figure 55 Final Assembly SPAN SE User Manual Rev 9 359 ie TA HG1700 IMU in SPAN HG Enclosure The following procedure detailed in this appendix provides the necessary information to install the HG1700 sensor into the SPAN HG Enclosure NovAtel part number 01017898 The steps required for this procedure are e Disassemble the SPAN HG Enclosure e Install the HG1700 Sensor Unit e Make Electrical Connections e Reassemble the SPAN HG Enclosure Important Ensure you use a ground strap before installing the internal circuit boards Do NOT scratch any surfaces of the unit Figure 56 Required Parts Reference Description 1 SPAN IMU Enclosure 2 HG1700 Flex Cable 3 HG1700 Sensor Unit 360 SPAN SE User Manual Rev 9 HG1700 IM
145. Binary Binary Value Value Beseription Format Bytes Offset 1 ASSIGNLBAND This field contains the H 0 header command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary 2 mode See Table 22 Set the mode and enter specific Enum 4 H frequency and baud rate values 3 freq 1525000 to L band service beam Ulong 4 H 4 1560000 frequency of satellite Hz or or kHz See also Beam 1525000000 to Frequencies on page 133 1560000000 default 1536782 if the mode is OMNISTAR 4 baud 300 600 1200 Data rate for communication Ulong 4 H 8 2400 or 4800 with L band satellite default 1200 134 SPAN SE User Manual Rev 9 Commands Appendix B B 4 5 COM Port configuration control This command permits you to configure the SPAN SE receiver s asynchronous serial port communications drivers The current COM port configuration can be reset to its default state at any time by sending it two hardware break signals of 250 milliseconds each spaced by fifteen hundred milliseconds 1 5 seconds with a pause of at least 250 milliseconds following the second break This will Stop the logging of data on the current port see UNLOGALL on page 206 e Clear the transmit and receive buffers on the current port Return the current port to its default settings e Setthe interface mode to NovAtel for both input and output see the GNSSCARDCONFIG command on page 148
146. C minute 0 59 Uchar 1 H 35 11 utc ms UTC millisecond 0 60999 Ulong 4 H 36 12 utc status UTC status Enum 4 H 40 0 Invalid 1 Valid 13 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 44 14 CR LF Sentence terminator ASCII only 342 1 If UTC time is unknown the values for month and day are O 2 Maximum of 60999 when leap second is applied SPAN SE User Manual Rev 9 Data Logs Appendix D D 3 64 TIMEDWHEELDATA Timed Wheel Data This log contains time stamped wheel sensor data The time stamp in the header is the time of validity for the wheel data not the time the TIMEDWHEELDATA log was output This is a short header log see also Section D 1 4 ASCII and Binary Logs with Short Headers on page 221 This log contains the wheel sensor information received from any of the three sources SPAN SE supports See also Section 3 5 SPAN Wheel Sensor Configuration on page 64 If you are using an MAR iMWS Magnetic Wheel Speed Sensor and Convertor connected directly to the iIMU FSAS Field 4 the float wheel velocity is filled instead of Field 3 the unsigned short wheel velocity When you send a WHEELVELOCITY command described Section B 4 56 WHEELVELOCITY Wheel velocity for INS augmentation on page 209 from an external wheel sensor the TIMEDWHEELDATA log contains the same wheel velocity values float or ushort as those you entered Note that neither velocity value is used by the S
147. CII or binary 2 Port See Table 23 COM Serial Port to configure Enum 4 H Port Identifiers on page 136 3 IPProtocol DISABLE 0 Not used Enum 4 H 4 TCP 1 Transport Control Protocol default UDP 2 User Datagram Protocol Enum 4 H 8 4 ULPort Not used Enum 4 H 12 5 IPAddress Peer IP Address Enum 4 H 16 6 Interface ALL 1 The Ethernet adaptor to Enum 4 H 20 oon use SPAN SE can ETHA default currently only use ETHA ETHB 3 SPAN SE User Manual Rev 9 151 Appendix B Commands B 4 17 INPUTGIMBALANGLE Input gimbal angles into the SPAN SE This command is used by the external gimble source to input gimble angles to the SPAN SE body mount frame Angles are input in the body mount frame Abbreviated ASCII Syntax Message ID 1317 INPUTGIMBABALANGLE XAngle Y Angle ZAngle XUncert Y Uncert ZUncert Abbreviated ASCII Examples INPUTGIMBALANGLE INPUTGIMBALANGLE 003 0 1234 12 837 003 0 1234 12 837 0 001 0 001 0 005 ASCII Binary Description Binary Binary Binary Value Value Format Bytes Offset 1 header This field contains the H 0 command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary 2 XAngle 180 180 Right hand rotation from mount Double 8 H to gimbal plane about mount body frame X axis in degrees 3 YAngle 180 180 Right hand rotation from mount Double 8 H 8 to gimbal
148. COM Port 3 6 THISPORT Currently connected port 7 FILE SD Card 8 ALL All ports 13 USB1 USB Device 19 COMA COM Port 4 23 ICOM1 10 100 Ethernet 1 24 ICOM2 10 100 Ethernet 2 25 ICOM3 10 100 Ethernet 3 29 ICOM4 10 100 Ethernet 4 Table 24 Parity Binary ASCII Description 0 N No parity default 1 E Even parity 2 O Odd parity Table 25 Handshaking Binary ASCII Description 0 N No handshaking default 1 XON XON XOFF software handshaking 2 CTS CTS RTS hardware handshaking SPAN SE User Manual Rev 9 Commands ASCII Value Binary Value Description Binary Format Binary Bytes Appendix B Binary Offset COM This field contains the command 0 header name or the message header depending on whether the command is abbreviated ASCII ASCII or binary port See Table 23 on Port to configure Enum H page 136 bps baud 300 600 900 1200 Communication baud rate bps ULong H 4 2400 4800 9600 Baud rates of 460800 and 19200 38400 57600 921600 are also available on 115200 or 230400 COM2 COM3 and COM4 ports parity See Table 24 on page Parity Enum H 8 136 databits 70r8 Number of data bits ULong H 12 default 8 stopbits 10r2 Number of stop bits ULong H 16 default 1 handshake See Table 25 on page Handshaking Enum H 20 136 echo OFF 0 No echo Enum H 24 default ON 1 Transmit any input characters as they are received break OFF 0 Disable break detection Enum H
149. CTIVE 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 HEADING UPDATE USED The update for that epoch was taken 3 HEADING UPDATE HIGH STD DEV The standard deviation of the update failed a 3 sigma check against the inertial standard deviation azimuth checked only 4 HEADING UPDATE HIGH ROTATION The last 1 second recorded a turn of over 5 degrees second 5 HEADING UPDATE BAD MISC The difference between the ALIGN heading and the INS heading failed a 3 sigma check with the inertial standard deviation The Heading Update enums are available on the SPAN SE D Table 56 Wheel Status Binary ASCII Description 0 WHEEL SENSOR INACTIVE The Wheel Sensor is not configured properly The sensor is not operational 1 WHEEL SENSOR ACTIVE The Wheel Sensoris properly configured but an update is not being applied 2 WHEEL SENSOR USED An update was taken from the Wheel Sensor for that epoch 3 WHEEL SENSOR UNSYNCED The time between the INS and the Wheel Sensor is 20 2 seconds An update is not applied 4 WHEEL SENSOR BAD MISC There is a gross misclosure between the INS and Wheel Sensor data wheel spinning 5 WHEEL SENSOR HIGH ROTATION The change in heading is gt 10 degrees An update is not applied SPAN SE User Manual Rev 9 289
150. D 3 24 HEADING Heading Intormatton enne 269 D 3 2b5 HEAVE Heave Filter Log inerte emere NENNEN 271 D 3 26 ICOMSTATUS Show communication port status 272 D 3 27 IMUTOANTOFFSETS IMU to Antenna s Lever Arm uurrreeereooeerrrnesoooenonon 273 D 3 28 ANSATTE INS Attitude ge aai a e aaea kasiga nennen nens 276 D 3 29 INSATTS Short INS Attitude A 277 D 3 30 INSCOV INS Covariance Matrices AA 278 D 3 31 INSCOVS Short INS Covariance Log 280 D 3 32 INSPOS INS Position eite ett Reden 281 D 3 33 INSPOSS Short INS Position sesnm enn 282 D 3 34 INSPOSSYNC Time Synchronized INS Position seenen 283 D 3 35 INSPVA INS Position Velocity and Attitude 284 D 3 36 INSPVAS Short INS Position Velocity and Atttude 0 2 cceeeeeeeeeeeteeeeees 285 D 3 37 INSSPD INS Speed ani unter ekta on k ka bo D k kon banda Po cn aL Re terea 286 D 3 38 INSSPDS Short INS Gpeed emere nene 287 D 3 39 INSUPDATE INS Update eee nem nennen eren 288 D 3 40 INSVEL INS Velocity rere eere lr a ra e po fi kak ea ai ka 290 D 3 41 INSVELS Short INS Velocity ssseseeeee menm 291 D 3 42 IPSTATUS Displays ethernet port settings sss 292 D 3 43 LBANDINFO L band Configuration Information 293 D 3 44 LBANDSTAT L band Status Information 295 D 3 45 LOGFILESTATUS Displays information about system logging 300 D 3 46 LOGLIST List of System Loge 301 D 3 47 MAC MAC Address
151. D of log Ushort 2 H 8 5 message Bits 0 4 Reserved Char 1 H 10 type Bits 5 6 Format 00 Binary 01 ASCII 10 Abbreviated ASCII NMEA 11 Reserved Bit 7 Response Bit 0 Original Message 1 Response Message 6 reserved Char 1 H 11 7 trigger 0 ONNEW Enum 4 H 14 1 ONCHANGED 2 ONTIME 3 ONNEXT 4 ONCE 8 period Log period for ONTIME Double 8 H 18 9 offset Offset for period ONTIME trigger Double 8 H 26 10 hold 0 NOHOLD Enum 4 H 34 1 HOLD 11 Next log offset H 4 number of logs x 34 variable xxxx 32 bit CRC Hex 4 H 4 logs x 34 302 SPAN SE User Manual Rev 9 Data Logs Appendix D Field Field type Data Description Format 1 LOGLIST Log header ASCII header 2 port Number of messages to follow maximum 20 Long 3 port Output port see Table 23 COM Serial Port Identifiers on Enum page 136 4 message Message name of log with no suffix for abbreviated ascii Char an A suffix for ascii and a B suffix for binary 5 trigger ONNEW Enum ONCHANGED ONTIME ONNEXT ONCE 6 period Log period for ONTIME Double 7 offset Offset for period ONTIME trigger Double 8 hold NOHOLD Enum HOLD 9 Next port variable XXXX 32 bit CRC Hex variable CRI LF Sentence terminator SPAN SE User Manual Rev 9 303 Appendix D Data Logs D 3 47 MAC MAC Address 304 This log displays the SPAN SE s Media Access Control MAC address See also
152. E mark Hereby NovAtel Inc declares that this SPAN SE and SPAN SE D are in compliance with the essential requirements and other relevant provisions of Directive 1999 5 EC WEEE NOTICE If you purchased your SPAN SE or SPAN SE D product in Europe please return it to your dealer or supplier at the end of its life The objectives of the European Community s environment policy are in particular to preserve protect and improve the quality of the environment protect human health and utilise natural resources prudently and rationally Sustainable development advocates the reduction of wasteful consumption of natural resources and the prevention of pollution Waste electrical and electronic equipment WEEE is a regulated area Where the generation of waste cannot be avoided it should be reused or recovered for its material or energy WEEE products may be recognized by their wheeled bin label CRD RoHS NOTICE SPAN SE and SPAN SE Dual are compliant with the European Union EU Restriction of Hazardous Substances RoHS Directive 2002 95 EC Lightning Protection Notice What is the hazard A lightning strike into the ground causes an increase in the earth s potential which results in a high voltage potential between the centre conductor and shield of the coax cable This high voltage develops because the voltage surge induced onto the center conductor lags in time behind the voltage surge induced onto the shield Hazard Impact A li
153. EMB ONNEW From a base if using GPS GLONASS GLOEPHEMERISB ONNEW e RANGECMPB ONTIME 1 e RAWEPHEMB ONNEW From a rover if using GPS only e RANGECMPB ONTIME 1 e RAWEPHEMB ONNEW e RAWIMUSB ONNEW e IMUTOANTOFFSETSB ONCHANGED HEADINGB ONNEW Dual antenna only From a rover if using GPS GLONASS e GLOEPHEMERISB ONNEW e RANGECMPB ONTIME 1 e RAWEPHEMB ONNEW e RAWIMUSB ONNEW e IMUTOANTOFFSETSB ONCHANGED HEADINGB ONNEW Dual Antenna Only Post processing is performed through the Waypoint Inertial Explorer software package available from NovAtel s Waypoint Products Group Visit our website at www novatel com for details 66 SPAN SE User Manual Rev 9 SPAN SE Operation Chapter 3 3 7 Status Indicators 3 7 1 SPAN SE Status LEDs LED indicators on the front of the SPAN SE see Figure 15 below provide the status of the receiver Table 7 details the LED states which are solid unless otherwise indicated as blinking They represent these categories Power SD Card OEMV 2 Card which is not included in every SPAN SE system OEMV 3 Card IMU which indicates the status of the raw data received from the IMU and INS which indicates the status of the GNSS INS solution computed by the SPAN SE In the event of a receiver error on the SPAN SE the LEDs flash the binary number of the receiver error Red is 1 and green is 0 If you have an invalid auth code the LEDs will be green green red green red which is 5 in binary indicatin
154. ENT logs It is also possible to have status conditions trigger event messages to be generated by the receiver This is done by setting clearing the appropriate bits in the event set clear masks The set mask tells the receiver to generate an event message when the bit becomes set Likewise the clear mask causes messages to be generated when a bit is cleared If you wish to disable all these messages without changing the bits simply UNLOG the RXSTATUSEVENT logs on the appropriate ports See also the UNLOG command on page 204 1 Field 4 the receiver status word as represented in Table 76 is also in Field 8 of the header See the ASCH Example below and Table 76 on page 334 for clarification 2 Many OEMV status bits have been redefined to match SPAN receiver hardware Some bits such as model temperature position solution are mapped directly from the OEMV 3 When logging RXSTATUS the SPAN SE receiver data is displayed first error bits then status bits then the OEMV 3 status bits then the OEMV 2 status bits In the event of a SPAN SE receiver error the LEDs flash the binary number of the receiver error Red is 1 and green is 0 If you have an invalid auth code the LEDs will be green green red green red which is 5 in binary and that means bit 5 of the receiver error word is set 3 Refer also to the chapter on Built In Status Tests in the OEMV Family Installation and Operation User Manual Message ID 93 Log Typ
155. FFFF memory 6 Name The application s name Char 16 16 H 20 7 Version Application version string Char 16 16 H 36 8 CompDate The date on which the Char 12 12 H 52 application was compiled 9 CompTime The time at which the Char 12 12 H 64 application was compiled 10 Next component offset A Variable xxxx 32 bit CRC Hex 4 n Variable CRLF Sentence terminator ASCII only offset H component number x 76 228 SPAN SE User Manual Rev 9 Data Logs Appendix D D 3 2 BESTPOS Best Position and BESTGPSPOS Best GPS Position The BESTPOS log contains the best available position from either GNSS only or GNSS INS BESTGPSPOS contains the best available GNSS position without INS Both logs have an identical format In addition it reports several status indicators including differential age which is useful in predicting anomalous behavior brought about by outages in differential corrections A differential age of 0 indicates that no differential correction was used With the system operating in an RTK mode this log reflects the latest low latency solution for up to 60 seconds after reception of the last base station observations After this 60 second period the position reverts to the best solution available the degradation in accuracy is reflected in the standard deviation fields If the system is not operating in an RTK mode pseudorange differential solutions continue for 300 seconds after loss
156. False True NO 1 0x0002 Out of Region 1 False True 2 0x0004 Wet Error 1 False True 3 0x0008 Link Error 1 False True 4 0x0010 No Remote Sites False True N1 5 0x0020 No Almanac False True 6 0x0040 No Position False True 7 0x0080 No Time False True 8 0x0100 Reserved N2 9 0x0200 10 0x0400 11 0x0800 12 0x1000 N3 13 0x2000 14 0x4000 15 0x8000 Updating Data False True 1 Contact OmniSTAR for subscription support All other status values are updated by collecting OmniSTAR data for 20 35 minutes 296 SPAN SE User Manual Rev 9 Data Logs Appendix D Table 60 OmniSTAR HP XP Additional Status Word Nibble Bit Mask Description Bit 0 Bit 1 0 0x0001 Solution not fully converged False True NO 1 0x0002 OmniStar satellite list available False True 2 0x0004 Reserved 3 0x0008 4 0x0010 HP not authorized Authorized Unauthorized N1 5 0x0020 XP not authorized 1 Authorized Unauthorized 6 0x0040 Reserved 7 0x0080 8 0x0100 N2 9 0x0200 10 0x0400 11 0x0800 12 0x1000 N3 13 0x2000 14 0x4000 15 0x8000 1 This authorization is related to the receiver model and not the OmniStar subscription To view OmniSTAR subscription information use the LBANDINFO log see page 293 SPAN SE User Manual Rev 9 297 Appendix D Table 61 OmniSTAR HP XP Status Word Data Logs Nibble
157. GGA like BESTPOS contains the best available position from either GNSS only or GNSS INS The GPGGA log outputs these messages with contents without waiting for a valid almanac Instead it uses a UTC time calculated with default parameters In this case the UTC time status is set to WARNING since it may not be 10096 accurate When a valid almanac is available the receiver uses the real parameters Then the UTC time is set to VALID Message ID 218 Log Type Synch Recommended Input log gpgga ontime 1 Example SGPGGA 134658 00 5106 9792 N 11402 3003 W 2 09 1 0 1048 47 M 16 27 M 08 AAAA 60 SPAN SE User Manual Rev 9 255 Appendix D Data Logs Field Structure Field Description Symbol Example 1 GPGGA Log header GPGGA 2 utc UTC time status of position hours minutes hhmmss ss 202134 00 seconds decimal seconds 3 lat Latitude DDmm mm MILL 5106 9847 4 lat dir Latitude direction N North S South a N 5 lon Longitude DDDmm mm yyyyy yy 11402 2986 6 lon dir Longitude direction E East W West a W 7 GPS qual GPS Quality indicator D 1 0 fix not available or invalid 1 GPS fix 2 C A differential GPS OmniSTAR HP OmniSTAR XP or OmniSTAR VBS 4 RTK fixed ambiguity solution RT2 5 RTK floating ambiguity solution RT20 OmniSTAR HP or OmniSTAR XP 6 Dead reckoning mode 7 Manual input mode fixed position 8 Simulator mode 9 WAAS 1 8 sa
158. GN GNSS baseline can also be used to assist the initial alignment of the SPAN solution In addition the ALIGN baseline solution will aide the heading solution from SPAN if the heading drifts due to slow or constant dynamics For GPS GLONASS SBAS models ALIGN is capable of a 10 Hz heading output rate A GPS only model is also available for dual frequency receivers 4 2 Installation The hardware for the dual antenna functionality is installed in a manner similar to that for other SPAN SE D and SPAN MPPC D systems Consider the following during the installation 1 Install the IMU and the two antennas to the vehicle so that the relative distance between them is fixed 2 The antennas should be mounted where the view of the satellites will not be obstructed by any part of the vehicle 3 Ifyouare running SPAN with an IMU and ALIGN the lever arms or distance from the IMU s Center of Navigation to the antenna phase center needs to be accurately measured using the coordinate axes defined on the outside of the IMU IMU enclosure frame The ALIGN baseline does NOT need to be aligned with the vehicle axes or with the axes of the IMU 78 SPAN SE User Manual Rev 9 Dual Antenna Functionality Chapter 4 4 3 Configuring ALIGN with SPAN SE D The SPAN SE D hardware is built into a single enclosure so there is no hardware setup required other than having two GNSS antennas connected to the GPS1 and GPS2 connectors on the SPAN SE SPAN SE D are pre
159. H 24 6 expday Expiry day Ulong 4 Variable Max H 28 7 Next model offset H 4 number of mods x variable max 28 variable xxxx 32 bit CRC ASCII and Binary Hex 4 Variable only variable CR LF Sentence terminator ASCII only 1 In the binary log case additional bytes of padding are added to maintain 4 byte alignment SPAN SE User Manual Rev 9 339 Appendix D Data Logs D 3 62 TAGGEDMARKxPVA Output information from a MARK input Use this command to output Event ID tagged position velocity and attitude information received on a MARK input Abbreviated ASCII Syntax TAGGEDMARKxPVA ONNEW Recommended Input log TAGGEDMARKIPVA ONNEW Abbreviated ASCII Example log taggedmarklpva onnew Field Field Name Description Field Type Message IDs MARKI 1258 MARK2 1259 MARK3 1327 MARK4 1328 Binary Binary Bytes Offset 1 Header This field contains the message header H 0 2 Week The GPS week at the MARK1through MARK4 request Ulong 4 H 3 Seconds Seconds from the GPS week at the MARK1 through Double 8 H 4 MARKA request 4 EventID Tagged Event ID This value corresponds to the ID set by Ulong 4 H 12 a TAGNEXTMARK command associated with the specified mark input If no TAGNEXTMARK is set before an event is received on the specified mark this value will default to 0 5 Latitude The latitude
160. I ASCII or binary 2 switch OFF 0 Enable or disable auto Enum 4 H ON 1 logging on boot up 178 SPAN SE User Manual Rev 9 Commands B 4 35 SETGIMBALORIENTATION Appendix B This command is used to convert Mount Body frame to Mount Computation frame in the exact same manner as SETIMUORIENTATION does for SPAN The mapping definitions here are the same as they are there However unlike an IMU SPAN will not be able to auto detect the orientation of the mount used so this command must be sent to SPAN If the command is not sent SPAN will assume a default mapping of 5 which if incorrect would result in bad results Abbreviated ASCII Syntax SETGIMBALORIENTATION mapping Abbreviated ASCII Example SETGIMBALORIENTATION 6 Value Field Field Type Range 1 Header Description This field contains the command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary Format H Message ID 1318 Binary Bytes 0 Binary Offset 2 Mapping Mount X axis is pointing UP Mount X axis is pointing DOWN Mount Y axis is pointing UP Mount Y axis is pointing DOWN ap A Gol N Mount Z axis is pointing UP default o Mount Z axis is pointing DOWN Double 1 1 See Table 35 IMU Type on page 167 for details SPAN SE User Manual Rev 9 179 Appendix B
161. ILE Loads a file to the SPAN SE seen 197 B 4 48 SOFTPOWER Power down the SPAN SE eee emen 198 B 4 49 SPANAUTH Add an authorization code for a new model 199 B 4 50 SPANMODEL Switch to a previously authorized model esses 201 B 4 51 TAGNEXTMARK Add a new camera event 202 B 4 52 TIMEDEVENTPULSE Add a new camera event 203 B 4 53 UNLOG Remove a log from logging Control 204 B 4 54 UNLOGALL Remove all logs from logging Control 206 B 4 55 VEHICLEBODYROTATION Vehicle to SPAN frame rotaton 207 B 4 56 WHEELVELOCITY Wheel velocity for INS augmentation 0 0 eee eeereees 209 Appendix C Command Prompt Interface 210 C1 Re E M deste ers 211 GRANI EEN 212 Appendix D Data Logs 213 DAN LOG TYPOS eya kdk anti kase a m in k e a bb nates ke kn a l epik ik ri ke ASA RA dw n ka kab kak oun 214 Pup im 215 RSC TER EE 217 BEES SII eR EE 218 D 1 4 ASCII and Binary Logs with Short Headers s nsesssenenessn nn nsseennnresrernnnsennnnnnesennnn 221 D 1 5 GPS Time Stats eie ise ied ed polt tres aa Sexiness De pe stre see tie o 221 D 1 6 Message Time Stamps sess nennen nnne n nrtnn nete n n tenen sens 223 D 1 7 Cog Type Examples erre ire IEEE ER is HE one a E CO AF Ex ERU eus dE SH ac 224 D 2 NMEA Standard Eogs eit eed rer rrt rt E Ee Re Udine 225 D 3 SPAN SE BEE 227 D 3 1 APPLICATIONSTATUS Display installed and running appliCatiONS
162. If logging this data consider the RAWIMUS log to reduce the amount of data see page 327 Message ID 268 Log Type Asynch Recommended Input log rawimua onnew ASCII Example RAWIMUA COM3 0 0 0 EXACT 1105 425384 180 00040000 b8ed 0 1105 425384 156166800 111607 43088060 430312 3033352 132863 186983 823 5aa97065 If any of the non reserved fields indicate a failure contact NovAtel customer service for further information SPAN SE User Manual Rev 9 319 Appendix D Data Logs A gou Binary Binary Field Field Type Data Description Format Bytes Offset 1 Log Header Log header H 0 2 Week GPS Week Ulong 4 H 3 Seconds into Seconds from week start Double 8 H 4 Week 4 IMU Status The status of the IMU This field is given in a fixed Long 4 H 12 length n array of bytes in binary but in ASCII or Abbreviated ASCII is converted into 2 character hexadecimal pairs For the raw IMU status of the HG1700 and the LN 200 IMUS see Table 71 Also refer to the Interface Control Documentation as provided by Honeywell and Northrop Grumman respectively For the raw IMU status of the iIMU FSAS see Table 68 For the raw IMU status of the Litef LCI refer to Table 69 5 Z Accel Output Change in velocity count along Z axis Long 4 H 16 6 Y Accel Output Change in velocity count along Z axis 1 Long 4 H 20 7 X Accel Output Change in velocity count along Z axis Long 4 H 24 8 Z Gyro Output Chang
163. If this device is not chosen as the primary lightning protection device the device chosen must meet the following requirements e UL listed or equivalent in country of installation for example TUV VDE and so on for lightning surge protection The primary device must be capable of limiting an incoming surge to 10k V The shield of the coaxial cable entering the building should be connected at a grounding plate at the building s entrance The lightning protection devices should have their chassis grounded to the same ground near to the building s entrance The primary and secondary lightning protections should be as close to the building s entrance as possible Where feasible they should be mounted onto the grounding plate itself See also Figure 1 Primary and Secondary Lightning Protection below SPAN SE User Manual Rev 9 25 Notices Figure 1 Primary and Secondary Lightning Protection Reference Description 1 Primary Lightning Protection Device Secondary Lightning Protection Device External Antenna GNSS Receiver To Ground Grounding plate or grounding point at the building s entrance OO Om P Gah Acceptable choices for Earth Grounds for central buildings are the following Grounded interior metal cold water pipe within five feet 1 5 m of the point where it enters the building Grounded metallic service raceway Grounded electrical service equipment enclosure Eight foot grounding rod driven into the ground
164. LIGN solution Pitch and Heading taken from ALIGN Roll will be assumed 0 Depending on the model of the receiver the default value will change The default for any single antenna S model will be UNAIDED while the default for a dual antenna D model will be AIDED TRANSFER SPAN SE User Manual Rev 9 129 Appendix B B 4 2 APPLICATION Start and remove applications Use this command to start applications or remove applications from the system Abbreviated ASCII Syntax APPLICATION AppSlot Function Abbreviated ASCII Example APPLICATION USERAPP1 START Field ASCII Binary Binary Field Description Type Value Value Format This field contains the command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary 1 header Commands Message ID 413 Binary Binary Bytes Offset 2 AppSlot Application slot Can be Enum USERAPP1 USERAPP2 or USERAPP3 3 Function Application function Can be Enum START REMOVE AUTOSTART_ON or AUTOSTART_OFF 4 H 4 4 XXXX 32 bit CRC Hex 4 H 16 5 CRLF Sentence terminator ASCII only 130 SPAN SE User Manual Rev 9 Commands Appendix B B 4 3 APPLYVEHICLEBODYROTATION Enable vehicle to body rotation Use this command to apply the vehicle to body rotation to the output attitude which was entered with the VEHICLEBODYROTATION command see p
165. MU and runs the real time INS Kalman filter The SPAN SE also offers on board data logging with a Secure Digital SD card Ethernet connectivity wheel sensor input and scalability for future GNSS advances MU Enclosure The Inertial Measurement Unit IMU is housed in the IMU enclosure that provides a steady power supply to the IMU and decodes and times the IMU output data The IMU itself consists of three accelerometers and three gyroscopes gyros so that accelerations along specific axis and angular rotations can be measured Several IMU types are supported and are listed in Table 1 Supported IMU Types on page 32 and Table 35 IMU Type on page 187 e PC Software Real time data collection status monitoring and receiver configuration is possible through NovAtel s Connect software utility see Section 3 2 on page 46 A dual frequency GNSS antenna The GNSS receiver is connected to the IMU enclosure with an RS 232 or RS 422 serial link which is the dedicated IMU COM port in SPAN SE and SPAN MPPC A NovAtel GNSS antenna must also be connected to the receiver to track GNSS signals Once the IMU enclosure GNSS antenna and appropriate power supplies are attached and a few simple configuration commands are entered the SPAN system will be up running and ready to navigate Fundamentals of GNSS INS GNSS positioning observes range measurements from orbiting Global Positioning System and GLONASS satellites From these observations th
166. MU in this way with respect to the vehicle 2 You only need to use this command if the system is to be aligned while in motion using the fast alignment routine see Section 3 4 3 3 Manual Alignment on page 57 Ensure that all windows other than the Console are closed in Connect and then use the SAVECONFIG command to save settings in NVM Otherwise unnecessary data logging occurs and may overload your system This orientation command serves to transform the incoming IMU signals in such a way that a 5 mapping is achieved see Table 34 on page 183 For example if the IMU is mounted with the X axis pointing UP and a mapping of 1 is specified then this transformation of the raw IMU data is done X gt Z Y gt X Z gt Y where the default is XX Y gt Y ZZ Notice that the X axis observations are transformed into the Z axis resulting in Z being aligned with gravity and a 5 mapping The SPAN frame is defined so that Z is always pointing up along the gravity vector If the IMU mapping is set to 1 the X axis of the IMU enclosure is mapped to the SPAN frame Z axis pointing up its Y axis to SPAN frame X and its Z axis to SPAN frame Y The X pitch Y roll and Z azimuth directions of the inertial enclosure frame are clearly marked on the IMU see the IMU choices and their technical specifications starting on page 88 The example of the Litef is shown in Figure 43 Endosure EN pem IMU Type a LCI I a HGI700 e LN200 F
167. Manual Rev 9 Figure 22 SPAN SE I O 1 Green Cable 93 Appendix A 94 Technical Specifications Table 8 I O 1 Green Cable Connector Pin Outs P1 Function Remote Connectors Connector Pin 12 CAN H1 Bare Wire BLACK 11 CAN L1 Bare Wire BLUE 22 CAN H2 Bare Wire RED 10 CAN L2 Bare Wire BROWN 29 GND Bare Wire GREEN 30 GND Bare Wire WHITE 17 RXD3 COM3 3 16 TXD3 COM3 2 23 GND COM3 5 15 RTS3 COM3 8 1 CTS3 COM3 7 25 RXD4 F comM 3 13 TXD4 COM4 2 9 VDC OUT COM4 4 26 GND COM4 5 24 RTS4 COM4 8 14 CTS4 COM4 7 20 RXD V2 OEMV2 3 21 TXD V2 OEMV2 2 27 GND OEMV2 5 7 RTS V2 OEMV2 8 6 CTS V2 OEMV2 7 4 RXDV3 OEMV3 3 5 TXD V3 OEMV3 2 8 VDC OUT OEMV3 4 28 GND OEMV3 5 19 RTS V3 OEMV3 8 3 CTS V3 OEMV3 7 a Refer to connector numbers P1 through P6 in Figure 22 on page 93 SPAN SE User Manual Rev 9 Technical Specifications Appendix A A 1 1 3 1O 2 Yellow Cable NovAtel part number 01018133 This cable supplied with the SPAN SE see Figure 23 provides a means of connecting with communications and I O devices The cable is equipped with a 30 pin connector at the receiver end plus three DB 9 connectors at the other end each connected to a serial port On this cable serial ports COMI COM2 and the IMU port are available There are also two ends with bare cables as shown in the figure
168. N 200 Sensor Unit To re assemble the SPAN IMU with the LN 200 sensor follow these steps 1 Mount the LN 200 sensor with the attached M4 screws Apply threadlock to the screw threads Use a hex key to torque each screw to 10 in lbs 2 Fitthe tube body over the LN 200 sensor and onto the base plate i 4 SCREWS Figure 78 SPAN IMU Re Assembly 380 SPAN SE User Manual Rev 9 LN 200 IMU in SPAN IMU Enclosure Appendix H H 3 Make the Electrical Connections To make the electrical connections you will need a 3 32 a hex key the wiring harness and the partially assembled SPAN IMU from Section H 2 Install the LN 200 Sensor Unit on page 380 Now follow these steps 1 Attach the LN 200 wire harness to the mating connector on the LN 200 Check that the connector is fully seated as shown in Figure 79 on page 361 Figure 79 Attach Wiring Harness SPAN SE User Manual Rev 9 381 Appendix H LN 200 IMU in SPAN IMU Enclosure 2 Connect the Samtec connector at the other end of the wiring harness to the corresponding connector on the internal IMU card as shown in Figure 80 Ensure that the connector is locked in place Figure 80 Attach Samtec Connector 382 SPAN SE User Manual Rev 9 LN 200 IMU in SPAN IMU Enclosure Appendix H HA Re Assemble the SPAN IMU Enclosure Use a hex key to align the long bolts with the threaded holes in th
169. N firmware WinLoad prompts you for an authorization code After you configure the SPAN firmware authorization code run the LOG VERSION command to verify that the model options include the required A character 5 2 Loading User Applications NovAtel uses a proprietary tool called WinLoad to load SPAN user applications You can get WinLoad from NovAtel through customer support or through the NovAtel FTP site at ftp ftp novatel ca outgoing support Software Winload Read the following instructions before using WinLoad to add software to the SPAN SE http www novatel com assets Documents Bulletins apn052 pdf In cases where WinLoad is not practical you can also use SoftLoad to add user applications SoftLoad reprograms the SPAN with a hex file that is stored on an SD card USB stick or RAM Drive Syntax SOFTLOADFILE lt MassStorageEnum gt lt FileName gt lt Destination gt Example SOFTLOADFILE SD 3800 hex OEMV3 In the example softload reprograms the OEMV3 card with 3800 hex from an SD card The SOFTLOADFILE command does not display a success or failure notice until the programming is complete This process can take several minutes 82 SPAN SE User Manual Rev 9 API Functionality Chapter 5 5 2 1 Verifying Loaded User Applications To verify that a user application has been loaded use the APPLICATIONSTATUS log The log s output contains relevant information about user applicatio
170. ND 23 ETH TXo 24 ETH TXo 25 GND 26 GND 399 Appendix J SPAN MPPC Interface Card Pin Description 27 ETH RXo 28 ETH RXo 29 GND 30 GND 31 COM1 RXo 32 COM1 RXo 33 COM1 TXo 34 COM1 TXo 35 GND 36 GND 37 IMU RXo 38 IMU RXo 39 IMU TXo 40 IMU TXo Table 97 SPAN MPPC Breakout Board J25 USB Host Connector Pin Description USBH Vbus USBHo USBHo GND SHELL SHELL oc A j N gt Table 98 SPAN MPPC Breakout Board J26 Main Board Connector Pin Description OEMV3 RXo OEMV3 RXo OEMV3 TXo OEMV3 TXo GND Event out1o N Oli oO AJ Ww N gt Event out2o 400 SPAN SE User Manual Rev 9 SPAN MPPC Interface Card SPAN SE User Manual Rev 9 Description 8 Event out3o 9 Event out4o 10 GND 11 Event into 12 Event in20 13 Event in30 14 Event in4o 15 GND 16 GND 17 CAN 10 18 CAN10 19 CAN2o 20 CAN2o 21 GND 22 GND 23 COM2 RXo 24 COM2 RXo 25 COM2 TXo 26 COM2 TXo 27 GND 28 GND 29 COM3 RXo 30 COM3 RXo 31 COM3 TXo 32 COM3 TXo 33 COMA RXo 34 COM4 RXo 35 COMA TXo 36 COMA TXo 37 GND 38 GND 39 ARINCo 40 ARINCo Appendix J 401 Append
171. Nolte SPAN SE USER MANUAL OM 20000124 Rev 9 Proprietary Notice SPAN SE User Manual Publication Number OM 20000124 Revision Level Rev 9 Revision Date September 2012 This manual reflects SPAN SE firmware version SCD000302RN0000 SPAN MPPC firmware version SKS000200RN0000 and OEMV firmware version 3 803 with a Q model Proprietary Notice Information in this document is subject to change without notice and does not represent a commitment on the part of NovAtel Inc The software described in this document is furnished under a licence agreement or non disclosure agreement The software may be used or copied only in accordance with the terms of the agreement It is against the law to copy the software on any medium except as specifically allowed in the license or non disclosure agreement No part of this manual may be reproduced or transmitted in any form or by any means electronic or mechanical including photocopying and recording for any purpose without the express written permission of a duly authorized representative of NovAtel Inc The information contained within this manual is believed to be true and correct at the time of publication ALIGN NovAtel OEMV ProPak and RT 20 are registered trademarks of NovAtel Inc OEMV 2 OEMV 3 SPAN SPAN SE SPAN MPPC ProPak V3 and RT 2 are trademarks of NovAtel Inc All other product or brand names are trademarks of their respective holders Manufactured and pr
172. O SPAN SE User Manual Rev 9 163 Appendix B Commands B 4 25 NMEATALKER Set the NMEA Talker ID 164 This command allows you to alter the behavior of the NMEA talker ID The talker is the first 2 characters after the sign in the log header of the GPGGA GPGLL GPGRS GPGSA GPGST GPGSV GPRMB GPRMC GPVTG and GPZDA log outputs The default GNSS NMEA message nmeatalker GP outputs GP as the talker ID regardless of the position type given in position logs such as BESTPOS The nmeatalker auto command switches the talker ID between GP and IN according to the position type given in position logs Abbreviated ASCII Syntax Message ID 861 NMEATALKER ID Factory Default nmeatalker gp Abbreviated ASCII Example NMEATALKER AUTO This command only affects NMEA logs that are capable of an INS position and or velocity output For example GPGSV is for information on GNSS satellites and its output always uses the GP or GN ID Zable 30 shows the NMEA logs and whether they use GP or GP IN IDs with nmeatalker auto Table 30 NMEA Messages NMEA Message NMEA Talker Options GLMLA GL GPALM GP GPGGA GP GPGLL GP or IN GPGRS GP or GN GPGSA GP or GN GPGST GP or GN GPGSV GP and GL GPRMB GP or GN GPRMC GP or GN GPVTG GP or IN GPZDA GP GPHDT GP PASHR N A always PASHR SPAN SE User Manual Rev 9 Commands Appendix B
173. O plug connector on the HG1700 FGG 1K 310 CLAC60Z interface cables Amphenol or MIL equivalent 22 pin connector on TV 06 RW 13 35 S A MIL DTL 38999 the universal IMU interface cable MIL equivalent 13 pin connector on the LN 200 D38999 26B35SF interface cable MIL equivalent 3 pin connector on the LN 200 D38999 26A98SN power cable MIL 22 pin connector on the iIMU FSAS interface D38999 cable 26WC35SA ODU USA 30 pin connector on the SPAN SE IMU S23KAC T30MFGO cables 01CP ROHS ODU 4 pin connector on the SPAN SE power S20KOC PO4MFGO cable 50EP ROHS SPAN SE User Manual Rev 9 407 hiu da Frequently Asked Questions 408 1 I don t hear any sound from my IMU Why a The LN 200 1IMU FSAS IMU CPT HG1900 HG1930 and Litef IMU do not make noise Check that the IMU interface cable is connected to the IMU DB9 on the yellow SPAN SE cable port on the SPAN SE When powered the HG 1700 IMUs makes a noticeable humming sound If no sound is heard check that the cable between the receiver and IMU is connected properly The cable should be connected to the port on the SPAN SE Ifthe cable is connected properly and you still hear no sound from the IMU check the flex cable mounted on top of the IMU Refer to the instructions in this manual on proper IMU installation to ensure that the cable is seated properly on the IMU pins Check the input power supply A minimum of 12V should be supplied to the syst
174. ON 57600 N 8 1 N OFF ON O SPAN SE User Manual Rev 9 Commands Field Field Type ASCII Value Binary Value Description Binary Format Appendix B Binary Binary 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 card CARD1 Select a receiver card CARDI is Enum 4 H CARD2 2 OEMV3 default and CARD2 is OEMV2 3 port COM1 1 Enter COM1 only for the COM1 port Enum 4 H 4 on the GNSS receiver not a SPAN SE port default COM1 4 rx inter See Table 29 on Receiver interface mode Enum 4 H 8 tx inter page 150 Transmit interface mode Enum 4 H 12 6 response OFF 0 Response mode Enum 4 H 16 ON 1 default ON bps Bits per second or baud rate Ulong 4 H 20 parity N 0 No parity default Enum 4 H 24 E Even parity O 2 Odd parity 9 data bits 70r8 Number of data bits 7 or 8 default Ulong 4 H 28 10 stop bits 1or2 Number of stop bits 1 default or2 Ulong 4 H 32 11 handshaking N 0 No handshaking default Enum H 36 XON 1 XON XOFF software handshaking CTS 2 CTS RTS hardware handshaking 12 echo OFF 0 No echo default Enum 4 H 40 ON 1 Transmit any input characters as they are received 13 break OFF Disable break detection Enum 4 H 44 ON 1 Enable break detection default 14 GPGGA 0 to disable Logging period f
175. PAN SE User Manual Rev 9 Data Logs Appendix D D 3 25 HEAVE Heave Filter Log The log provides vessel heave computed by the integrated heave filter Refer also to information in the SETHEAVEWINDOW command section This log is asynchronous but is available at approximately 10Hz Heave functionality is available on SPAN SE only You must have an inertial solution to use this log Message ID 1382 Log Type Asynch Abbreviated ASCII Syntax log heavea onnew Example log HEAVEA USB1 0 38 5 FINESTEERING 1630 232064 599 00000000 a759 6696 1630 2320 64 589885392 0 086825199 93392cb4 Binary Binary Binary Field Field Type Description Format Bytes Offset 1 Header Log Header H 0 2 Week GPS Week Ulong 4 H 3 Seconds into Seconds from week start Double 8 H 4 Week 4 Heave Instantaneous heave in metres Double 8 H 12 3 XXXX 32 bit CRC ASCII Binary and Short Hex 4 H 20 Binary only 4 CRI LF Sentence terminator ASCII only SPAN SE User Manual Rev 9 271 Appendix D Data Logs D 3 26 ICOMSTATUS Show communication port status Use this command to view a list of all ICOM port ICOMCONFIG settings ETHA is the only Ethernet adapter available to SPAN SE Message ID 1292 Abbreviated ASCII Syntax log ICOMSTATUS ONCE Example output lt ICOMSTATUS ICOMI 0 98 5 UNKNOWN 0 87 125 404c0020 0000 411 4 ICOMI TCP 3000 0 0 0 0 ETHA ICOM2 TCP 3001 0 0
176. PAN filter Rather the SPAN filter uses cumulative ticks per second If post processing the velocities may be used with the NovAtel Waypoint Group s Inertial Explorer software Message ID 622 Log Type Asynch Recommended input log timedwheeldataa onnew ASCII Example This example is from the MAR iMWS wheel sensor TIMEDWHEELDATAA 1393 411345 001 58 0 215 814910889 0 0 1942255 3b5fa236 Binary Binary Field Field Type Data Description Format Bytes Offset 1 Log Header Log header H 0 2 Ticks Per Rev Number of ticks per revolution Ushort 2 H 3 Wheel Vel Wheel velocity in counts per second Ushort 2 H 2 4 fWheel Vel Float wheel velocity in counts per second Float 4 H 4 5 Reserved Ulong 4 H 8 6 Ulong 4 H 12 7 Cumulative Ticks Cumulative number of ticks Ulong 4 H 16 8 XXXX 32 bit CRC ASCII Binary and Short Hex 4 H 20 Binary only 9 CRI LF Sentence terminator ASCII only SPAN SE User Manual Rev 9 343 Appendix D Data Logs D 3 65 VARIABLELEVERARM Display variable lever arm details 344 Use this log to redisplay the re calculated variable lever arm whenever a new INPUTGIMBALANGLE command is received This log is not output until the INS alignment is complete Message ID 1320 Log Type Asynch Recommended Input log variableleverarma onnew ASCII Example VARIABLELEVERARMA SPECIAL 0 81 5 FINESTEERING 1614 495820 512 40040000 0000
177. RTCMNOCR is identical to RTCM and functions with or without SPAN SE User Manual Rev 9 Commands Appendix B B 4 16 ICOMCONFIG Set ICOMx Protocol The SPAN SE has a 10 100 RJ 45 Ethernet port which has a MAC address hard coded into flash and user configurable IP information Each port can be used for both TCP and UDP traffic but not simultaneously You must configure the system for either UDP or TCP communication The default is TCP You can also use this command to program a destination or peer IP When using UDP the destination or peer IP allows SPAN to start sending data to the remote peer without waiting to receive data first by sending something first SPAN then gains knowledge of the remote IP This command is saved using the SAVECONFIG command To configure only the ICOM transport protocol use the ICOMCONFIG command with a port name and its one non optional parameter The SPAN SE does not currently use the ULPort parameter A dummy value e g 0 must be entered but is ignored by the firmware Default TCP port numbers persist for each ICOM port Abbreviated ASCII Syntax Message ID 1248 ICOMCONFIG Port IPProtocol ULPort IPAddress Interface Abbreviated ASCII Example ICOMCONFIG ICOM2 TCP 3001 192 168 1 25 ASCII Binary Binary Binary Description Value Value Format Offset 1 header This field contains the H 0 command name or the message header depending on whether the command is abbreviated ASCII AS
178. RY ARISING DIRECTLY OR INDIRECTLY OUT OF THE PURCHASE INSTALLATION OPERATION USE OR LICENSING OR PRODUCTS OR SERVICES IN NO EVENT SHALL NOVATEL BE LIABLE FOR SPECIAL INDIRECT INCIDENTAL OR CONSEQUENTIAL DAMAGES OF ANY KIND OR NATURE DUE TO ANY CAUSE There are no user serviceable parts in the GNSS receiver and no maintenance is required When the status code indicates that a unit is faulty replace with another unit and return the faulty unit to NovAtel Inc Before shipping any material to NovAtel or Dealer please obtain a Return Material Authorization RMA number from the point of purchase Once you have obtained an RMA number you will be advised of proper shipping procedures to return any defective product When returning any product to NovAtel please return the defective product in the original packaging to avoid ESD and shipping damage SPAN SE User Manual Rev 9 19 Customer Support NovAtel Knowledge Base If you have a technical issue browse to the NovAtel website at www novatel com Support Helpdesk and Solutions Search Knowledge and Forums Through this page you can search for general information about GNSS and other technologies information about NovAtel hardware and software and installation and operation issues Before Contacting Customer Support Before contacting NovAtel Customer Support about a software problem perform the following step 1 Log the following dat
179. Section 3 12 SPAN SE Ethernet Connection on page 76 The 6 byte MAC address is typically spaced with colons The first 3 bytes are the same numbers for every SPAN SE and are registered to NovAtel The second three bytes are specific to each SPAN SE Message ID 1100 Log Type Asynch Recommended Input log maca once ASCII Example MACA COM1 0 98 5 FINESTEERING 1637 317484 819 00000000 0000 416 00 21 66 00 07 7C 6abd783e Binary Binary Field Field Type Data Description Format Bytes Offset 1 Log Header Log header H 0 2 MAC address 6 MAC address numbers separated by Uchar 6 H colons 3 XXXX 32 bit CRC ASCII Binary and Short Hex 4 H 4 Binary only 4 CRI LF Sentence terminator ASCII only SPAN SE User Manual Rev 9 Data Logs Appendix D D 3 48 MARK1COUNT MARK2COUNT MARK3COUNT MARK4COUNT Mark Count When the input mode is set to COUNT using the EVENTINCONTROL command see page 142 the MARKXCOUNT logs become available 1 Use the ONNEW trigger with this the MARKxTIME or the MARKxPVA logs 2 Only the MARKxCOUNT MARKxPVA logs the MARKxTIME logs and polled log types are generated on the fly at the exact time of the mark Synchronous and asynchronous logs output the most recently available data MARKICOUNT Message ID 1093 MARK2COUNT Message ID 1094 MARK3COUNT Message ID 1095 MARK4COUNT Message ID 1096 Log Type Asynch Recommended Input
180. TEL ON a8e 10684 238 SPAN SE User Manual Rev 9 Data Logs Appendix D Field Field type Data Description Format Binary Binary yP P Bytes Offset 1 COMCONFIG Log header H 0 header port Number of ports with information to follow Long H 3 port Serial port identifier see Table 23 on Enum 4 H 4 page 136 4 baud Communication baud rate Ulong 4 H 8 5 parity See Table 24 on page 136 Enum 4 H 12 6 databits Number of data bits Ulong 4 H 16 7 stopbits Number of stop bits Ulong 4 H 20 8 handshake See Table 25 on page 136 Enum 4 H 24 9 echo When echo is on the portis transmitting any Enum 4 H 28 input characters as they are received 0 OFF 1 ON 10 breaks Breaks are turned on or off Enum 4 H 32 0 OFF 1 ON 11 rx type The status of the receive interface mode Enum 4 H 36 see Table 29 Serial Port Interface Modes on page 150 12 tx type The status of the transmit interface mode Enum 4 H 40 see Table 29 on page 150 13 response Responses are turned on or off Enum 4 H 44 0 OFF 1 ON 14 next port offset H 4 port number x 44 15 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 4 port x44 16 CRI LF Sentence terminator ASCII only SPAN SE User Manual Rev 9 239 Appendix D D 3 6 COMPROTOCOL COM Port Protocol This log reports what the current protocol settings are on each SPAN SE COM port The protocol can be set with the COMCONTROL command desc
181. The power LED is on the power button see SPAN SE Power Button on page 41 SPAN SE User Manual Rev 9 67 Chapter 3 SPAN SE Operation 3 7 2 SPAN MPPC Status LED 68 The diagnostic LED provided on the SPAN MPPC is solid yellow to indicate normal operation Error bits and status bits that have been priority masked as errors will cause the LED to flash a code in a binary sequence The binary sequence will be a 6 flash 0 5 second on and 0 25 second off per flash sequence followed by a 1 second delay The sequence will repeat indefinitely If there is more than one error or status present the lowest number will be output The codes are ordered to have the highest priority condition output first The first flash in the 6 flash sequence indicates if the code that follows is an error bit or a status bit Error bits will flash red and status bits will flash yellow The next 5 flashes will be the binary number of the code most significant bit first A red flash indicates a one and a yellow flash indicates a zero For example for an error bit 6 the binary number is 00110 so the output sequence would be 0 0 5 0 75 1 251 50 2 0 225 2 75 3 0 3 5 3 75 4 25 5 25 followed by a 1 second delay The sequence repeats indefinitely until the receiver is reset In the example below the first flash in the sequence is red which means that a bit is set in the receiver error word The next five flashes give a binary value of 00111 Converting this value
182. U in SPAN HG Enclosure Appendix F F1 Disassemble the SPAN IMU Enclosure The SPAN IMU disassembly steps are as follows 1 Remove the top cover s six bolts using a hex key as shown in Figure 57 Figure 57 Bolts and Hex Key Set aside the bolts with their sealing washers Lift the top cover off the tube body and set it aside as shown in Figure 58 on page 362 Lift the tube body away from its base plate and set it aside Us dme des de Remove the 3 ring spacer screws and set them aside SPAN SE User Manual Rev 9 361 Appendix F HG1700 IMU in SPAN HG Enclosure Figure 58 Lift Top Cover Tube Body and 3 Ring Spacer Screws 362 SPAN SE User Manual Rev 9 HG1700 IMU in SPAN HG Enclosure Appendix F F2 Install the HG1700 Sensor Unit To re assemble the SPAN IMU with the HG1700 sensor see Figure 59 and follow these steps 1 Mount the HG1700 sensor with the attached 8 screws Apply threadlock to the screw threads Use a hex key to torque each screw to 10 in lbs 2 Fitthe tube body over the HG1700 sensor and onto the base plate Figure 59 SPAN IMU Re Assembly SPAN SE User Manual Rev 9 363 Appendix F HG1700 IMU in SPAN HG Enclosure F3 Make the Electrical Connections To make the electrical connections you will need a 3 32 hex key the flex cable and the partially assembled SPAN IMU from Section F2 Install the HG1700 Sensor Unit on page 363 Now follow these steps 1 Attach the f
183. WGS84 at MARK1 through MARK4 Double 8 H 16 6 Longitude The longitude WGS84 at MARK1through MARK4 Double 8 H 24 7 Height The height WGS84 at MARK1 through MARK4 Double 8 H 32 8 NVelocity The velocity in a northern direction at MARK1 through Double 8 H 40 MARKA A negative value implies southern movement 9 EVelocity The velocity an eastern direction at MARK1 through Double 8 H 48 MARKA A negative value implies western movement 10 UpVelocity Velocity at an upward direction at MARK1 through MARKA Double 8 H 56 11 Roll Right handed rotation from a local level around the Y axis Double 8 H 64 in degrees at MARK1 through MARK4 12 Pitch Right handed rotation from a local level around the X axis Double 8 H 70 in degrees at MARK1 through MARK4 13 Azimuth Left handed rotation around the Z axis in a clockwise Double 8 H 78 direction from north at MARK1 through MARK4 14 Status INS Status Enum 4 H 86 15 XXXX 32 bit CRC Hex H 90 16 CRI LF Sentence terminator ASCII only 340 SPAN SE User Manual Rev 9 Data Logs Appendix D D 3 63 TIME Time Data This log provides several time related pieces of information including receiver clock offset and UTC time and offset It can also be used to determine any offset in the PPS signal relative to GPS time To find any offset in the PPS signal log the TIME log ontime at the same rate as the PPS output For example if the PPS output 1s configured to o
184. a to a file on your PC for 30 minutes RXSTATUSB once RAWEPHEMB onchanged RANGECMPB ontime 1 BESTPOSB ontime 1 GLOEPHEM ERISB onchanged RXCONFIGA once VERSIONB RAWIMUSB INSPVASB INSCOVSB INSUPDAT once onnew ontime 0 1 onchanged EB onchanged BESTGPSPOSB ontime 1 2 Sendthe file containing the log to NovAtel Customer Support using either the NovAtel FTP site at Support Firmware Software and Manuals Access FTP Site on the NovAtel website at www novatel com or through the support novatel com e mail address 3 You can also issue a FRESET command to the receiver to clear any unknown settings 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 you are having a hardware problem send a list of the troubleshooting steps taken and results 20 SPAN SE User Manual Rev 9 Customer Support Contact Information Use one of the following methods to contact NovAtel Customer Support Call the NovAtel Hotline at 1 800 NOVATEL U S amp Canada 1 800 668 2835 or 1 403 295 4900 international Fax 1 403 295 4901 Write NovAtel Inc E mail support novatel ca Customer Support Department Website http www novatel com 1120 68 Avenue NE Calgary AB Canada T2E 8S5 SPAN SE User Manual Rev 9 21 Firmware Updates and Model Upgra
185. aeees SPAN SE User Manual Rev 9 3 5 3 Wheel Sensor Updates using the WHEELVELOCITY Command s 65 3 5 4 Logging Wheel Sensor Data from SPAN SE sse 65 3 6 Data Collection for Post Processing ssseeen eem nemen 66 3 7 Status nie ee 67 3 71 SPAN SE Status EE DS initi eee metes abet Lister do de re Ee Sint ka E AE 67 3 7 2 SPAN MPPC Status LED iere ient Paene Nee Eder dada ode dente daten 68 3 9 9D Card E EE 69 3 9 Logging Data to the SD Card WEE 70 3 9 1 Insert the SD Gard d eidem er PR UE PERRA RUE Rm 70 3 9 2 Prepare the Card eiecit tense EO eee debet ease ode tees pci 70 3 9 3 Select Logs to Send to the SD Card sss emen 71 3 9 4 Startiand Stop Logging eire Rent tenenda ned setenta ao ian RR 71 3 9 5 Log a Pre Defined List of Logs ssseeeeemeenm nme 72 3 9 6 Auto Logging on Start Up sse enne errem 72 3 9 7 Reading data from the card EE 73 3 10 Adding Timed Camera Triggers eene nennen ennemi 73 3 10 1 Configuring the Hardware 73 3 10 2 Configuring the Software essen eene een nennen nenne 74 3 10 3 Using Timed Event Pulses oe emere dte eese dede eee Red dps 74 3 11 Synchronizing External Equipment eee nennen 74 3 11 1 Configuring a Synchronous Output Pulse eee 74 3 11 2 Configuring an Input Strobe AA 75 3 12 SPAN SE Ethernet Connection eene enne eere 76 3 12 1 Configuring for TCP or UDP Operation e
186. age 207 This rotates the SPAN computation frame output in the INSPVA INSPVAS and INSATT logs to the vehicle frame APPLYVEHICLEBODYROTATION is disabled by default Abbreviated ASCII Syntax APPLYVEHICLEBODYROTATION switch Abbreviated ASCII Example APPLYVEHICLEBODYROTATION ENABLE Field ASCII Binary Type Value Value Field Description This field contains the command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary 1 header Message ID 1071 Binary Binary Binary Bytes Offset Format H 0 2 switch Disable 0 Enable disable vehicle body Enable 1 rotation using values entered in the vehiclebodyrotation command default disable Enum SPAN SE User Manual Rev 9 131 Appendix B Commands B 44 ASSIGNLBAND Set L band satellite communication parameters You must use this command to ensure that the receiver searches for a specified L band satellite at a specified frequency with a specified baud rate The factory parameter default is ASSIGNLBAND IDLE 1 In addition to a NovAtel receiver with L band capability a subscription to the OmniSTAR service is required Contact NovAtel for details see page 20 2 The frequency assignment field 3 below can be made in kHz or Hz For example ASSIGNLBAND OMNISTAR 1557855 1200 A value entered in Hz is rounded to the nearest 500 Hz 3 OmniSTAR
187. age 343 for details on this log The periods available when you use the ONTIME trigger are 0 005 200Hz 0 01 100Hz 0 02 50 Hz 0 05 0 1 0 2 0 25 0 5 1 2 3 5 10 15 20 30 or 60 seconds SPAN SE User Manual Rev 9 227 Appendix D D 3 1 Data Logs APPLICATIONSTATUS Display installed and running applications Use this log to query the card to display a list of installed or running applications Recommended Input ASCII Example log applicationstatusa once Message ID 520 Log Type ASYNC APPLICATIONSTATUSA COM1 0 98 0 UNKNOWN 0 0 000 00000000 0000 407 4 14 TRUE 0 0000000 00000000 SPAN API 14 May 3 2011 15 09 46 11 FALSE 00000000 00000000 Userapp1 1 000 2011 May 05 15 00 56 0 FALSE 00000000 00000000 11 FALSE 00000000 000000 00 UserApp3 1 000 2011 Mar 28 13 10 27 39144e87 e Binary SE Binary Binary Binary Field Field Type ASCII Value yo Description Format Bytes Offset 1 header This field contains the H 0 command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary 2 APIVer 0 The APUI version with Ulong 4 H 4 MAXLONG installed firmware 3 RunStat TRUE or Is the application currently Boolean 4 H 8 FALSE running 4 BaseAddr 0 The running application s Hex 4 H 12 OxFFFFFFFF base memory address 5 Size 0 The application s size in Hex 4 H 16 OxFFFF
188. ages 5 XXXX 32 bit CRC ASCII and Binary only Hex 4 H h a 4 6 CRI LF Sentence terminator ASCII only 330 SPAN SE User Manual Rev 9 Data Logs Appendix D D 3 59 RXSTATUS Receiver Status This log conveys various status parameters of the SPAN SE receiver system These include the SPAN SE Receiver Status and Error words which contain several flags specifying status and error conditions Receiver errors are handled differently based on where the error occurs If an error occurs on the SPAN system shown in the Receiver Error word the receiver will continue to operate as best as possible If an error occurs on either the internal OEMV 3 or OEMV 2 card shown by the Error Flag field in the corresponding status word that card will idle all channels turn off its antenna and disable the RF hardware as these conditions are considered to be fatal errors Shut down of either the OEMV 3 or OEMV 2 in this way will result in some loss of functionality for the SPAN SE The receiver gives the user the ability to determine the importance of the status bits In the case of the Receiver Status setting a bit in the priority mask causes the condition to trigger an error This causes the receiver to idle all channels turn off the antenna and disable the RF hardware the same as if a bit in the Receiver Error word is set Receiver errors automatically generate event messages These event messages are output in RXSTATUSEV
189. al Rev 9 153 Appendix B Commands B 4 19 INSCOMMAND INS control command This command allows you to enable disable or reset INS positioning When INS positioning is disabled no INS position velocity or attitude is output Also INS aiding of RTK initialization and tracking reacquisition 1s disabled If the command is used to disable INS and then re enable it the INS system has to go through its alignment procedure equivalent to issuing a RESET command See also Section 3 4 1 Configuration for Alignment star ng on page 55 Abbreviated ASCII Syntax Message ID 379 INSCOMMAND action Abbreviated ASCII Example INSCOMMAND ENABLE d Field ASCII Binary SALE Binary Binary Binary Field D t ayi Type Value Value MS abd Format Bytes Offset 1 header This field contains the H 0 command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary 2 action RESET 0 Resets the GNSS INS Enum 4 H alignment and restarts the alignment initialization DISABLE ENABLE 2 Enables INS positioning where alignment initialization starts again default Disables INS positioning 154 SPAN SE User Manual Rev 9 Commands Appendix B B 4 20 INSZUPT Request Zero Velocity Update This command allows you to manually perform a Zero Velocity Update ZUPT that is to update the receiver when the system has stopped NovAtel s SPAN Tech
190. alignment method uses the ALIGN baseline solution to perform an instantaneous alignment of the vehicle attitude No additional configuration is required for this alignment routine The alignment will happen instantaneously once the receiver establishes communication with the IMU and computes a fixed integer verified ALIGN solution The INS status will remain in INS ALIGNING mode until the aided transfer is complete 4 5 2 Alignment on a Stationary Vehicle Aided Static Alignment An alternative to the instant transfer alignment the ALIGN heading can be used as a seed for a coarse static alignment In this mode the standard coarse alignment routine will run given the initial azimuth value As with the transfer alignment the first verified fixed RTK solution will be used to provide the alignment seed after which the 60s coarse alignment will begin NovAtel recommends the transfer alignment for the dual antenna solution To use this alignment mode the configuration command ALIGNMENTMODE must be sent to the receiver ALIGNMENTMODE AIDED STATIC 4 5 3 Unaided Alignment This returns the SPAN system to its default alignment options a coarse static alignment kinematic alignment or manual alignment See Section 3 4 1 Configuration for Alignment on page 55 for details on standard alignment modes 80 SPAN SE User Manual Rev 9 Dual Antenna Functionality Chapter 4 This alignment mode will be default for any single
191. and see page 209 The command can be sent in ASCII or binary format The tick count in the WHEELVELOCITY command should reference the number of ticks accumulated at the time of the GNSS second boundary For reference the GNSS second boundary is available from the event output lines on SPAN SE See also the EVENTOUTCONTROL command on page 143 3 5 4 Logging Wheel Sensor Data from SPAN SE The accumulated wheel sensor counts are available by logging the TIMEDWHEELDATA log with the ONNEW trigger LOG TIMEDWHEELDATAB ONNEW If you wish to use the wheel sensor data in post processing then ensure that the TIMEDWHEELDATAB log is included in your logging profile The computed wheel size is available through the WHEELSIZE log with the ONNEW trigger LOG WHEELSIZEB ONNEW SPAN SE User Manual Rev 9 65 Chapter 3 SPAN SE Operation 3 6 Data Collection for Post Processing Some operations such as aerial measurement systems do not require real time information from SPAN These operations are able to generate the position velocity or attitude solution post mission in order to generate a more robust and accurate solution than is possible in real time In order to generate a solution in post processing data must be simultaneously collected at a base station and each rover The following logs must be collected in order to successfully post process data From a base if using GPS only e RANGECMPB ONTIME 1 e RAWEPH
192. antenna or S model When using a dual antenna D model the ALIGNMENTMODE command must be sent to the receiver ALIGNMENTMODE UNAIDED A static coarse alignment is not available for the IMU CPT or the HG1930 4 6 SPAN ALIGN Attitude Updates The INS heading updates are used as a way to help constrain the azimuth drift of the INS solution whenever possible This is of greatest value with lower quality IMUs and in environments with poor ability to observe Earth rotation Slow moving marine or train applications are good examples of the intended use By providing an external heading source the solution drift can be constrained in these environments SPAN SE User Manual Rev 9 81 Chapter 5 API Functionality This chapter describes basic API functionality in SPAN SE It does not provide detailed usage information or information required for developers 5 1 Overview To enable SPAN API and enable SPAN to execute user applications the receiver must have a correctly configured model for the SPAN firmware Use the LOG VERSION command determine if the correct SPAN API model is configured SPANCARD displays the model string immediately after the SPANCARD string In addition to other model options the API model must include an A character to enable SPAN API If the API model is not correct contact NovAtel Customer Service to obtain an authorization code that includes the SPAN API model option When installing new SPA
193. are also 1deal for applications where the amount of data being transmitted is fairly high Because of the inherent compactness of binary the messages are much smaller This allows a larger amount of data to be transmitted and received by the receiver s communication ports The structure of all binary messages follows the general conventions as noted here Basic format of Header Three sync bytes plus 25 bytes of header information The header length is variable as fields may be appended in the future Always check the header length Data variable CRC 4 bytes 2 The3 sync bytes will always be Byte Hex Decimal First AA 170 Second 44 68 Third 12 18 3 The CRC is a 32 bit CRC performed on all data including the header 4 The header is in the format shown in Table 39 Table 39 Binary Message Header Structure Field Binary Binary Ignored Field Field Name Type Description Bytes Offset on Input 1 Sync Char Hexadecimal OxAA 1 0 N 2 Sync Char Hexadecimal 0x44 1 1 N 3 Sync Char Hexadecimal 0x12 1 2 N 4 Header Length Uchar Length of the header 1 3 N 5 Message ID Ushort This is the Message ID number of the 2 4 N log Each log has its own unique message ID that you can find as part of each log description in this chapter Continued on the following page 218 SPAN SE User Manual Rev 9 Data Logs Appendix D Field Binary Binary Ignored Field Field Name Ty
194. are is protected by national copyright laws international treaty provisions and all other applicable national laws You must treat the Software like any other copy righted material except that you may make one copy of the Software solely for backup or archival pur poses one copy may be made for each piece of NovAtel hardware on which it is installed or where used in conjunction with other NovAtel supplied software the media of said copy shall bear labels showing all trademark and copyright notices that appear on the original copy You may not copy the product manual or written materials accompanying the Software No right is conveyed by this Agree ment for the use directly indirectly by implication or otherwise by Licensee of the name of NovAtel or of any trade names or nomenclature used by NovAtel or any other words or combinations of words proprietary to NovAtel in connection with this Agreement without the prior written consent of NovAtel 3 Patent Infringement NovAtel shall not be liable to indemnify the Licensee against any loss sus tained by it as the result of any claim made or action brought by any third party for infringement of any letters patent registered design or like instrument of privilege by reason of the use or application of the Software by the Licensee or any other information supplied or to be supplied to the Licensee pursuant to the terms of this Agreement NovAtel shall not be bound to take legal proceedings against any t
195. argets um coe ear asye aka noon od Seba cages chet Rata a EE 146 Serial Port Interface Modes A 150 NMEA eden 164 DGPBS DEE EE 167 Dynamics Mode te e adeat ERU RE Sere n ERES 171 VE ISSUE TI 176 Full Mapping Definitions ssesssssssssseeneeeeen enne nentrn nanen nenene 183 lusu 187 SETWHEELPARAMETERS Input sss eene nnne nnne nennen nn 196 log Type Mee Te 214 ASCII Message Header Structure eene enne nnne 215 Binary Message Header Giruchre enne nns 218 Detailed Serial Port Identifiers essssssssssssssseeeeeee nennen nnns 220 Short ASCII Message Header Giruchure nenen nnt 221 Short Binary Message Header Structure ssssssssssssssssssse eene 221 GPS TIME Status uie teret Ro ER eR Ree B nog eee RE MERE aree 221 Position or Velocity Type eicit rose pedet pee cage Pana Ce Eden deen 229 Solutiori Status EE 231 Signal Used MASK EE 233 Extended Solution Status censes ad end a tabak saa kad pad dere de n adan a tand eee iieis 233 Port Protocol si oet eit eget tem nde cae patie eU feat tala ete 240 GLONASS Ephemeris Flags Coding enne 250 SPAN SE User Manual Rev 9 50 Bits 0 1 P1 Flag Range Values eicere nente nene eere kaa mo ta anba kana kan 250 51 NMEA Positioning System Mode Indicator sssee me 257 52 Position Precision of NMEA Logs seeen emen emn nennen enne 257 53 Lever Arm Type iiie t
196. ariable X X Variable length integer or floating numeric field Optional leading and trailing numbers zeros The decimal point and associated decimal fraction are optional if full resolution is not required example 73 10 73 1 073 1 73 Fixed HEX hh Fixed length HEX numbers only MSB on the left Information Fields Variable text c c Variable length valid character field Fixed alpha aa Fixed length field of uppercase or lowercase alpha characters Fixed 20 C Fixed length field of numeric characters Fixed text cc Fixed length field of valid characters NOTES 1 Spaces may only be used in variable text fields 2 A negative sign HEX 2D is the first character in a field if the value is negative The sign is omitted if the value is positive 3 All data fields are delimited by a comma 4 Null fields are indicated by no data between two commas Null fields indicate invalid data or no data available 5 The NMEA Standard requires that message lengths be limited to 82 characters 226 SPAN SE User Manual Rev 9 Data Logs Appendix D D 3 SPAN SE Logs The receivers are capable of generating many NovAtel format output logs in either Abbreviated ASCII ASCII or binary format For convenience some commonly used OEMV logs are included in this manual All SPAN specific logs are included in this manual Please refer to the OEMV Family Firmware Reference Manual for a complete list of logs containing GNSS only infor
197. arts at the GPS time synchronized edge rising for negative polarity and falling for positive polarity The time length of this period is specified in nanoseconds ns 74 SPAN SE User Manual Rev 9 SPAN SE Operation Chapter 3 Not Active Period Width The not active period immediately follows the active period The width of this period is specified in ns Rules Governing Period Widths e The minimum period is 25 ns The maximum period is 999 999 975 ns e Periods must be entered as a multiple of 25 ns that is 1000 1025 1050 1075 and so on The sum ofthe active and not active periods must be a factor of 1 s That is K active not active 1 000 000 000 where K 1 2 3 500 000 1 GPS Time PPS 3 3V 1Hz negative polarity DV 33V l ov 1Hz positive polarity gt Active Non Active Period Active Period Width Period Width Width Figure 18 Event Out 3 11 2 Configuring an Input Strobe SPAN SE has four available input strobes The input strobes apply an accurate GPS time to the rising or falling edge of an input pulse called an event For each event an accurate position velocity or attitude solution is also available Each input strobe is usually associated with a separate device therefore different solution output lever arm offsets can be applied to each strobe Each input strobe can be configured using the EVENTINCONTROL command see page 42 for the following param
198. as follows range residual calculated range measured range 99 9 then the decimal part is dropped Maximum t 999 The sign of the range residual is determined by the 2 There is no residual information available from the OmniSTAR HP XP service so the GPGRS contains the pseudorange position values when using it Residual information is available for the OmniSTAR VBS Recommended Input log gpgrs ontime 1 Example 1 GPS only GPGRS 142406 00 1 1 1 0 1 1 7 1 2 2 0 0 5 1 2 1 2 0 1 67 Message ID 220 Log Type Synch Field Structure Field Description Symbol Example 1 GPGRS Log header GPGRS 2 utc UTC time of position hours minutes hhmmss ss 192911 0 seconds decimal seconds 3 mode Mode 0 Residuals were X 1 used to calculate the position given in the matching GGA line a priori not used by OEMV family receiver Mode 1 Residuals were recomputed after the GGA position was computed preferred mode 4 15 res Range residuals for satellites used in X x x X 13 8 1 9 11 4 33 6 0 9 the navigation solution Order matches 6 9 12 6 0 3 0 6 22 3 order of PRN numbers in GPGSA 16 XX Checksum hh 65 17 CRI LF Sentence terminator CRI LF SPAN SE User Manual Rev 9 259 Appendix D Data Logs D 3 18 GPGSA GPS DOP and Active Satellites 260 This NMEA log provides GPS receiver operating mode satellites used for navigation and DOP values See a
199. ation about the x axis D is the rotation about the y axis This direction cosine matrix DCM expresses mathematically the sequence of rotations as R R B R a R 7 where R is a rotation around the z axis that is the third axis of the x y and z set as in SPAN SE User Manual Rev 9 SPAN SE Operation Chapter 3 cosy siny 0 R y siny cosy 0 0 0 1 R is a rotation around the x axis as in l 0 0 R a 0 cosa sina 0 sina cosa R is a rotation around the y axis as in cos 0 sinf R f 0 1 0 sing 0 cosf These three rotations define the transformation from the vehicle frame to the body frame To go the other way between the frames from the body frame to the vehicle frame we take the transpose of this which is R R7 R 7 R a R PY R R R B Ry R y R a R C B Explicitly the elements of this matrix are cosy cos f sinysinasin sinycosa cosysin f siny sina cos D R sinycos8 cosysinasinB8 cosycosa sinysin f cosy sina cos 8 cosa sin D sin a cos amp cos D 3 4 7 3 Relating the Body Frame to the Local Level Frame The body to local level matrix can be formed from the roll pitch and azimuth convert to yaw to form the matrix angles found in the INSPVA or INSATT log where roll is about the y axis pitch is about the x axis and azimuth yaw is about the z axis The body frame IMU axes are nominally assumed to have Y pointing in the direction o
200. atus word Ulong 4 H 4 see Table 76 starting on page 334 for the receiver status table or the auxiliary status tables on page 335 4 event Event type see Table 81 above Enum 4 H 8 3 description This is a text description of the event Char 32 32 H 12 Or error 5 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 44 6 CRI LF Sentence terminator ASCII only 338 SPAN SE User Manual Rev 9 Data Logs Appendix D D 3 61 SPANVALIDMODELS Valid Model Information This log gives a list of valid authorized models available and expiry date information Use the SPANVALIDMODELS log to output a list of available models for the receiver You can use the SPANAUTH command see page 199 to add a model See the VERSION log on page 346 for the currently active model If a model has no expiry date it reports the year month and day fields as 0 0 and 0 respectively Message ID 1089 Log Type Polled Recommended Input log spanvalidmodelsa once ASCII Example SPANVALIDMODELSA COM1 0 99 0 UNKNOWN 0 74 876 404c0020 0000 155 1 SJ 0 0 0 558ae6ab Binary Binary Field Field type Data Description Format Bytes Offset 1 SPANVALIDMODELS Log header H 0 header 2 mod Number of models with Ulong 4 H information to follow 3 model Model name String Variable Variable max 16 4 expyear Expiry year Ulong 4 Variable Max H 20 5 expmonth Expiry month Ulong 4 Variable Max
201. below See Table 9 I O 2 Yellow Cable Connector Pin Outs on page 96 This cable is RoHS compliant 1331 0 425 00 0 00 SEE DETAIL 230 0 425 00 0 00 1000 0 50 00 0 00 ke 10 00 YELLOW BEND RELIEF ES Pio youne N 30 ODU STRAIGHT PLUG food Foe COM2 SE COM2 ABEL GND ABEL EVENT OUT 1 ABEL EVENT OUT 2 ABEL EVENT OUT 3 Note You will need to remove the weather stripping or rubber boots from either the SPAN SE cable or the Universal IMU cable to make the connection between the serial IMU ports DETAIL SCALE 3 000 5 0 2 0 Reference Description P10 ODU 30 pin P1 P2 amp P7 DB 9 Figure 23 SPAN SE I O 2 Yellow Cable SPAN SE User Manual Rev 9 95 Appendix A 96 Technical Specifications Table 9 I O 2 Yellow Cable Connector Pin Outs P1 Function Remote Connectors Connector Pin 10 EVENT OUT 1 Detail B Bare Wire BLACK 23 EVENT OUT 2 Detail B Bare Wire BLUE 11 EVENT OUT 3 Detail B Bare Wire RED 27 GND Detail B Bare Wire GREEN 6 EVENT IN 1 MOLEX 1 5 EVENT IN 2 MOLEX 2 20 EVENT IN 3 MOLEX 3 19 EVENT IN 4 MOLEX 4 28 GND MOLEX 5 GND1 6 GND2 29 GND MOLEX 7 GND3 8 GND4 4 TXD2 COM2 2 2 RXD2 COM2 3 9 VDC OUT COM2 4 30 GND COM2 5 18 CTS2 COM2 7 3 RTS2 COM2 8 16 RXD
202. ble 8 H 20 6 Height Ellipsoidal Height WGS84 Double 8 H 28 7 Status INS status see Table 5 on Enum 4 H 36 page 54 8 XXXX 32 bit CRC ASCII Binary and Hex 4 H 40 Short Binary only 9 CRI LF Sentence terminator ASCII only 282 SPAN SE User Manual Rev 9 Data Logs Appendix D D 3 34 INSPOSSYNC Time Synchronized INS Position This log contains the time synchronized INS position It is synchronized with GPS each second Message ID 322 Log Type Asynch Recommended Input log inspossynca onchanged ASCII Example INSPOSSYNCA COM1 0 47 5 FINESTEERING 1332 484154 042 00000000 c98c 34492 484154 000000000 1634523 2463 3664620 7609 4942494 6795 1 8091616236414247 0 0452272887760925 0 7438098675219428 0 0452272887760925 2 9022554471257266 1 5254793710104819 0 7438098675219428 1 5254793710104819 4 3572293495804546 9fcd6cel Binary Binary Field Field Type Data Description Format Bytes Offset 1 Log Header Log header H 0 2 Sec Age of synchronized INS solution s Double 8 H 3 X ECEF X coordinate Double 8 H 8 4 ECEF Y coordinate Double 8 H 16 5 Z ECEF Z coordinate Double 8 H 24 6 Cov ECEF covariance matrix a 3 x 3 Double 9 72 H 32 array of length 9 7 XXXX 32 bit CRC ASCII Binary and Hex 4 H 104 Short Binary only 8 CRI LF Sentence terminator ASCII only SPAN SE User Manual Rev 9 283 Appendix D D 3 35 INSPVA INS Positi
203. ble s 30 pin connector to the I O 2 yellow port on the SPAN SE 3 Connect a communications cable If you want to connect via a serial connection the I O 1 green cable has DB9 connectors for COM3 and COMA and the I O 2 yellow cable has DB9 connections for COMI and COM2 If a USB connection is required connect a USB cable to the USB Device port If an Ethernet connection is required connect a shielded network cable to the Ethernet port 4 Connect the I O 2 yellow cable s IMU connector to an IMU COM port using the IMU interface cable The figure below shows the Universal Enclosure connections IMU SE FSAS EI connec tions with a SPAN SE refer to i MU FSAS Interface Cable on page 113 For the IMU CPT con nections with a SPAN SE refer to MU CPT Cable on page 122 Connections for the HG1900 and HG1930 IMUS are not show on this diagram For information about inte grating the HG1900 and HG1930 IMUs with a SPAN SE contact NovAtel Customer Support SPAN SE User Manual Rev 9 SPAN SE Installation Chapter 2 am Nio EL Figure 7 SPAN SE cable connections 5 Connect the antenna to the antenna port on the receiver using an appropriate coa
204. by entering lever arms to both antennas This is done via the SETIMUTOANTOFFSET and SETIMUTOANTOFFSET2 commands To configure SPAN with ALIGN Aiding 1 Enter the lever arm from the IMU to the primary antenna primary antenna is connected to the connector labeled GPS using the SETIMUTOANTOFFSET command Abbreviated ASCII Example SETIMUTOANTOFFSET 0 54 0 32 1 20 0 03 0 03 0 05 SPAN SE User Manual Rev 9 79 Chapter 4 Dual Antenna Functionality 2 Enter the lever arm from the IMU to the secondary antenna secondary antenna is connected to the connector labeled GPS 2 on SPAN SE or the external receiver for SPAN MPPC using the SETIMUTOANTOFFSET2 command Abbreviated ASCII Example SETIMUTOANTOFFSET2 0 54 0 32 1 20 0 03 0 03 0 05 SPAN SE D and SPAN MPPC can be configured for different alignment routines depending on the motion conditions experienced during the alignment period For example in marine applications the vehicle cannot be guaranteed to be stationary during the alignment process so the standard coarse alignment routine will not work The different alignment routines are described in the following sections 4 5 1 Alignment on a Moving Vessel Aided Transfer Alignment Default If your vehicle is not stationary during the alignment such as on a ship the Aided Transfer Alignment is the alignment routine to use This is the default alignment for SPAN SE D so the configuration is relatively simple This
205. ce Card J 3 SPAN MPPC Breakout Board The SPAN MPPC Breakout Board NovAtel part number 01018504 connected to the MPPC stack is shown in Figure 86 Figure 86 SPAN MPPC Breakout Board The physical location of the connectors on the Breakout Board is shown in Figure 87 J1 99 J13 oo J1188 J23 Figure 87 SPAN MPPC Breakout Board Connectors The SPAN MPPC Breakout Board provides access to SPAN MPPC signals as outlined in the following tables Table 95 SPAN MPPC Breakout Board J1 J23 Test Points Pin Description Pin Description Color J1 Vin J13 Vin Red J2 Vin J14 Vin Red J3 GND J15 GND Black J4 GND J16 GND Black J5 Event out1o J17 Event out20 Yellow J6 Event out3o J18 Event out4o Yellow 398 SPAN SE User Manual Rev 9 SPAN MPPC Interface Card Pin Description Pin Description Color J7 Event mio J19 Event in20 Yellow J8 Event in30 J20 Event in4o Yellow J9 CAN10 J21 CAN10 Orange J10 CAN20 J22 CAN20 Orange J11 ARINCo J23 ARINCo White Appendix J Table 96 SPAN MPPC Breakout Board J24 Main Board Connector SPAN SE User Manual Rev 9 Pin Description 1 Vin 2 GND 3 Vin 4 GND 5 Vin 6 GND 7 Vin 8 GND 9 Vin 10 GND 11 Vin 12 GND 13 GND 14 GND 15 USBHo 16 USBHo 17 USBH Vbus 18 GND 19 USBDo 20 USBDo 21 USBD Vbus 22 G
206. ce Manual The OEMV 3 card and SPAN SE will reset after receiving the AUTH or MODEL command We recommend that you contact NovAtel Customer Support for assistance in doing this see page 20 or Note 2 below 1 Authorization codes are firmware version specific If the receiver firmware is updated it is necessary to acquire new SPAN authorization codes for the required models If you wish to update the firmware in the receiver please contact NovAtel Customer Service 2 When you want to easily upgrade your SPAN SE receiver or its internal OEMV 3 without returning your SPAN SE to the factory our unique field upgradable feature allows you to buy the equipment that you need today and upgrade them without facing obsolescence When you are ready to upgrade from one model to another call 1 800 NOVATEL to speak with our Customer Service Sales Personnel who can provide the SPAN authorization code that unlocks the additional features of your SPAN SE receiver This procedure can be performed at your work site and takes only a few minutes Removing a SPAN authorization code will cause the receiver to permanently lose this information Abbreviated ASCII Syntax Message ID 1086 SPANAUTH state part1 part2 part3 part4 part5 model date Abbreviated ASCII Examples SPANAUTH ADD 1234 5678 9ABC DEFO 1234 sj 100131 SPANAUTH 1234 5678 9ABC DEFO 1234 SJ SPAN SE User Manual Rev 9 199
207. char 1 H 68 20 Uchar 1 H 69 21 Uchar 1 H 70 22 Uchar 1 H 71 23 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 72 24 CRI LF Sentence terminator ASCII only 232 SPAN SE User Manual Rev 9 Data Logs Appendix D Table 46 Signal Used Mask Bit 0 0x01 Description GPS L1 used in Solution 1 0x02 GPS L2 used in Solution 0x04 GPS L5 used in Solution 0x08 Reserved 0x10 GLONASS L1 used in Solution 0x20 GLONASS L2 used in Solution opa A Gol N 7 0x40 0x80 Reserved Table 47 Extended Solution Status Description AdVance RTK Verified 0 Not Verified 1 Verified Pseudorange lono Correction 0 Unknown 1 Klobuchar Broadcast 2 SBAS Broadcast 3 Multi frequency Computed 4 PSRDiff Correction 5 NovAtel Blended lono value Bit Mask 0 Ox01 1 3 OxOE 4 7 OxFO Reserved 1 Unknown can indicate that the lono Correction type is None or that the default Klobuchar parameters are being used SPAN SE User Manual Rev 9 233 Appendix D Data Logs Field Field type Data Description Format Binary Binary Bytes Offset 1 BESTPOS Log header H 0 header 2 Sol stat Solution status see Table 45 on page 231 Enum 4 H 3 pos type Position type see Table 44 on page 229 Enum 4 H 4 4 lat Latitude Double 8 H 8 5 lon Longitude Double 8 H 16 6 hat Height above m
208. 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 could provide The combined GNSS INS solution has the advantage of the absolute accuracy available from GNSS and the continuity of INS through traditionally difficult GNSS conditions SPAN SE is the solution engine of NovAtel s leading edge SPAN technology It provides the user interface to SPAN and outputs raw measurement data or solution data over several communication protocols or to a removable SD card Multiple GNSS synchronous strobes and event input lines offer easy integration into a larger system Combining SPAN SE with a SPAN supported IMU creates a complete GNSS INS system Figure 2 SPAN System IMUs SPAN SE User Manual Rev 9 29 Chapter 1 Introduction 1 1 30 The SPAN system consists of the following components e A SPAN capable receiver such as SPAN SE The SPAN SE is capable of receiving and tracking different combinations of GPS GLONASS and L band OmniS TAR signals using a maximum of 72 channels Patented Pulsed Aperture Correlator PAC technology combined with a powerful microprocessor make possible multipath resistant processing Excellent acquisition and re acquisition times allow this receiver to operate in environments where very high dynamics and frequent interruption of signals can be expected The receiver also supports the timing requirements of the I
209. command for some logs on the FILE port that you wish to start logging automatically this command enables the SD card and opens a file for writing immediately after the card is mounted and ready for use even before the rest of the system is ready For example enter LOG FILE RANGEA ONTIME 1 followed by SAVECONFIG If you also enter SETAUTOLOGGING ON a file is created and RANGEA logs are recorded automatically after each system boot up or restart If the logs are requested but SETAUTOLOGGING is OFF nothing is written to the card Similarly if SETAUTOLOGGING is ON but no logs to the FILE port have been requested no data is written to the card but a blank file is created The user can still type LOGFILE CLOSE at any time to stop logging to the file whether it was opened for writing manually using LOGFILE OPEN or automatically using SETAUTOLOGGING ON Since data is being recorded immediately at boot up some early output will have invalid GPS TIME and other potential error or warning bits for example indicating invalid position or almanac When the system is running this should correct itself Abbreviated ASCII Syntax Message ID 1129 SETAUTOLOGGING switch Abbreviated ASCII Example setautologging on Field Field ASCII Binary Description Binary Binary Binary Type Value Value Format Bytes Offset 1 header This field contains the H 0 command name or the message header depending on whether the command is abbreviated ASCI
210. connections to ensure both power and communication lines are connected to the IMU SPAN SE User Manual Rev 9 409 410 Numerics 2 D 261 3 D 261 A abbreviated ascii 125 217 accelerometers 319 accumulated doppler range ADR 312 accuracy 184 222 229 acquisition 313 ADR see accumulated doppler range AG11 AG58 AG17 AG62 187 age solution 229 232 234 ALIGN configuring for SPAN SE D 79 alignment 55 57 154 184 ALIGNMENTMODE command 129 almanac 146 data 253 time status 222 ambiguity half cycle 312 angular offset 63 antenna 184 406 altitude 256 motion 171 antenna motion 171 API functionality 82 APPLICATION command 130 APPLICATIONSTATUS log 228 APPLYVEHICLEBODYROTATION command 131 ascii 125 215 abbreviated 217 ASSIGNLBAND command 132 asterisk 215 asynchronous log 214 atmospheric delay 312 attitude 154 276 284 306 authorization 199 200 authorization code 199 automated set ups 198 axes enclosure frame 182 184 192 237 319 local level frame 279 280 290 SPAN frame 181 182 184 188 190 276 278 280 345 azimuth 181 184 237 264 276 B baseline heading 270 baud rate see bps beam frequencies 133 BESTGPSPOS log 229 BESTGPSVEL log 235 BESTLEVERARM log 237 BESTPOS log 229 BESTVEL log 235 binary 68 125 150 218 318 bit rate see bps bps 137 break 135 137 311 broadcast almanac 253 buffer 159 Built In Status Test BIT 331 byte 219 C C Model 346 C No see
211. cumulated 312 317 instantaneous 315 range record 316 DOS commands 126 driving 63 dual antenna functionality 78 installation 78 overview 78 DUALANTENNAPORTCONFIG com mand 141 dynamic 171 Dynamic Host Configuration Protocol DHCP 76 E east 290 echo 137 elevation satellite visibility 264 e mail 21 enclosure 32 enclosure frame 45 ephemeris GLONASS 249 raw data 318 time status 222 error flag 331 multipath 312 411 Index 412 parity 311 text description 338 tracking 312 ethernet 76 77 153 event 74 142 143 message 338 text description 338 type 338 EVENTINCONTROL command 142 EVENTOUTCONTROL command 143 expiry date 339 EXTHDGOFFSET command 144 EXTHDGOFFSET log 245 F factory default modify 175 reset 169 setting 135 fast alignment 63 features 31 filter RTK 170 fine time 222 firmware updates 22 31 fix data 255 position 257 save setting 175 solution 170 flag error 331 parity 312 status 331 float solution 170 format 215 217 225 FORMAT command 127 145 formats command 125 frame see axes vehicle 57 174 208 frequently asked questions 408 FRESET command 146 G G model 346 GIMBALLEDPVA command 246 GIMBALSPANROTATION command 147 GLOCLOCK log 247 GLOEPHEMERIS log 249 GLORAWEPHEM log 252 GNSSCARDCONFIG command 148 GPALM log 253 GPGGA log 255 GPGLL log 257 GPGRS log 259 GPGSA log 260 GPGST log 262 GPGSV log 264 GPHDT NMEA Heading log 266 GPVTG log 267
212. d with default parameters In this case 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 Then the UTC time is set to VALID If the NMEATALKER command see page 164 is set to AUTO the talker the first 2 characters after the sign in the log header is set to GP GPS satellites only or IN GNSS INS solution Message ID 219 Log Type Synch Recommended Input log gpgll ontime 1 Examplel GPS only GPGLL 5107 0013414 N 11402 3279144 W 205412 00 A A 73 Example 2 Combined GPS and INS SINGLL 5106 9812620 N 11402 2906137 W 193052 00 A A 6D Table 51 NMEA Positioning System Mode Indicator Mode Indicator Autonomous Differential Estimated dead reckoning mode Manual input z m o gt Data not valid Table 52 Position Precision of NMEA Logs NMEA Latitude of Longitude of Altitude of Log decimal places decimal places decimal places GPGGA 4 4 2 IGPGLL 7 7 INA GPRMC 7 7 N A SPAN SE User Manual Rev 9 257 Appendix D 258 Data Logs Field Structure Field Description Symbol Example 1 GPGLL Log header GPGLL 2 lat Latitude DDmm mm BUR 5106 7198674 3 lat dir Latitude direction a N N North S South 4 lon Longitude DDDmm mm yyyyy yy 11402 3587526 5 lon dir Longitude direction a W E East W Wes
213. ddeb5ff5 3b85fbde RXCONFIGA COM1 9 96 5 UNKNOWN 0 0 000 40000020 0000 143 INTERFACEMODEA COM1 9 96 5 UNKNOWN 0 0 000 40000020 0000 143 USB1 NOVATEL NOVATEL ON 68b6a123 db99b6e7 RXCONFIGA COM1 8 96 5 UNKNOWN 0 0 000 40000020 0000 143 INTERFACEMODEA COM1 8 96 5 UNKNOWN 0 0 000 40000020 0000 143 ICOM1 NOVATEL NOVATEL ON 421e3cb1 e457 77e RXCONFIGA COM1 7 96 5 UNKNOWN 0 0 000 40000020 0000 143 NMEATALKERA COM1 7 96 5 UNKNOWN 0 0 000 40000020 0000 143 GP 1283d3e3 14a45bcc The embedded CRCS are flipped to make the embedded messages recognizable to the receiver For example if the embedded message is 91f89b07 10010001111110001001101100000111 11100000110110010001111110001001 its CRC is really e0d91f89 SPAN SE User Manual Rev 9 e0d91f89 329 Appendix D Data Logs se RXCONFIGA COMI 6 96 5 UNKNOWN 0 0 000 40000020 0000 143 MAGVARA COM1 6 96 5 UNKNOWN 0 0 000 40000020 0000 143 CORRECTION 0 000000000 0 000000000 de7a1f83 b83f15d9 RXCONFIGA COM1 5 96 5 UNKNOWN 0 0 000 40000020 0000 143 LOGA COM1 5 96 5 UNKNOWN 0 0 000 40000020 0000 143 COMI RXSTATUSEVENTA ONNEW 0 000000 0 000000 HOLD 4ae673c3 292b473e RXCONFIGA COM1 4 96 5 U OWN 0 0 000 40000020 0000 143 LOGA COM1 4 96 5 UNKNOWN 0 0 000 40000020 0000 143 COM2 RXSTATUSEVENTA ONNEW 0 000000 0 000000 HOLD 111160de b9c857a8 RXCONFIGA COM1 3 96 5 U OWN 0 0 000
214. des Firmware updates are firmware releases which include fixes and enhancements to the receiver functionality Firmware updates are released on the website as they become available Model upgrades enable features on the receiver and may be purchased through NovAtel authorized dealers Contact your local NovAtel dealer first for more information To locate a dealer in your area visit www novatel com Where to Buy Dealer Network or contact NovAtel Customer Support directly You can only perform a complete firmware reload over a serial COM1 but you can load application firmware with the SOFTLOADFILE command 22 SPAN SE User Manual Rev 9 The following notices apply to the SPAN SE and SPAN SE D Changes or modifications to this equipment not expressly approved by NovAtel Inc could result in violation of FCC Industry Canada and CE Marking rules and void the user s authority to operate this equipment FCC NOTICES This device complies with part 15 of the FCC Rules Operation is subject to the following two conditions 1 this device may not cause harmful interference and 2 this device must accept any interference received including interference that may cause undesired operation SPAN SE and SPAN SE D comply with the radiated and conducted emission limits for a Class B digital device The Class B limits are designed to provide reasonable protection against harmful interference in a residential installation
215. dot OMEGADOT rate of right ascensione hhhh FD30 11 rt axis A 2 root of semi major axis hhhhhh A10CAB 12 omega omega argument of perigee hhhhhh 6EE732 13 long asc node OMEGA o longitude of ascension node hhhhhh 525880 14 Mo Mo mean anomaly hhhhhh 6DC5A8 15 afo af clock parameter hhh 009 16 aft af clock parameter hhh 005 17 Tax Checksum hh 37 18 CRI LF Sentence terminator CRI LF a Variable length integer 4 digits maximum from 2 most significant binary bits of Sub frame 1 Word 3 reference Table 20 l ICD GPS 200 Rev B and 8 least significant bits from subframe 5 page 25 word 3 reference Table 20 1 ICD GPS 200 b Reference paragraph 20 3 3 5 1 3 Table 20 VII and Table 20 VIII ICD GPS 200 Rev B c Reference Table 20 VI ICD GPS 200 Rev B for scaling factors and units d Aquantity defined for a conic section where e 0 is a circle e 1 is an ellipse O e 1 is a parabola and e 1 is a hyperbola e Ameasurement along the orbital path from the ascending node to the point where the SV is closest to the Earth in the direction of the SV s motion 254 SPAN SE User Manual Rev 9 Data Logs Appendix D D 3 15 GPGGA GPS Fix Data and Undulation This NMEA log provides time position and fix related data of the GNSS receiver See also Section D 2 NMEA Standard Logs on page 225 For more on precision of NMEA logs see Table 52 Position Precision of NMEA Logs on page 257 GP
216. e VEHICLEBODYROTATIONA COM1 0 36 5 FINESTEERING 1264 144170 094 00000000 bcf2 1541 1 5869999997474209 2 6639999995760122 77 6649999876392343 2 000000000000 0000 2 0000000000000000 5 0000000000000000 25 886cc SPAN SE User Manual Rev 9 345 Appendix D D 3 67 VERSION Version Information This log contains the version information for all components of a system 346 Data Logs A component may be hardware for example a receiver or data collector or firmware in the form of applications or data for example data blocks for height models or user applications See Table 85 VERSION Log Field Formats on page 347 for details on the format of key fields Message ID 37 Log Type Polled Recommended Input log versiona once ASCII Example VERSIONA COM1 0 97 5 FINESTEERING 1521 318658 225 00000000 0000 149 5 SPANCARD SJ DDV08490044 SPANPPC 3 00 A SCS000200RN0000 SCBOOO100RBOOOO Mar 3 2009 16 35 00 SPANFPGA uum um m SCF000100RN0014 mm m m GPSCARD L12GRV DABO8190083 OEMV3G 4 00 X2T 3 621 3 000 2009 Feb 18 12 31 14 GPSCARD L12GRV BZ208190377 OEMV2G 3 01 2T 3 20083 3 000 2006 Jul 14 12 28 52 IMUCARD HG1700 100Hz 2 010 Feb 09 2007 10 39 41 ffb53221 Table 82 OEMV in SPAN SE Model Designators Designator Description G GPS configuration 12 L1 or 12L1 L2 GLONASS channels frequencies to match 1 L band chann
217. e 166 B 4 27 RESET Perform a hardware reset eee ee 169 B 4 28 RTKCOMMAND Reset or set the RTK filter to its defaults 170 B 4 29 RTKDYNAMICS Set the RTK dynamics mode 171 B 4 30 RTKSOURCE Set the RTK correction source 172 SPAN SE User Manual Rev 9 5 B 4 31 RVBCALIBRATE Vehicle to Body Rotation Control 174 B 4 32 SAVECONFIG Save current configuration in NVM eene 175 B 4 33 SBASCONTROL Set SBAS test mode and PRN AA 176 B 4 34 SETAUTOLOGGING Start SD Card Logging at BootUp eee eeeeeeeees 178 B 4 35 GETOGIMDBAL ORIENTATION esses enne nre 179 B 4 36 SETHEAVEWINDOW Set Heave Filter Length 180 B 4 37 SETIMUORIENTATION Set IMU Orientation 181 B 4 38 SETIMUTOANTOFFSET Set IMU to antenna offset ceecceeeeeetecereeeteeeeeees 184 B 4 39 SETIMUTOANTOFFSET2 Set IMU to GPS2 antenna offset A 185 B 4 40 SETIMUTYPE Set IMU type nennen ennt nnn 186 B 4 41 SETINITATTITUDE Set initial attitude of SPAN in degrees eeeeeeeeereees 188 B 4 42 SETINITAZIMUTH Set initial azimuth and standard deviation 190 B 4 43 SETINSOFFSET Set INS offset ssssssssssssssseeeeeeeneen enne nen 192 B 4 44 SETMARK1OFFSET SETMARK2OFFSET SETMARK30FFSET SETMARKAOFFSET Set Mark offset ececcececeseeceeeceeeeeeeeeeeeesaeeeeeeeeeeeetaeennees 193 B 4 45 SETUPSENSOR Add a new camera sensor sss 194 B 4 46 SETWHEELPARAMETERS Set wheel parameters see 195 B 4 47 SOFTLOADF
218. e Asynch Recommended Input log rxstatusa onchanged SPAN SE User Manual Rev 9 331 Appendix D Data Logs ASCII Examples An RXSTATUS log with a simple error RXSTATUSA COM1 0 98 5 FINESTEERING 1521 319258 697 40000020 0000 143 00000000 4 40000020 00000000 00000000 00000000 00000000 00000000 00000000 000 00000 00000020 00000000 00000000 00000000 00000000 00000000 00000000 00000000 cf7aa03a The status bit 00000020 indicates antenna open An RXSTATUS log with a component hardware error RXSTATUSA COM1 0 99 5 FINESTEERING 1521 319470 627 40000021 0000 143 80000000 4 40000021 00000000 00000000 00000000 00000000 00000000 00000000 000 00000 00000020 00000000 00000000 00000000 00000000 00000000 00000000 00000000 dd24b521 The error bit 80000000 indicates a component hardware error This means the OEMV 3 is not communicating This is a non recoverable error for SPAN SE It indicates that the OEMV 3 has experienced a USB overrun or that the OEMV 3 is no longer powered Since SPAN SE controls the power to its internal OEMV 3 it is unlikely the OEMV 3 has lost power It is more likely that the user has overloaded the OEMV 3 USB with excessive log requests In this case the RXSTATUSEVENT log would show RXSTATUSEVENTA COM1 0 0 0 FINESTEERING 1521 319470 627 404c0028 0000 143 ERROR 31 SET Component Hardware Failure 79a2006b Table 75 SPAN Receiver Error
219. e CR LF Sentence terminator ASCII only Table 53 Lever Arm Type Value ER binary Lever Arm Source ASCII 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 274 SPAN SE User Manual Rev 9 Data Logs Appendix D Table 54 Lever Arm Source Value er binary Lever Arm Source ASCII Description 0 LEVER ARM NONE No lever arm exists 1 LEVER ARM FROM NVM Lever arm restored from NVM 2 LEVER ARM CALIBRATING Lever arm currently calibrating via LEVERARMCALIBRATE command 3 LEVER ARM CALIBRATED Lever arm computed from calibration routine via LEVERARMCALIBRATE command 4 LEVER ARM FROM COMMAND Lever arm entered via command 5 LEVER ARM RESET If the current IMU orientation does not match the value restored from NVM then the lever arm will be reset to zero with this status SPAN SE User Manual Rev 9 275 Appendix D Data Logs D 3 28 INSATT INS Attitude 276 This log and the INSATTS log contains the attitude measurements corresponding to the SPAN computation frame axis See Section 3 1 Definition of Reference Frames within SPAN on page 44 for definitions of the frames used in SPAN The attitude measurements provided by SPAN may not correspond to other definitions of the terms pitch roll and azimuth If your IMU s z axis as marked
220. e ID 265 Log Type Synch Recommended Input log insposa ontime 1 ASCII Example INSPOSA COM1 0 94 5 FINESTEERING 1635 490452 000 00000000 0000 406 1635 4904 51 997500000 51 116352320 114 038192411 1047 501906280 INS SOLUTION GOOD 2ce15199 Binary Binary Field Field Type Data Description Format Bytes Offset 1 Log Header Log header H 0 Week GPS Week Ulong 4 H 3 Seconds into Seconds from week start Double 8 H 4 Week 4 Latitude Latitude WGS84 Double 8 H 12 5 Longitude Longitude WGS84 Double 8 H 20 6 Height Ellipsoidal Height WGS84 Double 8 H 28 7 Status INS status see Table 5 on Enum 4 H 36 page 54 8 XXXX 32 bit CRC ASCII Binary and Hex 4 H 40 Short Binary only 9 CR LF Sentence terminator ASCII only SPAN SE User Manual Rev 9 281 Appendix D Data Logs D 3 33 INSPOSS Short INS Position This is a short header version of the INSPOS log on page 261 Message ID 321 Log Type Synch Recommended Input log inspossa ontime 1 ASCII Example SINSPOSSA 1541 487916 000 1541 487916 000549050 51 115797277 114 037811065 1039 030700122 INS SOLUTION GOOD 5ca30894 Binary Binary Field Field Type Data Description Format Bytes Offset 1 Log Header Log header H 0 2 Week GPS Week Ulong 4 H 3 Seconds into Week Seconds from week start Double 8 H 4 4 Latitude Latitude WGS84 Double 8 H 12 5 Longitude Longitude WGS84 Dou
221. e Record Format RANGECMP only Data Bit s first to last Length bits Scale Factor Units Channel Tracking 0 31 32 see Table 66 Channel Status Tracking Status on page 314 Doppler Frequency 32 59 28 1 256 Hz Pseudorange PSR 60 95 36 1 128 m ADR 1 96 127 32 1 256 cycles StdDev PSR 128 131 4 see 2 m StdDev ADR 132 135 4 n 1 512 cycles PRN Slot 136 143 8 1 S Lock Time 144 164 21 1 32 S C No 9 165 169 5 20 n dB Hz Reserved 170 191 22 316 SPAN SE User Manual Rev 9 Data Logs Appendix D 1 ADR Accumulated Doppler Range is calculated as follows ADR ROLLS RANGECMP PSR WAVELENGTH RANGECMP ADR MAX VALUE Round to the closest integer IF ADR ROLLS 0 ADR ROLLS ADR ROLLS 0 5 ELSE ADR ROLLS ADR ROLLS 0 5 At this point integerise ADR ROLLS CORRECTED ADR RANGECMP ADR MAX VALUE ADR ROLLS where ADR has units of cycles WAVELENGTH 0 1902936727984 for GPS L1 Note GLONASS satellites emit L1 and L2 carrier waves at WAVELENGTH 0 2442102134246 for GPS L2 a satellite specific frequency refer to the GNSS Ref MAX VALUE 8388608 erence Book for more on GLONASS frequencies 2 Code StdDev PSR m 0 0 050 1 0 075 2 0 113 3 0 169 4 0 253 5 0 380 6 0 570 7 0 854 8 1 281 9 2 375 10 4 750 11 9 500 12 19 000 13 38 000 14 76 000 15 152 000 3 GPS 1 to 32 SBAS 120 to 138 and GLONASS 38 to 61 see Section 1 1 on page 3
222. e base as shown in Figure 76 on page 376 Apply threadlock to threads Finger tighten the 6 bolts then torque them in a cross pattern to 12 in lbs The fully assembled IMU enclosure is shown in Figure 81 Figure 81 LN 200 SPAN IMU SPAN SE User Manual Rev 9 383 Appendix SPAN SE Interface Card This appendix provides header descriptions for the SPAN SE Interface card NovAtel part number 01018070 The SPAN SE Interface card is the main interface card within the SPAN SE enclosure product The interface card runs the SPAN application while interfacing with the OEMV3 and OEMV2 GNSS receivers Figure 82 shows the location of the interface card headers within the SPAN board stack The board stack contains the interface card and OEMV receivers along with mounting brackets For further information on the OEMV receivers refer to NovAtel technical publication OM 20000093 OEMV Family Installation and Operation User Manual Rev 9 384 SPAN SE User Manual Rev 9 Appendix SPAN SE Interface Card 385
223. e broadcast data for example ALMANAC GPSEPHEM have the transmit time of their last subframe in the header In the header of differential time matched logs for example MATCHEDPOS is the time of the matched reference and local observation that they are based on Logs triggered by a mark event for example MARKIPVA MARKITIME have the estimated GPS time of the mark event in their header In the header of polled logs for example LOGLIST PORTSTATS VERSION is the approximate GPS time when their data was generated However when asynchronous logs are triggered ONTIME the time stamp will represent the time the log was generated not the time of validity given in the data SPAN SE User Manual Rev 9 223 Appendix D Data Logs D 1 7 Log Type Examples For polled logs the receiver only supports an offset that is smaller than the logging period e an integer The following are valid examples for a polled log LOG COMCONFIG ONTIME 2 1 LOG PORTSTATS ONTIME 4 2 LOG VERSION ONCE For polled logs the following examples are invalid LOG COMCONFIG ONTIME 1 2 offset is larger than the logging period LOG COMCONFIG ONTIME 4 1 5 offset is not an integer For synchronous and asynchronous logs the receiver supports any offset that is smaller than the logging period e a multiple of the minimum logging period For example if the receiver supports 20 Hz logging the minimum logging period is 1 20 Hz or 0 05 s The following are valid
224. e cameras based upon GPS information You can send multiple trigger events marked with a user specified ID and a GPS time to trigger the camera At the requested trigger time the SPAN outputs a user specified LVTTL level pulse to the sensors and waits for a response pulse to indicate a camera exposure When this response is received the SPAN system sends out a position log with the ID of the event 3 10 1 Configuring the Hardware A camera s trigger input connected to a valid MARK OUT and the camera exposure output connected to a valid MARK IN Valid MARK IN MARK1 MARK2 MARK3 and MARK4 Valid MARK OUT MARKI MARK2 and MARK3 SPAN SE User Manual Rev 9 73 Chapter 3 SPAN SE Operation The camera can be connected to any combination of valid MARK IN and MARK OUT connections The number of valid MARKs on the SPAN system limits the number of independently controlled cameras to three 3 10 2 Configuring the Software Use the SETUPSENSOR and TAGGEDMARKxPVA commands to setup the camera sensors on the SPAN system See SETUPSENSOR on page 194 TAGGEDMARKXxPVA on page 340 for details 3 10 3 Using Timed Event Pulses When sensors have been connected and configured use the TIMEDEVENTPULSE command to queue events on the system TIMEDEVENTPULSE specifies the sensors that are affected the GPS time for the event in weeks and seconds and an event ID You can queue 10 unprocessed events at a time See TIMEDEVENTPULSE on page 203 for details
225. e configuration 175 message ascii 215 format 217 ID 302 303 time stamp 223 trigger 161 162 MKDIR command 127 mode 2 D 261 3 D 261 dynamic 171 operating 260 RTK 229 static 171 model 31 authorization 199 201 card 201 clock 308 expiry date 339 switch 201 upgrades 22 version 339 month 342 347 motion detector 171 moving alignment 56 MPPC See SPAN MPPC N navigation data 260 mode 57 NMEA 164 log list 225 position 258 pseudorange measurement noise statistics 262 satellite range residuals 259 NMEATALKER command 164 node 254 noise statistic 262 thermal 312 non volatile memory NVM 146 save configuration 175 north 290 O offset 184 192 clock 308 receiver clock 342 OmniSTAR 150 293 operating mode 260 orientation 181 output 74 88 overload 159 SPAN SE User Manual Rev 9 P parity 136 137 flag 312 port 311 removed 318 PASHR log 309 PC power settings 55 PDOP see dilution of precision period 159 161 162 302 303 phase lock loop PLL 313 332 pitch 181 184 237 276 PLL see phase lock loop polarity 74 75 polled log 214 port 40 ascii header 215 communication 218 configuration 135 137 148 175 238 identifier 136 150 interface 150 interrupt 311 log request 160 output 160 162 302 303 power 140 RS232 138 serial 150 310 status 310 337 unlog 206 PORTSTATS log 310 position 192 284 INS 154 mark 306 measurements 278 281 synchronized 283 power 40 140
226. e in angle count around Z axis right Long 4 H 28 handed 9 Y Gyro Output Change in angle count around Y axis right Long 4 H 32 handed 10 X Gyro Output Change in angle count around X axis right Long 4 H 36 handed 11 XXXX 32 bit CRC ASCII Binary and Short Binary only Hex 4 H 40 12 CRI LF Sentence terminator ASCII only The change in velocity acceleration scale factor for each IMU type can be found in Table 74 on page 328 Multiply the scale factor in Table 74 by the count in this field for the velocity incre ments See Table 1 on page 32 for a list of IMU enclosures To obtain acceleration in m s multi ply the velocity increments by the output rate of the IMU eg 100Hz for HG1700 IMU CPT 200Hz iMAR FSAS LN200 and LCI 320 A negative value implies that the output is along the positive Y axis marked on the IMU A positive value implies that the change is in the direction opposite to that of the Y axis marked on the IMU The change in angle gyro scale factor can be found in Table 74 on page 328 Multiply the appro priate scale factor in Table 74 by the count in this field for the angle increments in radians SPAN SE User Manual Rev 9 Data Logs Table 68 ilMU FSAS Status Appendix D Nibble Bit Mask Description Range Value 0 0x00000001 Reserved
227. e label String 11 11 H 4 SPAN SE User Manual Rev 9 145 Appendix B Commands B 4 13 FRESET Factory reset 146 This command clears data which is stored in non volatile memory Such data includes the almanac ephemeris and any user specific configurations The receiver 1s forced to hardware reset When the SPAN SE receives a FRESET command it is also passed to the OEMV 3 but without any parameters Therefore the OEMV 3 only does a full reset SPAN SE can do a partial reset of some of its fields Abbreviated ASCII Syntax Message ID 20 FRESET target Abbreviated ASCII Example FRESET USER CFG Field ASCII Binary Si Binary Binary Binary Description Type Value Value Format Bytes Offset This field contains the command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary 2 target See Table 28 What data is to be reset by Enum 4 H the receiver Table 28 FRESET Target Binary ASCII Description 0 STANDARD Resets commands and INS data 1 USER CFG Resets the stored commands user configuration 4 MODEL Resets the currently selected model 6 INS LEVER ARM Resets the GNSS antenna to IMU lever arm 7 VEHICLE BODY R Resets stored vehicle to body rotations 18 INS LEVER ARM2 Resets the secondary GNSS antenna to IMU lever arm SPAN SE User Manual Rev 9
228. e range bias cannot be calculated the time status degrades to FREEWHEELING 222 SPAN SE User Manual Rev 9 Data Logs Appendix D D 1 6 Message Time Stamps NovAtel format messages generated by the OEMV family receivers have a GPS time stamp in their header GPS time is referenced to UTC with zero point defined as midnight on the night of January 5 1980 The time stamp consists of the number of weeks since that zero point and the number of seconds since the last week number change 0 to 604 799 GPS time differs from UTC time since leap seconds are occasionally inserted into UTC but GPS time is continuous In addition a small error less than 1 microsecond can exist in synchronization between UTC and GPS time The TIME log reports both GPS and UTC time and the offset between the two The data in synchronous logs for example RANGE BESTPOS TIME are based on a periodic measurement of satellite pseudoranges The time stamp on these logs is the receiver estimate of GPS time at the time of the measurement When setting time in external equipment a small synchronous log with a high baud rate will be accurate to a fraction of a second A synchronous log with trigger ONTIME 1 can be used in conjunction with the 1PPS signal to provide relative accuracy better than 250 ns Other log types asynchronous and polled are triggered by an external event and the time in the header may not be synchronized to the current GPS time Logs that contain satellit
229. e receiver can compute position and velocity with high accuracy NovAtel GNSS positioning systems have been established as highly accurate positioning tools however GNSS in general has some significant restrictions which limit its usefulness in some situations GNSS positioning requires line of site view to at least four satellites simultaneously If these criteria are met differential GNSS positioning can be accurate to within a few centimeters If however some or all of the satellite signals are blocked the accuracy of the position reported by GNSS degrades substantially or may not be available at all In general an inertial navigation system INS uses forces and rotations measured by an IMU to calculate position velocity and attitude This capability is embedded in the firmware of SPAN capable receivers Forces are measured by accelerometers in three perpendicular axes within the IMU and the gyros measure angular rotation rates around those axes Over short periods of time inertial navigation gives very accurate position velocity and attitude output The INS must have prior knowledge of its initial position initial velocity initial attitude Earth rotation rate and gravity field Since the IMU measures changes in orientation and acceleration the INS determines changes in position and attitude but initial values for these parameters must be provided from an external source Once these parameters are known an INS is capable of providing an au
230. e revision for implementation by the Buyer All material returned under warranty shall be returned to NovAtel prepaid by the Buyer and returned to the Buyer prepaid by NovAtel The foregoing warranties do not extend to 1 nonconformities defects or errors in the Products due to accident abuse misuse or negligent use of the Products or use in other than a normal and customary manner environmental conditions not conforming to NovAtel s specifications or failure to follow prescribed installation operating and maintenance procedures ii defects errors or nonconformities in the Products due to modifications alterations additions or changes not made in accordance with NovAtel s specifications or authorized by NovAtel iii normal wear and tear iv damage caused by force of nature or act of any third person v shipping damage v1 service or repair of Product by the Purchaser without prior written consent from NovAtel vii Products designated by NovAtel as beta site test samples experimental developmental preproduction sample incomplete or out of specification Products viii returned Products if the original identification marks have been removed or altered or ix Services or research activities 7 EXCLUSION OF LIABILITY If a Party would but for this paragraph 7 have concurrent claims in contract and tort including negligence such claims in tort including negligence shall to the extent permitted by law be wholly barred unen
231. ean sea level Double 8 H 24 7 undulation Undulation the relationship between the geoid and Float 4 H 32 the ellipsoid m of the chosen datum i 8 datum id Datum ID number Enum 4 H 36 9 lato Latitude standard deviation Float 4 H 40 10 lon o Longitude standard deviation Float 4 H 44 11 hgt o Height standard deviation Float 4 H 48 12 stn id Base station ID Char 4 4 H 52 13 diff age Differential age in seconds Float 4 H 56 14 sol age Solution age in seconds Float 4 H 60 15 SVs Number of satellite vehicles tracked Uchar 1 H 64 16 solnSVs Number of satellite vehicles used in solution Uchar 1 H 65 17 ggL1 Number of GPS andGLONASS L1 used in RTK Uchar 1 H 66 solution 18 ggL1L2 Number of GPS and GLONASS L1 and L2 used in Uchar 1 H 67 RTK solution 19 Reserved Uchar 1 H 68 20 ext sol stat Extended solution status see Table 47 Extended Hex 1 H 69 Solution Status on page 233 21 Reserved Hex 1 H 70 22 sig mask Signals used mask if O signals used in solution are Hex 1 H 71 unknown see Table 46 on page 233 23 XXXX 32 bit CRC ASCII and Binary only Hex 1 H 72 24 CRI LF Sentence terminator ASCII only 234 1 When using a datum other than WGS84 the undulation value also includes the vertical shift due to differences between the datum in use and WGS84 SPAN SE User Manual Rev 9 Data Logs Appendix D D 3 3 BESTVEL Best Available Velocity Data and BESTGPSVEL Best Available GPS Velocit
232. ected mark input pulse MARKITIME gives the time when a pulse occurs on the MK1I input MARK2TIME is generated when a pulse occurs on a MK2I input and so on These logs allow you to measure the time when events are occurring in other devices such as a video recorder See also the SETMARKxOFFSET commands starting on page 193 1 Use the ONNEW trigger with this or the MARKxPVA logs 2 Only the MARKxPVA logs the MARKxTIME logs and polled log types are generated on the fly at the exact time of the mark Synchronous and asynchronous logs output the most recently available data MARKITIME Message ID 1130 MARK2TIME Message ID 616 MARK3TIME Message ID 1075 MARK4TIME Message ID 1076 Log Type Asynch Recommended Input log markltimea onnew Example MARK1TIMEA COMI 0 98 0 FINESTEERING 1521 336487 000 00000000 0000 149 1521 3 36487 000000025 0 000000000 0 000000000 14 999999992 VALID 7597ecee MARK2TIMEA COMI 0 98 5 FINESTEERING 1521 336487 000 00000000 0000 149 1521 3 36487 000000025 0 000000000 0 000000000 14 999999992 VALID 8fd08ef6 MARK3TIMEA COMI 0 98 5 FINESTEERING 1521 336487 000 00000000 0000 149 1521 3 36487 000000025 0 000000000 0 000000000 14 999999992 VALID ed342 79 Table 62 Clock Model Status Clock Status Clock Status Binary ASCII Description 0 VALID The clock model is valid 1 CONVERGING The clock model is near validity 2 ITERATING The clock model i
233. ed system and does not allow for de allocation of resources like a typical desktop computer SPAN SE User Manual Rev 9 83 Chapter 5 API Functionality 5 3 3 Removing a User Application To delete a user application use APPLICATION userapp REMOVE command For example APPLICATION USERAPP2 REMOVE Alternatively you can use the application loading procedure on page 82 to overwrite a user application in a slot with a newer user application 84 SPAN SE User Manual Rev 9 Variable Lever Arm 6 1 Overview The variable lever arm concept arose to support applications in which the IMU is no longer rigidly fixed to the vehicle but rather on a gimballed mount This creates an issue where the input lever arm offsets to the GNSS antenna are no longer correct because the IMU can rotate on its mount while the antenna remains fixed The use of the variable lever arm functionality requires that the device to which the IMU is attached be able to send its gimbal rotation angles back to SPAN These angles are used to re calculate the lever arm at the rate that they are received SPAN will also be able to output a gimballed solution at the rate the gimbal angles are received 6 2 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
234. ee Appendix J SPAN MPPC Interface Card starting on page 390 for specifications e OEMV3 form factor for easy integration into current systems 32 SPAN SE User Manual Rev 9 Chapter 2 SPAN SE Installation 2 1 This chapter contains instructions to set up your SPAN SE system SPAN SE uses NovAtel s powerful OEMV receiver technology as its GNSS engine The OEMV delivers many enabling features like GNSS GLONASS capability and AdVance RTK which are both supported in SPAN SE A dedicated CPU for real time GNSS INS processing on these cards results in fast data rates since the raw data i e RAWIMUS and INSPVAS and solution i e INSPVA have a low output latency SPAN SE Hardware Description The basic hardware setup consists of a SPAN SE receiver see Figure 1 on page 29 connected to an IMU see Figure 2 on page 29 a GNSS antenna and a power supply For real time differential operation a communication link between the base and rover s is necessary This can be a null modem cable or a radio link Figure 4 on page 35 shows a basic setup and also shows the setup with an optional second antenna For more details on the connections between the SPAN SE receiver and the iIMU see Figure 37 iIMU Interface Cable Connections with a SPAN SE on page 114 If your IMU enclosure and IMU have come separately additional installation instructions for installing the IMU can be found in Appendix E IMU Installation star ng on page 341 Fo
235. ee Table 23 COM Serial Port Port to which log is Enum 4 H Identifiers on page 136 being sent Default is THISPORT 3 message Any valid message ID Message ID of log to UShort 2 H 4 output 4 message Bits 0 4 Reserved Message type oflog Char 1 H 6 type Bits 5 6 Format 00 Binary 01 ASCII 10 Abbreviated ASCII NMEA 11 Reserved Bit 7 Response Bit 0 Original Message 1 Response Message 5 Reserved Char 1 H 7 204 SPAN SE User Manual Rev 9 Commands ASCII Value Binary Value Description Appendix B Binary Binary Binary Format Bytes Offset 1 UNLOG This field contains the H 0 ASCII command name or the header message header depending on whether the command is abbreviated ASCII ASCII or binary 2 port See Table 23 COM Serial Portto which log is being Enum 4 H Port Identifiers on page 136 sent Default is THISPORT 3 message Message N A Message name of log to ULong 4 H 4 Name disable SPAN SE User Manual Rev 9 205 Appendix B Commands B 4 54 UNLOGALL Remove all logs from logging control If port is specified this command disables all logs on the specified port only All other ports are unaffected If port is not specified this command defaults to the ALL PORTS setting Abbreviated ASCII Syntax Message ID 38 UNLOGALL port Abbreviated ASCII Example unlogall com2 D The UNLOGALL command allows you to remove all
236. eeesneeeeeeneeeneeees 402 12 SPAN SE User Manual Rev 9 102 SPAN MPPC Breakout Board J30 Serial Port Connection 103 SPAN MPPC Breakout Board J31 Serial Port Connection 104 SPAN MPPC Breakout Board J32 Serial Port Connection 105 SPAN MPPC Breakout Board J33 Serial Port Connection 106 SPAN MPPC Breakout Board J34 Serial Port Connection 107 SPAN MPPC Breakout Board J35 Serial Port Connection 108 SPAN MPPC IMU Connections SPAN SE User Manual Rev 9 Software License 14 BY INSTALLING COPYING OR OTHERWISE USING THE SOFTWARE PRODUCT YOU AGREE TO BE BOUND BY THE TERMS OF THIS AGREEMENT IF YOU DO NOT AGREE WITH THESE TERMS OF USE DO NOT INSTALL COPY OR USE THIS ELECTRONIC PRODUCT SOFTWARE FIRMWARE SCRIPT FILES OR OTHER ELECTRONIC PRODUCT WHETHER EMBEDDED IN THE HARDWARE ON A CD OR AVAILABLE ON THE COMPANY website hereinafter referred to as Software 1 License NovAtel Inc NovAtel grants you a non exclusive non transferable license not a sale to where the Software will be used on NovAtel supplied hardware or in conjunction with other NovAtel supplied software use the Software with the product s as supplied by NovAtel You agree not to use the Software for any purpose other than the due exercise of the rights and licences hereby agreed to be granted to you 2 Copyright NovAtel owns or has the right to sublicense all copyright trade secret patent and other proprietary rights in the Software and the Softw
237. efault configuration of the Ethernet ports is for TCP operation To configure the Ethernet ports see the ICOMCONFIG command on page 151 3 12 2 Configuring the Ethernet Connection Settings Use the IPCONFIG command see page 153 to set the static IP Address the subnet mask and the gateway An example of the IPCONFIG command is IPCONFIG 10 1 100 25 255 255 255 0 10 1 100 1 76 SPAN SE User Manual Rev 9 SPAN SE Operation Chapter 3 3 12 3 Configuring Log Requests Destined for the Ethernet Port The COM port identifier for the Ethernet port is ICOMI in ASCII or 23 in binary A sample log request for the Ethernet port is 3 12 4 Connecting to the Ethernet Port LOG ICOM1 RANGECMPB ONTIME If the port is configured in TCP mode only one connection to the receiver is allowed at a time Data automatically streams to the IP address that connects to the port Because UDP is a connectionless protocol multiple end points could communicate with the port at one time from multiple IP addresses Data streams to the last IP Address to communicate with the receiver For details on the FTP functionality of the Ethernet port see the FTP DOS command on page 128 To connect the SPAN SE directly to the computer s Ethernet port not through a network follow these steps l Local Area Connection Properties D General Advanced Connect using E Intel R 82566DC 2 Gigabit Network Configure This connection uses
238. el OmniSTAR HP XP capability 3 800 and later Allows OEMV3 to talk to SPAN Receiver for OEMV FW Version Receive RT2 and or RT20 corrections Enable align header Table 83 SPAN SE Model Designators Designator Description C Low cost INS Alignment restricted to kinematic only D SPAN SE with dual antenna functionality SPAN supporting IMUs with data rates 100 Hz SPAN supporting IMUs with data rates 100 Hz A single GNSS card system where only the OEMV 3 is included SPAN SE User Manual Rev 9 Data Logs Appendix D Table 84 Component Types Binary ASCII Description 0 UNKNOWN Unknown Component 1 GPSCARD OEMV Family Component 7 IMUCARD IMU Card 8192 SPANCARD SPAN SE Card 8193 SPANFPGA SPAN SE Field Programmable Gate Array FPGA Table 85 VERSION Log Field Formats Field Type Field Format ASCII Description hw version P RS CCC P hardware platform for example OEMV R hardware revision for example 3 00 S processor revision for example A 1 CCC COM port configuration for example 22T 2 sw version PPPVVRRrrXCxxxx PPP product designation for example SCD boot version VV version number RR major revision number rr minor revision number X Special S Beta B Internal Development D A C control either N none or M military xxxx four digit number indicating the build release comp date YYYYIMM DD YYYY
239. el is now used on every subsequent start up The SPANMODEL command causes an automatic reset Use the SPANVALIDMODELS log to output a list of available models for your receiver The SPANVALIDMODELS log is described on page 339 Use the VERSION log to output the active model see page 346 If you switch to an expired model the receiver will reset and enter into an error state You will need to switch to a valid model to continue Abbreviated ASCII Syntax Message ID 1087 SPANMODEL model Input Example SpanMODEL sj Field ASCII Binary Binary Binary Binary Description Type Value Value Format Bytes Offset 1 SPANMODEL This field contains the H 0 header command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary 2 model Max 16 character SPAN model name String Variable Variable null terminated max 16 string including the null 3 Reserved Ulong 4 Variable 1 In the binary log case additional bytes of padding are added to maintain 4 byte alignment SPAN SE User Manual Rev 9 201 Appendix B Commands B 4 51 TAGNEXTMARK Add a new camera event Use this command with the TAGGEDMARKXxPVA log TAGNEXTMARK inserts a unique identifier into the markpva to associate with a particular event Abbreviated ASCII Syntax Message ID 1257 TAGNEXTMARK Mark TagNum Abbreviated ASCII Example TAGNEXTMARK MARK1 1000 TAGNEXTMARK M
240. eld Name Field Type Description on Input 1 Sync Char Sync character The ASCII message is always N preceded by a single symbol 2 Message Char This is the ASCII name of the log or command N 3 Port Char This is the name of the port from which the log was generated See Table 40 on page 220 4 Sequence Long This is used for multiple related logs Itis a number that N counts down from N 1 to 0 where 0 means it is the last one of the set Most logs only come out one at a time in which case this number is O 5 Yo Idle Time Float The minimum percentage of time that the processor is Y idle between successive logs with the same Message ID Continued on the following page SPAN SE User Manual Rev 9 215 Appendix D Data Logs A ignored Field Field Name Field Type Description on Input 6 GPS Time Enum This value indicates the quality of the GPS time see Y Status Table 43 GPS Time Status on page 221 7 Week Ulong GPS week number Y 8 Seconds GPSec Seconds from the beginning of the GPS week accurate Y to the millisecond level 9 Receiver Ulong This is an eight digit hexadecimal number representing Y Status the status of various hardware and software components of the receiver between successive logs with the same Message ID see Table 76 SPAN Receiver Status on page 334 10 Reserved Ulong Reserved for internal use Y 11 Receiver Ulong This is a value 0 65535 that repr
241. elow You cannot use this method to view acknowledgement messages that the receiver sends when it receives a command If the receiver rejects a command you will not see a notification Most commands are acknowledged with an OK or an Error message However due to the length of time the FORMAT command can take it always responds with OK When the format is taking place the SD LED flashes green and orange If the format fails the LED blinks red indicating an error Note that mounting a large capacity SD Card can also take extra time as the free space is being calculated During mounting the SD LED flashes green and orange to indicate busy Table 21 Mass Storage Device ASCII Binary Description SD 0 Internal SD Card default USBSTICK 1 External USB thumb drive 126 SPAN SE User Manual Rev 9 Commands Appendix B B 3 1 DIR Show Directory Command DIR Message ID 1055 Parameter Values COM Port Enum see Table 23 on page 136 THISPORT default Mass Storage Device Enum see Table 21 on page 126 SD default B 3 2 CD Change Directory Command CD Message ID 1054 Parameter Values Mass Storage Device Enum see Table 21 on page 126 SD default Path Null terminated string B 3 3 FORMAT Format storage medium Command FORMAT Message ID 1057 Parameter Values Mass Storage Device Enum see Table 21 on page 126 SD default Volume Name Optiona
242. em for stable IMU performance The supply should also be able to output at least 12W over the entire operating temperature range What types of IMUs are supported a SPAN currently supports the HG1700 HG1900 and HG1930 IMU family from Honeywell the LN 200 from Litton the IIMU FSAS from MAR the IMU CPT from KVH and the Litef from Northrop Grumman Use the SETIMUTYUPE command to specify the type of IMU used see page 186 Why don t I have any INS logs a b On start up the INS logs are not available until the system has solved for time This requires that an antenna is attached and satellites are visible to the system You can verify that time is solved by checking the time status in the header of any standard header SPAN log such as BESTPOS When the time status reaches FINESTEERING the inertial filter starts and INS messages are available Check that the system has been configured properly See question 3 above How can I access the inertial solution The INS GNSS solution is available from a number of specific logs dedicated to the inertial filter The INSPOS INSPVA INSVEL INSSPD and INSATT logs are the most commonly used logs for extracting the INS solution These logs can be logged at any rate up to the rate of the IMU data 100 or 200 Hz depending on your IMU model The MARKXPVA logs provide the INS GNSS solution at the time an input was received on EVENT IN x Further details on these logs are available in A
243. emaining Press the SD Logging button located behind the SD Card access door to open a new file and start logging The SD LED starts blinking green if the card is empty orange if the card has 1096 of free space remaining when the file is opened The list of pre defined logs include the following RAWIMUSB ONNEW e BESTGPSPOSB ONTIME 1 HEADINGB ONNEW IMUTOANTOFFSETSB ONNEW RANGECMPB ONTIME 1 RAWEPHEMB ONNEW GLOEPHEMERISB ONNEW Press the SD Logging button to stop logging or use the LOGFILE CLOSE command see page 163 to close the file Note that this is notan UNLOGALL command and if you open a file again the profile will continue to log Also you must set the SETIMUTYPE command see page 186 before the receiver logs RAWIMUSB data Auto Logging on Start Up After configuring log output using the LOG commands configure the receiver to log the log profile on start up every time by issuing these two commands SETAUTOLOGGING ON SAVECONFIG Log requests using the ONCE trigger are not saveconfigable Every time the receiver powers up the SD Card logging configuration you specified starts See also the SAVECONFIG command on page 175 and the SETAUTOLOGGING command on page 176 72 SPAN SE User Manual Rev 9 SPAN SE Operation Chapter 3 3 9 7 Reading data from the card You can read data from the SD Card in multiple ways after you stop logging Remove the card from the receiver and read
244. epending on whether the command is abbreviated ASCII ASCII or binary 2 mode See Table 32 Set the dynamics mode Enum 4 H SPAN SE User Manual Rev 9 171 Appendix B Commands B 4 30 RTKSOURCE Set the RTK correction source This command lets you identify from which base station to accept RTK RTCM RTCMV3 RTCA CMR and OmniSTAR HP XP differential corrections This is useful when the receiver is receiving corrections from multiple base stations See also the PSRDIFFSOURCE command on page 166 To set up RTK differential corrections see the GNSSCARDCONFIG command on page 148 To use OmniSTAR HP XP differential corrections a NovAtel receiver with L band capability and a subscription to the OmniSTAR service are required Contact NovAtel for details Contact information may be found on the back of this manual or you can refer to the Customer Service section in the OEMV Family Installation and Operation User Manual Abbreviated ASCII Syntax Message ID 494 RTKSOURCE type ID Factory Default rtksource auto ANY Abbreviated ASCII Examples 1 Specify the format before specifying the base station IDs RTKSOURCE RTCMV3 5 RTKSOURCE RTCM 6 2 Select only SBAS RTKSOURCE NONE PSRDIFFSOURCE NONE SBASCONTROL ENABLE AUTO 3 Enable OmniSTAR HP and VBS RTKSOURCE OMNISTAR PSRDIFFSOURCE OMNISTAR 4 Enable RTK and PSRDIFF from RTCM with a fall back to
245. eption is the last header field which is followed by a to denote the start of the data message The other exception is the last data field which is followed by an to indicate end of message data 4 Each log ends with a hexadecimal number preceded by an asterisk and followed by a line termination using the carriage return and line feed characters for example 1234ABCD CR LF This value is a 32 bit CRC of all bytes in the log excluding the identifier and the asterisk preceding the four checksum digits 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 for example xxx xxx is one field Double quotation marks within a string are not allowed 6 Ifthe receiver detects an error parsing an input message it will return an error response message Please refer to the OEMV Firmware Reference Manual available on our website at www novatel com through Support Firmware Software and Manuals Manuals and Documentation Updates OEMV Family for a list of response messages from the receiver Message Structure header data field data field data field xxxxxxxx CR LF The ASCII message header is formatted as follows Table 38 ASCII Message Header Structure A ignored Field Fi
246. er Button The power button on the front of the SPAN SE see Figure 8 is managed by software When the system receives sufficient power it powers itself on without the need to press the power button However the power button is connected directly to the onboard power supply to re enable the system when it has been automatically shut down and to manually power down the system The state of the button depends on the amount of time the power button is depressed Table 4 Power Button States Seconds Button is Held Button Action 3 10 seconds SPAN SE is powered off Factory reset see the FRESET EE command on page 146 40 SPAN SE User Manual Rev 9 SPAN SE Installation Chapter 2 Www D Figure 8 SPAN SE Power Button When installing the SPAN SE in a vehicle we recommend that you put a back up battery between the receiver and its voltage supply to act as a power buffer When a vehicle engine is started power can dip to 9 6 VDC or cut out to ancillary equipment causing the receiver and IMU to reset Figure 9 SPAN SE Power Connection SPAN SE User Manual Rev 9 41 Chapter 2 SPAN SE Installation 2 2 5 1 Power Button Behavior After you press the power button the front panel LED indicators shown in Figure 10 will operate as follows with the changes in LED status occurring in 0 5 second intervals Lu D eee X Figure 10 SPAN SE LED Indicators Press and hold down power button
247. er an dak sod eiae ava ee n p n Due t Rak os iactu ti a aperuit dete cds 406 K 2 Accessories and Options eese edes tenete detener dente dentem nennen tn 406 K 3 Manufacturer s Part Number 407 Appendix L Frequently Asked Questions 408 Index 410 SPAN SE User Manual Rev 9 Figures 1 Primary and Secondary Lightning Protection ssee e 26 1 SPAN SE IM 29 2 SPAN System MUS ei eniti eee tee red e e eege 29 3 SPAN SE Example Installation csesesesssessssssssseeeenn enne nennen 34 4 Typical Static Base Set Up esee ne nennt nne rennen nne teretes enne 35 5 SD Memory Card wcrc niin ois ate lee is enis RAS HA quU RE ta 36 6 Receiver Enclosure Back Panel ccccccccececeeeeeeeeeceeeaeeeeceecaeaeeeeseeeaeeeeeesesaeeeeeeeeeneaeees 36 7 SPAN SE cable connections 4 e ceci tee diode Hed peciit need Dan eee pede deen 39 8 SPAN SE Power Button e Eaa e raa a raa aaa ea a E rae nette sns inna 41 9 SPAN SE Power Connection ccccccceceeeeeeeeceeeeeenaeceeeesecaeaeeeesaeeaeceeeeeeeaeeeseeeeeieeeeeeeeeeaes 41 10 SPAN SE LED Indicators eee ene te etre ie kaa so bene dede ded pera Pera dee 42 11 Connect a Device With a MARKIN Pulse cecceeeeeeeececeeeeseeeaeeeeeeeeaeeeeeeeesneaeeeeeeeees 43 12 L ocal level Frame ENU eere enge alae iere e bae Eee ede NEEN 44 13 EncloSUre Frame teer tei b seis caste ehh c nsa a ait oe re Teen aba leat
248. er and are available to the INS filter They are also available to you in the RAWIMU or RAWIMUS log see page 319 and page 327 The INS Status field reports INS INACTIVE 5 The inertial alignment routine starts and the INS Status field reports INS ALIGNING SPAN SE User Manual Rev 9 55 Chapter 3 SPAN SE Operation 56 6 Alignment is complete and the INS Status field changes to INS ALIGNMENT COMPLETE The system transitions to navigation mode Depending on the alignment method the INS Status field may go directly to INS SOLUTION GOOD 7 The solution is refined using updates from GNSS Once the system is operating within specifica tions and after some vehicle movement the INS Status field changes to INS SOLUTION GOOD This indicates that the estimated azimuth standard deviation is below 2 If it increases above 2 the status changes to INS SOLUTION NOT GOOD 3 4 3 1 Coarse Alignment The coarse alignment is the default alignment routine for SPAN The alignment starts as soon as a GNSS solution is available the receiver has computed fine time and the IMU is connected and configured The vehicle must remain stationary for the alignment to happen During the coarse alignment accelerometer and gyro measurements are averaged over a period of time to measure Earth rotation and gravity From these averaged measurements initial estimates of roll pitch and heading are computed Because the coarse alignment uses averaged sensor outp
249. er arm is not observable while the system is stationary Immedi ately drive a series of manoeuvres such as figure eights The turns should alternate between directions and you should make an equal number of turns in each direction Some height varia tion in the route is also useful for providing observability in the Z axis When the calibration is complete either because the specified time has passed or the accuracy requirement has been met the BESTLEVERARM log outputs the solved lever arm Monitor the calibration log BESTLEVERARM see page 237 using the ONCHANGED trigger The lever arm is saved automatically in non volatile memory If the IMU or GNSS antenna are re mounted the calibration routine should be re run to compute an accurate lever arm SPAN SE User Manual Rev 9 59 Chapter 3 SPAN SE Operation 3 4 7 Vehicle to Body Rotations 60 This section provides general guidance on how to extract the vehicle s attitude with respect to the local level frame 3 4 7 1 Frame Definitions The vehicle frame is defined as x perpendicular to the direction of travel in the horizontal plane y direction of travel and z up The body frame is nominally the frame as marked on the IMU enclosure If you do not mount the IMU with the z axis approximately up you must check the new IMU axis orientation that SPAN automatically uses SPAN forces z to be up in the internal computation frame Output attitude in INSPVA INSATT and so on is w
250. er of ticks per revolution must be set using the SETWHEELPARAMETERS command For example if you have your wheel sensor connected to event input 2 with a 2 m circumference wheel and 2000 pulses per revolution the configuration command would be SETWHEELPARAMETERS MARK2 POSITIVE 2000 2 0 0 001 SPAN SE User Manual Rev 9 SPAN SE Operation Chapter 3 3 5 2 Wheel Sensor Updates using the iIMU FSAS IMU The iIMU FSAS IMU also has a wheel sensor input that can be directly attached to the output of the wheel sensor You can use iMAR s iMWS or another wheel sensor that meets the IIMU FSAS requirements see http www imar navigation de for details An optical encoder style wheel sensor such as the Corrsys Datron wheel pulse transducer can also be used Information about cabling requirements for wheel sensor input to the FSAS wheel sensor interface is available in iIMU FSAS Odometer Cabling on page 116 The size of the wheel and the number of ticks per revolution must also be set using the SETWHEELPARAMETERS command For example a 2 m circumference wheel with 2000 pulses per revolution would be configured using the following command SETWHEELPARAMETERS 2000 2 0 0 001 3 5 3 Wheel Sensor Updates using the WHEELVELOCITY Command If you have wheel sensor hardware that accumulates the pulses from a wheel sensor you can send the accumulated tick count to the SPAN SE at 1 Hz using the WHEELVELOCITY comm
251. ese decimal values on wished to log data at 1 their own are also valid second after every minute 0 1 0 2 0 25 or 0 5 you would set the period to 60 and the offset to 1 9 hold 0 NOHOLD Allow log to be removed by Enum 4 H 28 the UNLOGALL command 1 HOLD Prevent log from being removed by the default UNLOGALL command 1 See also the MARKxPVA and MARKXTIME logs starting on page 306 See Appendix A in the OEMV Family Installation and Operation User Manual for the maximum raw measurement rate to calculate the minimum period If the value entered is lower than the minimum measurement period the value is ignored and the minimum period is used SPAN SE User Manual Rev 9 161 Appendix B Commands Field ASCII ZER Field Field Name Value Description Type 1 LOG This field contains the command name or the message ASCII header depending on whether the command is header abbreviated ASCII or ASCII respectively 2 port See Table 23 COM Output port Enum Serial Port Identifiers on page 136 3 messag Any valid message Message name of log to output Char e name with an optional A or B suffix 4 trigger ONNEW Output when message is updated not necessarily Enum changed see Footnote 1 on page 161 ONCHANGED Output when the message is changed ONTIME Output on a time interval ONNEXT Output only the next message ONCE Output only the current message default
252. esents the receiver Y s w Version software build number 12 Char This character indicates the end of the header N Example Log RAWEPHEMA COM1 0 35 0 SATTIME 1364 496230 000 00100000 97b7 2310 30 1364 496800 8b0550a1892755100275e6a09382232523a9dc04ee6f794a0000090394ee 80055 0a189aa6ff925386228 97eabf9c8047e34a70ec5a10e486e794a7a 8b0550a18a2effc2 80061c2f fc267cd09 1d5034d3537affa28b6ff0eb 7a22 279 216 SPAN SE User Manual Rev 9 Data Logs Appendix D D 1 2 Abbreviated ASCII This message format is designed to make the entering and viewing of commands and logs by the user as simple as possible The data is represented as simple ASCII characters separated by spaces or commas and arranged in an easy to understand fashion There is also no 32 bit CRC for error detection because it is meant for viewing by the user Example Command log coml loglist Resultant Log COM1 LOGLIST COM1 0 99 0 FINESTEERING 1635 487565 230 00000000 0000 406 5 COM1 RXSTATUSEVENTA ONNEW 0 000000 0 000000 HOLD COM2 RXSTATUSEVENTA ONNEW 0 000000 0 000000 HOLD pe COM3 RXSTATUSEVENTA ONNEW 0 000000 0 000000 HOLD COM4 RXSTATUSEVENTA ONNEW 0 000000 0 000000 HOLD COMI LOGLIST ONCE 0 000000 0 000000 NOHOLD As you can see the array of five logs are offset from the left hand side and start with lt SPAN SE User Manual Rev 9 217 Appendix D Data Logs D 1 3 Binary Binary messages are meant strictly as a machine readable format They
253. eters 1 Polarity When polarity is set to positive events trigger on the rising edge When polarity is set to negative events trigger on the falling edge 2 Time Bias A constant time bias in ns can be applied to each event pulse Typically this is used to account for a transmission delay 3 Time Guard The time guard specifies the minimum number of milliseconds between pulses This is used to coarsely filter the input pulses The time of the input pulses is available from the MARKxTIME logs see page 307 The solution synchronous with the event pulses is available from the MARKxPVA logs see page 306 The logs required for input strobes are LOG MARKITIMEB ONNEW Output time for every pulse received LOG MARK1PVAB ONNEW Output time position velocity and attitude for every pulse received at the location specified by the SETMARKIOFFSET command The above example is for the MARK1 event input The input signal levels are 3 3 V to 0 V Signal voltages outside these bounds damage the receiver The minimum detectable pulse duration must be greater than or equal to 1 microsecond SPAN SE User Manual Rev 9 75 Chapter 3 SPAN SE Operation 3 11 2 1 Using the Input Strobe to Accumulate Counts You can also use an input strobe line to count the number of pulses over one second and report the total at the top of each second by setting the input event line to COUNT mode EVENTINCONTROL MARK1 COUNT When in COUNT
254. examples for a synchronous or asynchronous log on a receiver that can log at rates up to 20 Hz LOG PSRPOS ONTIME 0 05 20 Hz LOG PSRPOS ONTIME 0 1 10 Hz LOG PSRPOS ONTIME 0 1 0 05 LOG PSRPOS ONTIME 1 1 Hz LOG PSRPOS ONTIME 1 0 1 LOG PSRPOS ONTIME 1 0 90 LOG AVEPOS ONTIME 1 0 95 LOG AVEPOS ONTIME 2 0 5 Hz LOG AVEPOS ONTIME 2 1 35 LOG AVEPOS ONTIME 2 1 75 For synchronous and asynchronous logs the following examples are invalid LOG PSRPOS ONTIME 1 0 08 offset is not a multiple of the minimum logging period LOG PSRPOS ONTIME 1 1 05 offset is larger than the logging period 224 SPAN SE User Manual Rev 9 Data Logs Appendix D D 2 NMEA Standard Logs The National Marine Electronic Association NMEA logs in this manual are listed below GPALM ALMANAC DATA GPGGA GLOBAL POSITION SYSTEM FIX DATA AND UNDULATION GPGLL GEOGRAPHIC POSITION GPGRS GPS RANGE RESIDUALS FOR EACH SATELLITE GPGSA GPS DOP AND ACTIVE SATELLITES GPGST PSEUDORANGE MEASUREMENT NOISE STATISTICS GPGSV GPS SATELLITES IN VIEW GPZDA UTC TIME AND DATE PASHR PITCH ROLL AND HEADING INFORMATION The NMEA log structures follow format standards as adopted by the National Marine Electronics Association The reference document used is Standard For Interfacing Marine Electronic Devices NMEA 0183 Version 3 01 For further information see Standards and References available on our website at www novatel com through Support Know
255. f travel X to the right perpendicular to the direction of travel and SPAN SE User Manual Rev 9 61 Chapter 3 SPAN SE Operation 62 Z up That means that azimuth references from north to the IMU y axis and roll is about y and pitch Is about x Refer to Section 3 4 7 1 on page 60 for instructions on what to do if you are not able to mount your IMU with Z approximately up Using the angles in the INSPVA log you can form the body frame to local level frame rotation matrix o is roll rotation around the Y axis Q is pitch rotation around the X axis y is yaw rotation around the Z axis cosycosg sinysin sing siny cosh cosy sin o siny sin 0 cosp Ri sinycosp cosysin8sinp cosy cos siny sing cosy sinOcos o cos Osin 9 sin d cos 0 cos o 3 4 7 4 Relating the Vehicle Frame to the Local Level Frame Knowing the attitude of the body frame with respect to the local level frame from the INSPVA or INSATT log and the rotational relationship between the body frame and the vehicle frame you can solve for the vehicle attitude with respect to local level Given the two previous matrices a new DCM can form relating the vehicle frame to the local level frame Ry ES RUD where R RV We can solve the individual angles from the local level to vehicle frame using the numerical values of Ri since we know how to form the DCM The angles from the vehicle frame to the local level frame are denoted as a ps and 0 We give the
256. fications A 2 5 2 IMU CPT Sensor Specs PERFORMANCE FIBER OPTIC GYROS Appendix A Bias Offset 20 Ihr Turn On To Turn On Bias Repeatability Compensated x3 hr In Run Bias Variation At Constant Temperature 1 ihr 10 Scale Factor Error Total 1500 ppm 1c Scale Factor Linearity 1000 ppm 10 Temperature Dependent SF Variation 500 ppm 10 Angular Random Walk 0 0667 hlhr 10 Max Input 375 Isec PERFORMANCE ACCELEROMETERS Bias Offset 50 mg Turn On To Turn On Bias Repeatability 0 75 mg In Run Bias Variation At Constant Temperature 0 25 mg 10 Temperature Dependent Bias Variation 0 5 mg C 10 Scale Factor Error Total 4000 ppm 1c Temperature Dependent SF Variation 1000 ppm 10 Accel Noise 55 ug Hz 1c Bandwidth 50 Hz Max Input 10 g SPAN SE User Manual Rev 9 123 App endix A A 2 5 3 IMU CPT Electrical and Environmental Technical Specifications CONNECTORS Power and UO MIL DTL 38999 Series 3 RF Antenna Connector TNC Female ELECTRICAL Input Power 9 18 VDC Power consumption 15 W Max Start Up Time Valid Data 5 secs Temperature operational ENVIRONMENTAL 40 C to 65 C Temperature non operational 50 C to 80 C Vibration operational 6 g rms 20 Hz 2 KHz Vibration non operational 8 g rms 20 Hz 2 KHz Shock operational 7g 6 10 msec 1 2 sine Shock
257. fields are optional and the distances are measured from the IMU to the Antenna x offset y offset z offset x stdev y stdev z_stdev A typical RTK GNSS solution is accurate to a few centimeters For the integrated INS GNSS sys tem to have this level of accuracy the offset must be measured to within a centimeter Any offset error between the two systems shows up directly in the output position For example a 10 cm error in recording this offset will result in at least a 10 cm error in the output If it is impossible to measure the IMU center of navigation to antenna phase center precisely the offset can be estimated by carrying out the Lever Arm Calibration Routine See Section 3 4 8 Vehicle to SPAN Frame Angular Offsets Calibration Routine on page 63 3 3 2 2 SPAN Configuration with Connect Follow these steps to enable INS as part of the SPAN system using the NovAtel Connect software utility The NovAtel Connect screen shots in this manual may differ from your version on NovAtel Connect 1 SPAN basic configuration Select Wizards SPAN Alignment from the Connect toolbar This wizard takes you through the steps to complete a coarse fast or aided alignment set up a wheel sensor if applicable select the type of IMU and configure the receiver port connected to the IMU to accept IMU data SPAN SE User Manual Rev 9 SPAN SE Operation Chapter 3 IMU type and port selection Please select the IMU model and the serial
258. forceable and excluded NovAtel shall not be liable to the Buyer by way of indemnity or by reason of any breach of the Order or of statutory duty or by reason of tort including but not limited to negligence for any loss of profit loss of use loss of production loss of contracts or for any financing costs or for any indirect or consequential damage whatsoever that may be suffered by the Buyer In the event and to the extent that NovAtel shall have any liability to Buyer pursuant to the terms of the Order NovAtel shall be liable to Buyer only for those damages which have been foreseen or might have reasonably been foreseen on the date of effectivity of the Order and which are solely an immediate and direct result of any act or omission of NovAtel in performing the work or any portion thereof under the Order and which are not in the aggregate in excess of ten 1096 percent of the total Order price SPAN SE User Manual Rev 9 17 Warranty Policy NovAtel Inc warrants that its Global Navigational Satellite Systems GNSS products are free from defects in materials and workmanship subject to the conditions set forth below for the following time periods OEMV 3 Receivers including SPAN SE and SPAN MPPC One 1 Year IMU Units return to manufacturer One 1 Year Antennas One 1 Year Cables and Accessories Ninety 90 Days Computer Discs Ninety 90 Days Software Warranty One 1 Year Date of sale shall mean the date of the inv
259. formed in the INS filter at the previous update epoch and a wheel sensor status indicator Message ID 757 Log Type Asynch Recommended Input log insupdatea onnew ASCII Example INSUPDATEA FILE 0 0 0 FINESTEERING 1549 165116 006 00000000 4289 0 SINGLE 0 0 0 FALSE WHEEL SENSOR INACTIVE HEADING UPDATE USED 5al6ecba e Field Binary kape Binary Binary Binary Field Type ASCII Value Value Description Format Bytes Offset 1 Header This field contains the H 0 command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary 2 Solution Type of GPS solution Enum 4 H Type used for the last position update See Table 44 on page 229 3 Reserved Long 4 H 4 4 Phase 0 to maximum Number of phase Long 4 H 8 GPS L1 observations used in the channels 1 last INS filter update 5 Reserved Long 4 H 12 6 ZUPT TRUE FALSE A zero velocity update Bool 4 H 16 was performed during the last INS filter update 7 Wheel Status of a wheel sensor Enum _ 4 H 20 Status during the last INS update See Table 56 on page 289 8 Heading Refer to Status of the heading Enum 4 H 24 Update Table 55 on update during the last page 289 INS filter update 288 SPAN SE User Manual Rev 9 Data Logs Appendix D Table 55 Heading Update Enums Binary ASCII Description 0 HEADING UPDATE INACTIVE A heading updates was not available 1 HEADING UPDATE A
260. from NovAtel Connect choose Open 46 SPAN SE User Manual Rev 9 SPAN SE Operation Connection and skip to step 9 Device 4 New Connection ZS Open Connection Ctri O 3 Use the New connection dialog to add a new configuration New Connection Name sPAN SE Device Type Type Serial w Serial Settings Port Con vi Passive Baud Rate 115200 vi Read Only _ Hardware Handshaking 4 Select Serial or Network from the Type list Chapter 3 If selecting a network connection you must have configured an IP address into the receiver prior to connecting see SPAN SE Ethernet Connection on page 76 Select 1 5200 from the Baud Rate list Ensure the Hardware Handshaking check box is cleared oN DW Select OK to save the new device settings SPAN SE User Manual Rev 9 Select the computer port that the SPAN receiver is connected to from the Port list 47 Chapter 3 48 9 window Open Connection Available Device Connections SPAN SE Operation Select the new configuration from the Available Device Connections area of the Open Connection Name Device Type SPAN SE SERIAL L Tech Pubs 1 USB USBDLv3 USB D DWS SERIAL Settings COMI 115200 bps COMS3 PortO USB1 COM1 115200 bps 10 Select the Open button to open SPAN receiver communications As Connect establishes the communication session with the receiver a p
261. g bit 5 of the receiver error word is set The 5 bit binary error code corresponds to the 32 possible errors defined in Appendix D 3 59 RXSTATUS Receiver Status starting on page 331 Figure 15 SPAN SE LED Indicators Table 7 Positioning Mode LEDs Green amp Green Orange Orange Red Flashing SD Card SD Card No card Card in Card in but low on Card busy either Card in but has lt 1 Flashing file open space with 1096 formatting or space remaining space remaining mounting Logging stops Flashing same as automatically above but a Flashing SD card file is open error that can occur at any time regardless of remaining space GPS 1 Primary No Data Solution complete Insufficient N A Receiver status error OEMV 3 GNSS and fine steering Observations bits Flashing coarse 0 SDRAM steering 1 Firmware 2 ROM 7 Supply Voltage GPS2 Secondary No Data same as Primary GNSS above OEMV 2 GNSS INS INS GNSS INS SOLUTION Aligning INS BAD GPS INS INACTIVE status only GOOD status Flashing AGREEMENT Flashing INS SOLUTION N status INS ALIGNMENT OT GOOD status COMPLETE status IMU IMU No IMU RAWIMU packets No RAWIMU N A IMU status error bits detected with good IMU IMU type not set status as reported by the IMU N A Power No Unit powered but off N A N A N A powerto and not operational unit Flashing unit powered on and operational 1
262. g the O rings and the alignment of corners Start with the round pilot hole indicated in Figure 72 then press the assembly into place ROUND PILOT HOLE ABOVE THIS PILOT PIN REFERENCE MARKERS Figure 72 Installing the Enclosure Body to the Base 374 SPAN SE User Manual Rev 9 LN 200 IMU in Universal Enclosure Appendix G 6 While squeezing and holding the enclosure body and base together to maintain tight contact carefully turn the assembly over and place it on its top as shown in Figure 73 Using a 3 mm hex bit lightly fasten four equally spaced M4 screws to hold the parts together Use thread locking fluid on all screws Install the remaining screws in similar fashion Tighten all screws to 1 36 1 58 N m 12 14 Ib in Do not over tighten 7 1 U ep 1 e l 1 1 cdi co Product identification label not shown Figure 73 Screw Enclosure Base to Body SPAN SE User Manual Rev 9 375 Appendix G LN 200 IMU in Universal Enclosure 7 Ensure the product identification label the logo plate and the centre of navigation labels are properly affixed and contain the correct information The final assembled unit is shown in Figure 74 Centre of Navigation Labels should Product be here circle icon for LN 200 Identification Label e Figure 74 Final Assembly 376 SPAN SE User Manual Rev 9 ite TONN LN 200 IMU in SPAN IMU Enclosure The following procedure detai
263. ger command The decimal SENSOR 1 representation of the SENSOR2 2 combination of bits 0 2 can be used to select a SENSOR3 4 combination of active sensors eg 5 101 will select sensors 1 and 3 3 GPSWeek 0 The GPS week that Ulong 4 H 4 4294967295 triggers the event 4 GPSSeconds 0 604800 The GPS seconds that Double 8 H 8 trigger the event 5 EventID 0 The event s identifier Ulong 4 H 16 4294967295 used to tag the SPAN SE User Manual Rev 9 TAGGEDMARKxPVA logs if a sensor input is enabled Default is 0 203 Appendix B Commands B 4 53 UNLOG Remove a log from logging control This command permits you to remove a specific log request from the system The port parameter is optional If port is not specified it is defaulted to the port on which the command was received This feature eliminates the need for you to know which port you are communicating on if you want logs to be removed on the same port as this command Abbreviated ASCII Syntax Message ID 36 UNLOG port datatype Abbreviated ASCII Example unlog coml bestposa unlog bestposa The UNLOG command allows you to remove one or more logs while leaving other logs unchanged Field Binary T Field Binary Binary ld D t b Name Value mM Type Bytes Offset 1 UNLOG See Table 39 Binary Message This field contains the H 0 binary Header Structure on page 218 message header header 2 port S
264. ghtning strike causes the ground potential in the area to rise to dangerous levels resulting in harm to personnel or destruction of electronic equipment in an unprotected environment It also conducts a portion of the strike energy down the inner conductor of the coax cable to the connected equipment C Only qualified personnel electricians as mandated by the governing body in the country of installation may install lightning protection devices 1 Visit www novatel com Products WEEE and RoHS for more information SPAN SE User Manual Rev 9 Notices Actions to Mitigate Lightning Hazards 1 2 Do not install antennas or antenna coaxial cables outside the building during a lightning storm It is not possible to avoid over voltages caused by lightning but a lightning protection device may be used to shunt a large portion of the transient energy to the building ground reducing the over voltage condition as quickly as possible Primary lightning protection must be provided by the operator customer according to local building codes as part of the extra building installation To ensure compliance with clause 7 Connection to Cable Distribution Systems of EN 60950 1 Safety for Information Technology Equipment a secondary lightning protection device must be used for in building equipment installations with external antennas The following device has been approved by NovAtel Inc Polyphaser Surge Arrestor DGXZ 24NFNF A
265. gits of degrees 2 fixed digits of mins and a variable number of digits for decimal fraction of mins Leading zeros always included for degrees and mins to maintain fixed length The decimal point and associated decimal fraction are optional if full resolution is not required Longitude yyyyy yy Fixed Variable length field degrees minutes decimal 3 fixed digits of degrees 2 fixed digits of mins and a variable number of digits for decimal fraction of mins Leading zeros always included for degrees and mins to maintain fixed length The decimal point and associated decimal fraction are optional if full resolution is not required Time hhmmss ss Fixed Variable length field hours minutes seconds decimal 2 fixed digits of hours 2 fixed digits of mins 2 fixed digits of seconds and variable number of digits for decimal fraction of seconds Leading zeros always included for hours mins and seconds to maintain fixed length The decimal point and associated decimal fraction are optional if full resolution is not required Defined field Some fields are specified to contain pre defined constants most often alpha characters Such a field is indicated in this standard by the presence of one or more valid characters Excluded from the list of allowable characters are the following which are used to indicate field types within this standard AS a C hh hhmmss ss MLH E yyyyy yy Numeric Value Fields V
266. hall supply shipping instructions with each order Ship to and bill to address NovAtel Quotation Preferred carrier and account Custom broker freight forwarder including name and contact In the absence of specific instructions NovAtel may select a carrier and insure Products in transit and charge Purchaser accordingly NovAtel shall not be responsible for any failure to perform due to unforeseen circumstances or causes beyond its ability to reasonably control Risk of loss damage or destruction shall pass to Purchaser upon delivery to carrier Goods are provided solely for incorporation into the Purchaser s end product and shall not be onward delivered except as incorporated in the Purchaser s end product 4 COPYRIGHT AND CONFIDENTIALITY Copyright in any specification drawing computer software technical description and other document supplied by NovAtel under or in connection with the Order and all intellectual property rights in the design of any part of the Equipment or provision of services whether such design be registered or not shall vest in NovAtel absolutely The Buyer shall keep confidential any information expressed or confirmed by NovAtel in writing to be confidential and shall not disclose it without NovAtel s prior consent in writing to any third party or use it other than for the operation and maintenance of any Equipment provided 5 GENERAL PROVISIONS All Purchase Orders are subject to approval and acceptance by NovAtel
267. hange Hour 10000 Minutes 100 Message ID 159 Log Type Polled Recommended Input log direnta ontime 30 ASCII Example DIRENTA USB1 5 98 5 FINESTEERING 1635 320403 182 00000001 0000 394 SDLOG GP S 2019951634 1972610 20110323 220136 66b5b93c DIRENTA USB1 4 98 5 FINESTEERING 1635 320403 182 00000001 0000 394 SPAN 0 1L 0G 52700 52 20110324 220806 03fda3c9 DIRENTA USB1 3 98 5 FINESTEERING 1635 320403 182 00000001 0000 394 SPAN 1 L 0G 28570 28 20110324 220954 fb3e9lle DIRENTA USB1 2 98 5 FINESTEERING 1635 320403 182 00000001 0000 394 SPAN 2 L 0G 200454 196 20110510 213028 a9795169 DIRENTA USB1 1 98 5 FINESTEERING 1635 320403 182 00000001 0000 394 SPAN 3 L 06 134452 132 20110510 213902 89e77dd0 DIRENTA USB1 0 98 5 FINESTEERING 1635 320403 182 00000001 0000 394 SPAN 4 L 0G 15008 15 20110510 214156 49d 871c SPAN SE User Manual Rev 9 243 Appendix D Data Logs Field Data Bytes Format Units Offset 1 Log Header 0 2 Filename 12 Char none H 3 Size bytes 4 Ulong bytes H 12 4 Size packets 4 Ulong packets H 16 5 Date of Last Change 4 Ulong yyyymmdd H 20 6 Time of Last Change 4 Ulong hhmmss H 24 244 SPAN SE User Manual Rev 9 Data Logs Appendix D D 3 9 EXTHDGOFFSET Log the Angular Offset The EXTHDGOFFSET message will be available
268. hapter 3 SPAN SE Operation Before operating your SPAN system ensure that you have followed the installation and setup instructions in Chapter 2 SPAN SE Installation starting on page 33 You can use NovAtel s Connect software to configure receiver settings and monitor data in real time SPAN system output is compatible with post processing software from NovAtel s Waypoint Products Group Visit our website at www novatel com for details 3 14 Definition of Reference Frames within SPAN The reference frames that are most frequently used throughout this manual are the following The Local Level Frame The SPAN Computation Frame The Enclosure Frame The Vehicle Frame 3 1 1 Local Level Frame ENU The definition of the local level coordinate frame is as follows z axis pointing up aligned with gravity y axis pointing north x axis pointing east Figure 12 Local Level Frame ENU 44 SPAN SE User Manual Rev 9 SPAN SE Operation Chapter 3 3 1 2 SPAN Computation Frame The definition of the SPAN computation frame is as follows z axis pointing up aligned approximately with gravity y axis defined by how user has mounted the IMU x axis defined by how user has mounted the IMU To determine your SPAN x axis and y axis see Table 34 on page 183 This frame is also known as the body frame and in this manual the SPAN frame It is the default frame that attitude is output in and its o
269. has changed channels frequencies on the AMSC Satellite that broadcasts OmniSTAR corrections for North America NovAtel receivers do not need a firmware change To change frequencies connect your receiver and issue an ASSIGNLBAND command For example the Western Beam frequency as stated on OmniSTAR S website is 1557 8550 MHz Input into the receiver assignlband omnistar 1557855 1200 Abbreviated ASCII Syntax Message ID 729 ASSIGNLBAND mode freq baud Factory Default ASSIGNLBAND IDLE Abbreviated ASCII Example 1 ASSIGNLBAND OMNISTAR 1557855 1200 132 SPAN SE User Manual Rev 9 Commands Binary ASCII 0 Reserved Appendix B Table 22 L band Mode Description 1 OMNISTAR When you select OmniSTAR enter a dedicated frequency and baud rate 2 IDLE When you select IDLE the receiver is configured to stop tracking any L band satellites The freq and baud fields are optional so that you may select IDLE without specifying the other fields 3 OMNISTARAUTO When you select OMNISTARAUTO the receiver automatically selects the best OmniSTAR beam to track based on the receiver s position This requires the receiver to have a downloaded satellite list from an OmniSTAR satellite Therefore a manual assignment is necessary the first time an OmniSTAR satellite is assigned on a new receiver After collection the satellite list is stored in NVM for subsequent auto assignments Lists are considered val
270. he receiver error word is set The 5 bit binary error code corresponds to the 32 possible errors defined in Table 75 starting on page 332 See also the chapter on Built In Status Tests in the OEMV Family Installation and Operation User Manual Message ID 94 Log Type Asynch Recommended Input log rxstatuseventa onchanged ASCII Example 1 RXSTATUSEVENTA COM1 0 17 0 FREEWHEELING 1337 408334 510 00480000 b967 1984 STATUS 19 SET No Valid Position Calculated 6de945ad ASCII Example 2 RXSTATUSEVENTA COM1 0 41 0 FINESTEERING 1337 408832 031 01000400 b967 1984 STATUS 10 SET COM3 Transmit Buffer Overrun 5b5682a9 SPAN SE User Manual Rev 9 337 Appendix D Data Logs Table 80 Status Word Word binary Word ASCII Description 0 ERROR Receiver error word see Table 75 on page 332 1 STATUS Receiver status word see Table 76 on page 334 2 AUX1 Auxiliary 1 status word see Table 77 on page 335 3 AUX2 Auxiliary 2 status word see Table 78 on page 335 4 AUX3 Auxiliary 3 status word see Table 79 on page 335 Table 81 Event Type Event binary Event ASCII Description 0 CLEAR Bit was cleared 1 SET Bit was set Field Field type Data Description Format Binary Bay We P Bytes Offset 1 RXSTATUSEVENT Log header H 0 header 2 word The status word that generated the Enum 4 H event message see Table 80 above 3 bit position Location of the bit in the st
271. he solution or you can use the lockout command as a log to see if there is a satellite PRN that has already been locked out In ASCII this might be log comi lockouta once Notice the a after lockout to signify you are looking for ASCII output SPAN SE User Manual Rev 9 125 Appendix B Commands The BESTPOS GNSS only position log can be logged at rates up to 20 Hz directly from the OEMV port A BESTPOS GNSS INS position log is available at 1 Hz 1 Hz 2 Hz 4 Hz and 5Hz from any SPAN SE port All BEST filter related logs such as BESTPOS BESTVEL BESTXYZ and BESTGPSPOS can only be output from SPAN SE ports at lt 1 Hz 1 Hz 2 Hz 4 Hz and 5Hz Other GNSS logs RANGE PSRPOS and so on can be logged at rates up to 20 Hz from SPAN SE ports Ensure that all windows other than the Console are closed in Connect and then use the OQ SAVECONFIG command to save settings in NVM Otherwise unnecessary data logging occurs and may overload your system B 3 DOS Commands The SPAN SE receiver accepts many traditional DOS commands for accessing the SD Card DOS commands that produce output logs do not conform to traditional NovAtel command log formats The resulting logs are output as simple ASCII as with normal DOS commands To display the results to another COM port the port must be passed as a parameter The default device and currently the only option for these commands is the internal SD Card see Zable 21 b
272. hird party in respect of any infringement of letters patent registered design or like instrument of privilege which may now or at any future time be owned by it However should NovAtel elect to take such legal proceedings at NovAtel s request Licensee shall co operate reasonably with NovAtel in all legal actions concerning this license of the Software under this Agreement taken against any third party by NovAtel to protect its rights in the Software NovAtel shall bear all reasonable costs and expenses incurred by Licensee in the course of co operating with NovAtel in such legal action 4 Restrictions You may not a copy other than as provided for in paragraph 2 distribute transfer rent lease lend sell or sublicense all or any portion of the Software except in the case of sale of the hardware to a third party b modify or prepare derivative works of the Software c use the Software in connection with computer based services business or publicly display visual output of the Software d transmit the Software over a network by telephone or electronically using any means except when downloading a purchased upgrade from the NovAtel website or e reverse engineer decompile or disassemble the Software You agree to keep confidential and use your best efforts to prevent and protect the contents of the Soft ware from unauthorized disclosure or use SPAN SE User Manual Rev 9 Software License 5 Term and Termination This
273. i ieee ceteri rented eec Hee dede deg ee e dede dere R 335 78 OEMV 3 leese ie Gan ii soda reU ete re ese Died end epe Re Geet 335 79 OEMV 2 Status en edi aa e ect bee etes Ve voe eg he 335 80 Status et itenim it ke de petente kk pa RA b ETE Heat odes ab Rol te sve eee oot veb ene PRAL beet 338 81 Event DY PO IP 338 82 OEMV in SPAN SE Model Desionators A 346 83 SPAN SE Model Designators AA 346 84 elle enee 347 85 VERSION kog Field Formats aie ecd ne ioi nca oboe oed 347 86 SPAN SE Interface Card Header Descrton em 386 87 J401 RE Ds Header cries cscs EP 386 88 J500 Power Button Header 5 1 dee A Ek adan 387 89 J702 Inp t Power Feader 15 deseni sevo eee cete e p eoe nile ete 387 90 J601 Multi Communication Header A 388 91 J606 Multi Communication Header BI 389 92 SPAN MPPC Interface Card Header Description 394 93 J600 Multi Communication Header A 394 94 J601 Multi Communication Header BI 396 95 SPAN MPPC Breakout Board J1 J23 Test Points 398 96 SPAN MPPC Breakout Board J24 Main Board Connechor A 399 97 SPAN MPPC Breakout Board J25 USB Host Connector sse 400 98 SPAN MPPC Breakout Board J26 Main Board Connechor A 400 99 SPAN MPPC Breakout Board J27 USB Device Connechar eee eeeceeseeeeeeeeeenneeeeeees 402 100 SPAN MPPC Breakout Board J28 Ethernet Connechor 402 101 SPAN MPPC Breakout Board J29 Power Connector cceeeeeceeesseeeee
274. id for 6 months and are constantly updated while an OmniSTAR signal is tracking If the receiver has a valid satellite list it is reported in a status bit in the LBANDSTAT log see page 295 4 OMNISTARNARROW When you select OMNISTARNARROW enter a dedicated frequency and baud rate For re acquisitions of the L band signal the receiver uses a 1500 Hz search window and the stored TCXO offset information To remove the TCXO offset information from NVM use the FRESET LBAND TCXO OFFSET command A standard FRESET command does not do this see page 146 2 1 The receiver will always track an available local beam over a global beam The receiver constantly monitors the satellite list to ensure it is tracking the best one and automatically switches beams if it is not tracking the best one 2 Refer also to application note APN 043 L band Tracking and Data Output without GPS available on our website at www novatel com through Support Knowledge and Learning B 4 4 1 Beam Frequencies You can switch to Omnistar VBS by using the following commands Use OmniStar VBS ASSIGNLBAND OMNISTAR lt freq gt 1200 PSRDIFFSOURCE OMNISTAR The OmniStar beam frequency chart for lt freq gt can be found at http www omnistar com chart html For example Eastern US Coverage is Northern Canada to southern Mexico 1557845 or 1557845000 SPAN SE User Manual Rev 9 133 Appendix B Commands ASCII Binary Rura Binary
275. igure 43 IMU Center of Navigation example SPAN SE User Manual Rev 9 181 Appendix B Commands 1 Azimuth is positive in a clock wise direction while yaw is positive in a counter clockwise direction when looking toward the axis origin Yaw follows the right handed system convention where as azimuth follows the surveying convention 2 The data in the RAWIMUS log is never mapped The axes referenced in the RAWIMUS log description form the IMU enclosure frame as marked on the enclosure Abbreviated ASCII Syntax Message ID 567 SETIMUORIENTATION switch Abbreviated ASCII Example SETIMUORIENTATION 1 ASCII Binary Binary Binary Binary Value Value Description Format Bytes Offset 1 Log This field contains the command H 0 Header name or the message header depending on whether the command is abbreviated ASCII ASCII or binary 2 Switch 0 0 IMU determines axis orientation ENUM 4 H automatically during coarse alignment default 1 1 IMU X axis is pointing UP 2 2 IMU X axis is pointing DOWN 3 3 IMU Y axis is pointing UP 4 4 IMU Y axis is pointing DOWN 5 5 IMU Z axis is pointing UP 6 6 IMU Z axis is pointing DOWN 182 SPAN SE User Manual Rev 9 Commands Appendix B Table 34 Full Mapping Definitions ST SPAN Frame D a IMU Enclosure IMU Enclosure Mapping Axes ie SE Frame Axes Frame 5 default X Z Y X Z X Y X
276. ins the current file contents of the receiver s SD Card Up to 1024 files can be listed using this message Note that the file size information in this log will only update once per second The date and time for the DIRENT log is in UTC Universal Coordinated Time If the SPAN SE receiver has no almanac UTC is unavailable The Date of Last Change field has 4 decimal digits reserved for the year followed by 2 decimal digits for the month and 2 decimal digits for the day Example Date of September 5 2001 Date of Last Change field for this date when converted to a Ulong has a value of 20010905 The following steps can be used to obtain the various parts of the Date of Last Change field Ulong Year Ulong DateOfLastChange 10000 Ulong Month Ulong DateOfLastChange Year 10000 100 Ulong Day Ulong DateOfLastChange Year 10000 Month 100 The Time of Last Change field is similar to the Date of Last Change field in that the value of the field has 2 decimal digits reserved for the hour followed by 2 decimal digits for the minutes and 2 decimal digits for the seconds Example Time of 16 01 25 Time of Last Change field when converted to a Ulong has a value of 160125 The following steps can be used to obtain the various parts of the Time of Last Change field Ulong Hour Ulong TimeOfLastChange 10000 Ulong Minutes Ulong TimeOfLastChange Hour 10000 100 Ulong Seconds Ulong TimeOfLastC
277. ion Molex Communication Header A Cable Board P100 Header J601 Pin 9 4d Ae J600 Pin 36 5 10 J600 Pin 37 8 7 J600 Pin 38 2 2 J600 Pin 39 7 1 J600 Pin 40 3 6 a J600 Multi Communication Header A on the SPAN MPPC Interface card See Figure 83 SPAN MPPC Interface Card on page 391 b Female DB 9 connector on the interface cable that runs from the receiver to the LN200 or HG1700 IMU enclosure P100 header on the Power Communication Board if there is no IMU Interface Cable or IMU enclosure Only needed for use with iIMU FSAS Only needed for use with iIMU CPT e oo SPAN SE User Manual Rev 9 405 idee aa Replacement Parts The following are a list of the replacement parts available Should you require assistance or need to order additional components please contact your local NovAtel dealer or Customer Service K 1 SPAN System IMUs see Table 1 Supported IMU Types on page 32 for details IMU H58 IMU H62 UIMU H58 UIMU H62 IMU LN200 UIMU LN200 IMU SE FSAS EI IMU LCI UIMU CPT Receivers see Table 1 Supported IMU Types on page 32 for details SPAN SE SPAN MPPC ProPak V3 to LN 200 IMU interface cable see Figure 33 on page 110 01017375 LN 200 power adapter cable see Figure 35 on page 112 01017821 ProPak V3 to iIMU FAS IMU interface cable see Table 16 on page 115 60723086 ProPak V3 to HG1700 IMU interface cable identical to LN 200 cable see Figure 33 0
278. ions that follow show the connections on the back of a SPAN SE receiver 2 2 SPAN SE Hardware Installation 2 2 31 Mount Antenna For the best possible positioning precision and accuracy as well as to minimize the risk of damage ensure that the antenna is securely mounted on a stable structure that will not sway or topple Where possible select a location with a clear view of the sky to the horizon so that each satellite above the horizon can be tracked without obstruction The location should also be one that minimizes the effect of multipath interference SPAN SE User Manual Rev 9 37 Chapter 2 SPAN SE Installation 2 2 42 Mount IMU Mount the IMU in a fixed location where the distance from the IMU to the GNSS antenna phase center is constant Ensure that the orientation with respect to the vehicle and antenna is constant and that the distance and relative direction between them is fixed The IMU should be mounted in such a way that the positive Z axis marked on the enclosure points up and the Y axis points forward through the front of the vehicle in the direction of track The IMU can be mounted in other orientations see Section 34 Full Mapping Definitions on page 183 but this can make interpreting the raw IMU and attitude output more difficult Also it is important to measure the distance from the IMU center of navigation to the antenna phase center the Antenna Lever Arm on the first usage on the axis defined on the IMU enclos
279. ions when precise measurement of the lever arm is not possible The lever arm calibration routine can only be used when the receiver is operating in RTK mode The Lever Arm Calibration Routine is not available for the IMU CPT or the HG1930 Initial estimates and uncertainties for the lever arm are entered using the SETIMUTOANTOFFSET command see page 184 The calibration routine uses these values as the starting point for the lever arm computation The steps involved in the calibration are 1 8 Power the receiver and the IMU see the IMU choices and their technical specifications starting on page 88 Configure the RTK corrections and make sure that the BESTGPSPOS log see page 229 reports a good RTK solution Configure the IMU see Section 3 3 2 SPAN IMU Configuration starting on page 52 Enter the initial estimate for the lever arm using the SETIMUTOANTOFFSET command see page 184 Specify the limits of the calibration through the LEVERARMCALIBRATE command see page 157 The calibration can be limited by time or accuracy of the lever arm It is recommended that the calibration is limited by a minimum of 300 seconds Remain stationary long enough for the coarse alignment to finish The alignment is complete when the INS status changes to INS ALIGNMENT COMPLETE see Table 5 on page 54 Another indication that the alignment is complete is the availability of INSCOV log on page 278 Start to move the system The lev
280. is time the LED flashes green and orange Also if you request a DIR command the receiver generates an ERROR Drsk Busy response 3 9 2 Prepare the Card To prepare the SD Card in the SPAN SE for data logging Connect to the receiver through the serial USB or Ethernet ports 2 Ifnecessary format the card using the command FORMAT SD During the format process the SD LED flashes alternating green and orange The LED turns solid green when formatting is complete During the format process if you request a DIR command the receiver generates a lt ERROR Disk Busy response Formatting the card deletes any data that is on the SD Card Ensure that all data is C3 copied to another location before formatting At this stage if you only need data for post processing the logging button located to the right of the card behind the access door can be pressed to start logging of a pre defined list of logs required for post processing applications to an automatically named file in the root directory of the SD Card see Section 3 9 5 Log a Pre Defined List of Logs on page 72 Otherwise continue to Step 3 3 Select the location on the disk to store your data The default location is in the root directory but you can modify the directory structure using the following commands a To view the current working directory enter the PWD command COM1 pwd SD COM1 Now in the root directory b To ma
281. itef LCI 1 IMU Status Nibble 2 X Bit Mask Description Range Value NO 0 0x00000001 IBIT Error Flag Normal 0 IBIT Error 1 1 0x00000002 CBIT Error Flag Normal 0 CBIT Error 1 2 0x00000004 Calibration Status Flag IMU Uncalibrated 0 IMU Calibrated 1 3 0x00000008 Not used N1 4 0x00000010 Mode Read Flag Mode in Trans 0 Mode Refer to 5 0x00000020 IMU Mode Indication 1 Not Set 0 Set 1 Pe eun page 323 6 0x00000040 IMU Mode Indication 2 Not Set 0 Set 1 7 0x00000080 IMU Mode Indication 3 Not Set 0 Set 1 N2 8 0x00000100 Master NoGo Normal 0 NoGo 1 9 0x00000200 IMU NoGo Normal 0 NoGo 1 10 0x00000400 B 290 Z NoGo Normal 0 NoGo 1 11 0x00000800 B 290 Y NoGo Normal 0 NoGo 1 N3 12 0x00001000 B 290 X NoGo Normal 0 NoGo 1 13 0x00002000 FORS Z NoGo Normal 0 NoGo 1 14 0x00004000 FORS Y NoGo Normal 0 NoGo 1 15 0x00008000 FORS X NoGo Normal 0 NoGo 1 N4 16 0x00010000 Master Warning Normal 0 Warning 1 17 0x00020000 IMU Warning Normal 0 Warning 1 18 0x00040000 B 290 Z Warning Normal 0 Warning 1 19 0x00080000 B 290 Y Warning Normal 0 Warning 1 N5 20 0x00100000 B 290 X Warning Normal 0 Warning 1 21 0x00200000 FORS Z Warning Normal 0 Warning 1 22 0x00400000 FORS Y Warning Normal 0 Warning 1 23 0x00800000 FORS X Warning Normal 0 Warning 1 N6 24 0x01000000 Not Used 25 0x02000000 26 0x04000000 27 0x08000000 N7 28 0x10000000 29 0x20000000 3
282. ith respect to that computation frame Refer to the SETIMUORIENTATION command description to see what mapping definition applies depending on which IMU axis most closely aligns to gravity Essentially this means that if you do not mount the IMU with the z axis approximately up as marked on the enclosure you have a new IMU frame that defines what mapping applies This new IMU frame will not match what is marked on the IMU enclosure and will need to be determined by checking the Full Mapping Definition table documented with the SETIMUORIENTATION command Also in this case begin with the new IMU frame aligned with the vehicle frame and record your vehicle to body rotations with respect to the frame SPAN will be using as the computation frame The output roll is the angle of rotation about the y axis the output pitch 1s about the x axis and the output azimuth is about the z axis and is measured to the y axis Note that azimuth is positive in the clockwise direction when looking towards the origin However the input vehicle to body rotation about the z axis follows the right hand rule convention X east Y north and Z up define the local level frame 3 4 7 2 Relating the Vehicle Frame to the Body Frame Form the rotation matrix from the vehicle frame to the body frame using the vehicle to body frame angles measured according to the procedure described in the VEHICLETOBODYROTATION log as Y is the rotation about the z axis Q is the rot
283. ity a subscription to the OmniSTAR or use of the free CDGPS service is required Contact NovAtel for details 2 These types appear in position logs such as BESTPOS 230 SPAN SE User Manual Rev 9 Data Logs Appendix D Table 45 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 DELTA_POS Delta position is too large 11 NEGATIVE_VAR Negative variance 12 17 Reserved 18 PENDING When a FIX POSITION command is entered the receiver computes its own position and determines if the fixed position is valid 1 19 INVALID_FIX The fixed position entered using the FIX POSITION command is not valid 1 PENDING implies there are not enough satellites being tracked to verify if the FIX POSI TION entered into the receiver is valid The receiver needs to be tracking two or more GPS satellites to perform this check Under normal conditions you should only see PENDING for
284. ity Flag 1 All non RTK fixed integer positions 2 RTK fixed integer position 12 Checksum Checksum XX 2B 13 CR LF Sentence terminator CRI LF SPAN SE User Manual Rev 9 309 Appendix D Data Logs D 3 52 PORTSTATS Port Statistic This log conveys various status parameters of the receiver s communication ports The receiver maintains a running count of a variety of status indicators of the data link This log outputs a report of those indicators Message ID 72 Log Type Polled Recommended Input log portstatsa once ASCII Example Replace ASCII example with the following PORTSTATSA USB1 0 98 0 FINESTEERING 1635 321000 351 00000001 0000 394 10 COM 1 0 132 0 0 21 0 0 0 0 COM2 0 132 0 0 7 0 0 0 0 C0M3 0 132 0 0 8 0 0 0 0 COM4 0 132 0 0 7 0 0 0 0 IMU 0 0 0 0 0 0 0 0 0 USB1 208 5513 208 0 152 0 0 0 0 IC 0M1 0 0 0 0 0 0 0 0 0 ICOM2 0 0 0 0 0 0 0 0 0 1C0M3 0 0 0 0 0 0 0 0 0 ICOM4 0 0 0 0 0 0 0 0 0 a9518ce6 310 SPAN SE User Manual Rev 9 Data Logs Appendix D Field amp Field type Data Description Format Binary Binary yP P Bytes Offset 1 PORTSTATS Log header H 0 header 2 port Number of ports with information to follow Long 4 H 3 port Serial port identifier see Table 23 COM Serial Enum 4 H 4 Port Identifiers on page 136 4 rx chars Total number of characters received through the Ulong 4 H 8 port 5 tx chars Total number of characters transmitted through the Ulong
285. ity starting on page 78 for details 3 4 4 Navigation Mode Once the alignment routine has successfully completed SPAN enters navigation mode SPAN computes the solution by accumulating velocity and rotation increments from the IMU to generate position velocity and attitude SPAN models system errors by using a Kalman filter The GNSS solution phase observations and automatic zero velocity updates ZUPTs provide updates to the Kalman filter When a wheel sensor is connected to the system wheel displacement updates are also used in the filter The attitude is coarsely defined from the initial alignment process especially in heading Vehicle dynamics specifically turns stops and starts allow the system to observe the heading error and allows SPAN SE User Manual Rev 9 57 Chapter 3 SPAN SE Operation the heading accuracy to converge Three to five changes in heading should be sufficient to resolve the heading accuracy The INS Status field changes to INS SOLUTION GOOD once convergence is complete If the attitude accuracy decreases the INS Status field changes to INS SOLUTION NOT GOOD When the accuracy converges again the INS status continues as INS SOLUTION GOOD 3 4 5 Data Collection The INS solution is available in the INS specific logs with either a standard or short header As shown in Table 6 Table 6 Solution Parameters Parameter Log Position INSPOS or INSPOSS INSPVA or INSPVAS Velocity INSVEL or INSVELS INSSPD
286. ix D Field Structure Field Description Symbol Example 1 GPGSA Log header GPGSA 2 mode MA A Automatic 2D 3D M M M Manual forced to operate in 2D or 3D 3 mode 123 Mode 1 Fix not available x 3 2 2D 3 3D 4 15 prn PRN numbers of satellites used in solution XX XX 18 03 13 null for unused fields total of 12 fields 25 16 GPS 1 to 32 24 12 SBAS 33 to 64 add 87 for PRN number 20 GLO 65 to 96 1 16 pdop Position dilution of precision X X 1 5 17 hdop Horizontal dilution of precision X X 0 9 18 vdop Vertical dilution of precision X X 1 2 19 XX Checksum hh 3F 20 CRI LF Sentence terminator CRI LF 1 The NMEA GLONASS PRN numbers are 64 plus the GLONASS slot number Current slot numbers are 1 to 24 which give the range 65 to 88 PRN numbers 89 to 96 are available if slot numbers above 24 are allocated to on orbit spares SPAN SE User Manual Rev 9 261 Appendix D Data Logs D 3 19 GPGST Pseudorange Measurement Noise Statistics This NMEA log provides pseudorange measurement noise statistics Pseudorange measurement noise statistics are translated in the position domain in order to give statistical measures of the quality of the position solution See also Section D 2 NMEA Standard Logs on page 225 This log reflects the accuracy of the solution type used in BESTGPSPOS see page 229 and GPGGA see page 255 logs except for the RMS field The RMS field since it specifically relates to
287. ix J SPAN MPPC Interface Card Table 99 SPAN MPPC Breakout Board J27 USB Device Connector Pin Description USBD Vbus USBDo USBDo GND SHELL SHELL Oli on A wy N gt Table 100 SPAN MPPC Breakout Board J28 Ethernet Connector Pin Description ETH TXo ETH TXo ETH RXo Not used Not used ETH RXo Not used Oli NI ol ol BR Goal N gt Not used Table 101 SPAN MPPC Breakout Board J29 Power Connector Pin Description 1 PWR 2 GND Table 102 SPAN MPPC Breakout Board J30 Serial Port Connection Pin Description Not used COM1 RXo COM1 TXo Not used GND Not used COM1 TXO NI OQ oO A Ww N gt 402 SPAN SE User Manual Rev 9 SPAN MPPC Interface Card Appendix J Description 8 COM1 RXo 9 Not used Table 103 SPAN MPPC Breakout Board J31 Serial Port Connection Pin Description 1 2 3 4 5 6 7 8 9 Event out4o IMU RXo IMU TXo Not used GND Not used IMU TXo IMU RXo Not used Table 104 SPAN MPPC Breakout Board J32 Serial Port Connection Pin Description Not used OEMV3 RXo OEMV3 TXo Not used GND Not used OEMV3 TXo OEMV3 RXo Not used oj o NI a AJ oJ N Table 105 SPAN MPPC Breakout Board
288. kap se di kon kak ee 45 14 Vehicle Frame gt 46 15 SPAN SE LED Indicators 5 2 1 RE e clue Pete e ebat tb Reges 67 16 Status LED Flash Sequence Example sse eene 68 17 SD Gard Access DOOR nee eene E E ERE ERR ERRANT Sa e den Eee PO Len hss 69 18 Eent Out EE PEN 75 19 Simple Configuration sssssssssssssssssseeeeee eren eren nnne sri nte nnnr rii nnn nnns nnns 86 20 Rotation Results 4 5 c H 86 21 SPAN SE Power Cable sss eset ooo not tsseooooosteseoaoooosssessoooososessnnn 92 22 SPAN SE I O 1 Green C bla insisi eaae aae aa de aAa aa nette sns nnne 93 23 SPAN SE UO 2 Yellow Cable a pann i iaa 95 24 Universal IMU Enclosure Top Bottom Dimensions sssssseeeeee 97 25 Universal IMU Enclosure Side Dimensions 98 26 IMU Center of Navigation sss eene tease aeooo nennen nns nnne nr ns nnn renes 99 27 Universal IMU Enclosure Interface Cable 0 cccccceceeeceeceeeeseneeceeeeseeaeeeeeesesanaeeeeeeseesaees 100 28 Universal IMU Enclosure Interface Cable ssssssssssssssseseeneeeen nnns 100 29 HG1700 Top Bottom Dimensions sssssssssseee enemies 104 30 HG1700 Enclosure Side Dimensions 105 31 LN 200 IMU Enclosure Top Bottom Dimensions and Centre of Navigation 107 3
289. ke a directory enter the MKDIR command MKDIR SD TESTI Create a directory called test under the root 70 SPAN SE User Manual Rev 9 SPAN SE Operation Chapter 3 c The DIRENT log lets you view the contents of the current directory which now contains a TESTI directory COM1 LOG DIRENT OK COMI DIRENT COMI 0 99 0 FINESTEERING 1523 153428 656 00000000 0000 159 TESTI 0 0 20090316 183648 The DIR command can also be used at the command prompt to return a Disk Operating System DOS directory structure response d To change the directory enter the CD command CD SD TESTI Change current working directory to new TESTI e To view the current working directory enter the PWD command COM1 PwD SD TEST1 COM1 f To remove a directory use the RMDIR command CDi Change back to the root directory RMDIR SD TtESTI Remove the TESTI directory 3 9 3 Select Logs to Send to the SD Card Use the LOG command see page 159 and its FILE designator to specify which logs to send to the SD Card For example a standard logging configuration for GPS INS only post processing applications would be OG FILE RANGECMPB ONTIME 1 OG FILE RAWEPHEMB ONNEW OG FILE RAWIMUSB ONNEW OG FILE IMUTOANTOFFSETSB ONNEW 3 9 4 Start and Stop Logging To start or stop logging either use the button next to the SD Card access door or use the LOGFILE command see page 1
290. l International Inc 2600 Ridgway Parkway Ridgway is really not spelled with an e Minneapolis MN 55413 iMar iMAR GmbH Im Reihersbruch 3 D 66386 St Ingbert Germany KVH KVH IMUS should be returned to NovAtel for repair Contact Customer Support for detailed information Litef IMU LCI IMUS should be returned to NovAtel for repair Contact Customer Support for detailed information Litton Northrop Grumman Litton Systems Inc Navigation Systems Division NSD 21240 Burbank Blvd Woodland Hills CA 91367 18 SPAN SE User Manual Rev 9 Warranty Policy NovAtel warrants that during the Warranty Period that a the Product will be free from defects in material and workmanship and conform to NovAtel specifications and b the software will be free from error which materially affect performance THESE WARRANTIES ARE EXPRESSLY IN LIEU OF ALL OTHER WARRANTIES EXPRESS OR IMPLIED INCLUDING WITHOUT LIMITATION ALL IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE NOVATEL SHALL IN NO EVENT BE LIABLE FOR SPECIAL INDIRECT INCIDENTAL OR CONSEQUENTIAL DAMAGES OF ANY KIND OR NATURE DUE TO ANY CAUSE Purchaser s exclusive remedy for a claim under this warranty shall be limited to the repair or replacement at NovAtel s option and at NovAtel s facility of defective or nonconforming materials parts or components or in the case of software provision of a software revision for implementation by the Buyer All ma
291. l string B 3 4 MKDIR Make Directory Command MKDIR Message ID 1060 Parameter Values Mass Storage Device Enum see Table 21 on page 126 SD default Path Null terminated string B 3 5 RMDIR Remove Directory Command RMDIR Message ID 1058 Parameter Values Mass Storage Device Enum see Table 21 on page 126 SD default Path Null terminated string SPAN SE User Manual Rev 9 127 Appendix B B 3 6 PWD Present Working Directory Command PWD Parameter Commands Message ID 1061 COM Port Enum see Table 23 on page 136 COM1 default Mass Storage Device Enum see Table 21 on page 126 SD default B 3 7 FTP The SPAN SE has a built in FTP server to simplify retrieving data from the SD Card After the IP information has been set using the IPCONFIG command any FTP client can connect to the SPAN SE on port 21 The FTP server allows basic file manipulation and directory browsing but files cannot be uploaded to the SD Card at this time To ensure high speed logging is not corrupted the FTP server reads from the SD Card when it is idle that is mounted and no log file open for writing Attempting to use an FTP command when the card is not idle will result in this error 425 SD Card not ready Command Description GET lt filename gt Copy file from SD Card to computer DIR DEL lt filename gt Directory listing of SD Card Delete file
292. le s DB 9 ODO connector to optional wheel sensor cable 6 iIMU interface cable s ve and ve connectors to user supplied power source 7 iIMU interface cable s MIL 22 pin connector to the iIMU FSAS IMU 114 SPAN SE User Manual Rev 9 Technical Specifications Appendix A Table 16 IMU Interface Cable Pin Out MIL C Power Female Male Male 38999 III Function 4 mm DB9to DB9 DB9to Comments Connector Pin plugs COM3 tol O ODO 1 PGND Color black Power ground Label PGND 2 ODO AN 7 Odometer input A opto coupler 2 to 6 V 3 VIN Color red 10 to 34 VDC Label 10 34 VDC 4 ODO A 6 Odometer input A opto coupler 2 to 6 V 5 6 Reserved 7 DAS 1 and6 Shielded data acquisition signal LVTTL to VARF Reserved DAS 9 Shielded ground reference for GND data acquisition amp control signals 10 Reserved 11 DON 8 Twisted pair serial data output signal RS 422 12 DO 2 Twisted pair serial data output signal RS 422 13 Reserved 14 DGND 5 Digital ground 15 DGND 5 Digital ground 16 ODO_B 3 Odometer input B opto coupler 2 to 6 V 17 ODO_BN 1 Odometer input B opto coupler 2 to 6 V 18 Reserved 19 DI 3 Twisted pair serial data in RS 422 20 DIN 7 Twisted pair serial data in RS 422 21 SW ON Connected to Pin 3 switch IMU SIG signal ON OFF voltage applied ON 4 to 34 V 22 SW ON Connected to Pin 1 ground for GND IMU signal ON
293. led 1 28 0x10000000 IMU Status Passed 0 Failed 1 29 0x20000000 IMU Status Passed 0 Failed 1 N7 30 0x40000000 IMU Status Passed 0 Failed 1 31 0x80000000 Reserved 326 Data Logs SPAN SE User Manual Rev 9 Data Logs Appendix D D 3 57 RAWIMUS Short Raw IMU Data Field This is a short header version of the RAWIMU log on page 319 Message ID 325 Log Type Asynch Recommended Input log rawimusa onnew ASCII Example SRAWIMUSA 1105 425384 180 1105 425384 156166800 111607 43088060 430312 3033352 132863 186983 823 5aa97065 Field Type Data Description Format Binary Binary Bytes Offset 1 Log Header Log header H 0 2 Week GPS Week Ulong 4 H 3 Seconds into Seconds from week start Double 8 H 4 Week 4 IMU Status The status of the IMU This field is given ina Long 4 H 12 fixed length n array of bytes in binary but in ASCII or Abbreviated ASCII is converted into 2 character hexadecimal pairs For the raw IMU status of the HG1700 and the LN 200 IMUs see Table 77 on page 323 Refer also to the Interface Control Documentation as provided by Honeywell and Northrop Grumman respectively For the raw IMU status of the iIMU FSAS see Table 68 For the raw IMU status of the Litef LCI refer to Table 69 5 Z Accel Output Change in velocity count along Z axis 1 Long 4 H 16 6 Y Accel Output Change in velocity count along Y axi
294. led in this appendix provides the necessary information to install the LN 200 sensor NovAtel part number 80023515 into the SPAN IMU enclosure NovAtel part number 01017656 using the LN 200 wiring harness NovAtel part number 01017655 The steps required for this procedure are e Disassemble the SPAN IMU Enclosure Install the LN 200 Sensor Unit Make Electrical Connections e Reassemble the SPAN IMU Enclosure Important Ensure you use a ground strap before installing the internal circuit boards Do NOT scratch any surfaces of the unit Figure 75 Required Parts Reference Description 1 SPAN IMU Enclosure 2 LN 200 Wiring Harness 3 LN 200 Sensor Unit SPAN SE User Manual Rev 9 377 Appendix H LN 200 IMU in SPAN IMU Enclosure H 1 Disassemble the SPAN IMU Enclosure The SPAN IMU disassembly steps are as follows Remove the top cover s six bolts using a hex key as shown in Figure 76 Figure 76 Bolts and Hex Key 2 Setaside the bolts with their sealing washers 3 Lift the top cover off the tube body and set it aside 4 Lift the tube body away from its base plate and set it aside as shown in Figure 77 on page 379 378 SPAN SE User Manual Rev 9 LN 200 IMU in SPAN IMU Enclosure Appendix H Figure 77 Lift Top Cover and Tube Body SPAN SE User Manual Rev 9 379 Appendix H LN 200 IMU in SPAN IMU Enclosure H 2 Install the L
295. ledge and Learning SPAN SE User Manual Rev 9 313 Appendix D Data Logs Table 66 Channel Tracking Status Nibble Bit Mask Description Range Value 0 0x00000001 Tracking state 0 11 see Table 63 Tracking State on page 313 NO 1 0x00000002 2 0x00000004 3 0x00000008 4 0x00000010 N1 5 0x00000020 SV channel number O n 0 first n last n depends on the receiver 6 0x00000040 7 0x00000080 8 0x00000100 N2 9 0x00000200 10 0x00000400 Phase lock flag 0 Not locked 1 Locked 11 0x00000800 Parity known flag 0 Not known 1 Known 12 0x00001000 Code locked flag 0 Not locked 1 Locked N3 13 0x00002000 Correlator type 0 7 see Table 64 Correlator Type on page 313 14 0x00004000 15 0x00008000 16 0x00010000 Satellite system 0 GPS 1 GLONASS NA 17 0x00020000 2 WAAS 3 6 Reserved 18 0x00040000 7 Other 19 0x00080000 Reserved 20 0x00100000 Grouping 1 0 Not grouped 1 Grouped N5 21 0x00200000 Signal type Dependant on satellite system above GPS GLONASS 22 0x00400000 0 L1 C A 0 L1 C A 5 L2 P 5 L2 P 2 9200809909 9 L2 P codeless 24 0x01000000 17 L2C SBAS Other N6 25 0x02000000 0 L1 C A 19 OmniSTAR 26 0x04000000 Forward Error Correction FEC 0 Not FEC 1 FEC 27 0x08000000 Primary L1 channel 0 Not primary 1 Primary Continued on the following page 314 SPAN SE User Manual Rev 9 Data Logs Ap
296. ledge and Learning The following table contains excerpts from Table 6 of the NMEA Standard which defines the variables for the NMEA logs The actual format for each parameter is indicated after its description The NMEA National Marine Electronics Association has defined standards that specify how electronic equipment for marine users communicate GPS receivers are part of this standard and the NMEA has defined the format for several GPS data logs otherwise known as sentences Each NMEA sentence begins with a followed by the prefix GP followed by a sequence of letters that define the type of information contained in the sentence Data contained within the sentence is separated by commas and the sentence is terminated with a two digit checksum followed by a carriage return line feed Here is an example of an NMEA sentence that describes time position and fix related data GPGGA 134658 00 5106 9792 N 11402 3003 W 2 09 1 0 1048 47 M 16 27 M 08 AAAA 60 This example and other NMEA logs are output the same no matter what GPS receiver is used providing a standard way to communicate and process GPS information SPAN SE User Manual Rev 9 225 Appendix D Field Type Symbol Special Format Fields Data Logs Definition Status A Single character field A Yes Data Valid Warning Flag Clear V No Data Invalid Warning Flag Set Latitude Fixed Variable length field degrees minutes decimal 2 fixed di
297. lex cable to the HG1700 sensor ensuring that all the pins are fully connected Check also that the pins are fully seated and that the flex cable stiffener around the pins is not bent upward see Figure 60 Figure 60 Attach Flex Cable 2 Tighten the screws to 4 in lbs 3 Connect the opposite end of the flex cable to the corresponding connector on the IMU card ensuring that the contacts on the flex cable mate with the contacts on the connector as shown in Figure 60 364 SPAN SE User Manual Rev 9 HG1700 IMU in SPAN HG Enclosure Appendix F 4 Check that the flex cable is locked in place Important Figure 61 shows an incorrect installation of the flex cable where it is bowed in the middle It will not operate properly in this position Figure 62 shows the proper installation of the flex cable Notice how the flex cable sits flush against the IMU surface bed san Y Rin Lx ra A Figure 62 Correct Flat Flex Cable Installation F4 Re Assemble the SPAN IMU Enclosure Use a hex key to align the long bolts with the threaded holes in the base as shown in Figure 57 on page 361 Apply threadlock to threads Finger tighten all bolts and torque them in a cross pattern to 12 in lbs The fully assembled IMU enclosure is shown in Figure 63 Figure
298. lows COM2 setimutoantoffset 0 1 0 1 0 1 Return OK COM2 The above example illustrates command input to the receiver COM2 serial port which sets the antenna to IMU offset However your only confirmation that the command was actually accepted is the return of the COM2 prompt If a command is incorrectly entered the receiver responds with Invalid Command Name or a more detailed error message followed by the port prompt 210 SPAN SE User Manual Rev 9 Command Prompt Interface C 1 DOS Appendix C One way to initiate multiple commands and logging from the receiver is to create DOS command files relating to specific functions This minimizes the time required to set up duplicate test situations Any convenient text editor can be used to create command text files Example For this example consider a situation where a laptop computer s appropriately configured COMI serial port is connected to the receiver s COMI serial port and where a rover terminal is connected to the receiver s COM serial port If you wish to monitor the SPAN system activity the following command file could be used to do this 1 Open a text editor on the PC and type in the following command sequences log log log log log com2 com2 com2 com2 com2 satvisa ontime 15 trackstata ontime 15 rxstatusa ontime 60 5 bestposa ontime 1 psrdopa ontime 15 2 Save this with a convenient file name e g C GPS BOOT1 TXT and exit the text edit
299. lso Section D 2 NMEA Standard Logs on page 225 The GPGSA log outputs these messages with contents without waiting for a valid almanac Instead it uses a UTC time calculated with default parameters In this case the UTC time status is set to WARNING since it may not be 100 accurate When a valid almanac is available the receiver uses the real parameters Then the UTC time is set to VALID The DOPs provide a simple characterization of the user satellite geometry DOP is related to the volume formed by the intersection points of the user satellite vectors with the unit sphere centered on the user Larger volumes give smaller DOPs Lower DOP values generally represent better position accuracy The role of DOP in GPS positioning however is often misunderstood A lower DOP value does not automatically mean a low position error The quality of a GPS derived position estimate depends upon both the measurement geometry as represented by DOP values and range errors caused by signal strength ionospheric effects multipath and so on If the DOP values exceed 9999 0 or there is an insufficient number of satellites to calculate a DOP value 9999 0 is reported for PDOP and HDOP VDOP is reported as 0 0 in this case Message ID 221 Log Type Synch Recommended Input log gpgsa ontime 1 Example 1 GPS only SGPGSA M 3 17 02 30 04 05 10 09 06 31 12 1 2 0 8 0 9 35 SPAN SE User Manual Rev 9 Data Logs Append
300. ly direction 9 Up Velocity Velocity in an up direction Double 8 H 52 10 Roll Right handed rotation from local level Double 8 H 60 around Y axis in degrees 11 Pitch Right handed rotation from local level Double 8 H 68 around X axis in degrees 12 Azimuth Left handed rotation around Z axis degrees Double 8 H 76 clockwise from North 13 Status INS Status see Table 5 on page 54 Enum 4 H 84 14 XXXX 32 bit CRC Hex 4 H 88 15 CRI LF Sentence Terminator ASCII only SPAN SE User Manual Rev 9 285 Appendix D D 3 37 INSSPD INS Speed This log contains the most recent speed measurements in the horizontal and vertical directions and includes an INS status indicator Recommended Input log insspda ontime 1 ASCII Example INSSPDA COM1 0 94 0 FINESTEERING 1635 490702 000 00000000 0000 406 1635 4907 01 997500000 341 850458219 0 001344556 0 000962845 INS SOLUTION GOOD 95aa6f17 Data Logs Message ID 266 Log Type Synch Field Field Type Data Description Format ted abad 1 Log Header Log header H 0 2 Week GPS Week Ulong 4 H 3 Seconds into Seconds from week start Double 8 H 4 Week 4 Trk gnd Actual direction of motion over Double 8 H 12 ground track over ground with respect to True North in degrees 5 Horizontal Speed Magnitude of horizontal speed in Double 8 H 20 meters per second 6 Vertical Speed Magnitude of vertical speed in Double 8 H 28 meters pe
301. m calibration The IMU to antenna lever arm is the distance from the IMU center of navigation to the phase center of the antenna See also the SETIMUTOANTOFFSET command starting on page 184 and Section 3 4 6 Lever Arm Calibration Routine starting on page 59 The calibration runs for the time specified or until the specified uncertainty is met The BESTLEVERARM log outputs the lever arm calculations once the calibration is complete see also page 237 Ifa SETIMUANTOFFSET command is already entered or there is a previously saved lever arm in NVM before the LEVERARMCALIBRATE is sent the calibration starts using initial values from SETIMUTOANTOFFSET or NVM Ensure the initial standard deviations are representative of the initial lever arm values LEVERARMCALIBRATE is not available for the IMU CPT or HG1930 IMUs Abbreviated ASCII Syntax Message ID 675 LEVERARMCALIBRATE switch maxtime maxstd Abbreviated ASCII Example 1 LEVERARMCALIBRATE 600 Given this command the lever arm calibration runs for 600 seconds The final standard deviation of the estimated lever arm is output in the BESTLEVERARM log The calibration starts when the SPAN solution reaches INS ALIGNMENT COMPLETE The example s 600 s duration 1s from when calibration begins and not from when you issue the command Abbreviated ASCII Example 2 LEVERARMCALIBRATE 600 0 05 Given this command the lever arm
302. mation categorized by function and then detailed in alphabetical order INS specific commands and logs provide attitude data such as roll pitch and azimuth v Logging Restriction Important Notice Note the following when configuring your SPAN system Recommend logging rates RANGECMPB maximum 20 Hz RANGE B maximum 10 Hz TRACKSTATB maximum 10 Hz No more than one of the above logs should be output at one time We do not recommend ASCII for these logs These recommendations apply to all large OEMV logs 2 When logging to the SD memory card if you log at more than 40 kb sec you will get a warning in RXSTATUS 3 BESTPOS BESTGPSPOS GPGGA GPVTG and GPGLL logs are available at 1 1 and 5 Hz only on SPAN SE with an inertial model 4 When requesting high rate data over COMI COM2 COMG or COMA be careful not to overrun the baud rate Refer to Appendix B 4 5 COM Port configuration control starting on page 135 for further information 5 RAWIMU and RAWIMUS logs are only available with the ONNEW or ONCHANGED trigger These logs are not valid with the ONTIME trigger The raw IMU observations contained in these logs are sequential changes in velocity and rotation As such you can only use them for navigation if they are logged at their full rate See details of these log starting on page 319 6 To collect wheel sensor information useful in post processing the TIMEDWHEELDATA log should only be used with the ONNEW trigger See also p
303. me tag On SPAN SE BESTVEL and BESTGPSVEL are available at less than 1 Hz 1 Hz or 5 Hz Higher rate velocity information is available in the INSVEL INSPVA or INSSPD logs BESTGPSVEL Message ID 506 BESTVEL Message ID 99 Log Type Synch Recommended Input log bestgpsvela ontime 1 ASCII Example BESTGPSVELA COM1 0 62 5 FINESTEERING 1049 247755 000 00000128 7e3 0 SOL COMPUTED SINGLE 0 250 0 000 0 1744 333 002126 0 3070 6 0082 dfdc635c SPAN SE User Manual Rev 9 235 Appendix D 236 Field Field type Data Description Format Data Logs Binary Binary Bytes Offset 1 Log header Log header H 0 2 Sol Status Solution status see Table 45 on page 231 Enum 4 H 3 Vel Type Velocity type see Table 44 on page 229 Enum 4 H 4 4 Latency A measure of the latency in the velocity time Float 4 H 8 tag in seconds It should be subtracted from the time to give improved results 5 Age Differential age Float 4 H 12 6 Hor Spd Horizontal speed over ground in metres per Double 8 H 16 Trk Gnd Actual direction of motion over ground track Double 8 H 24 over ground with respect to True North in degrees 8 Vert Spd Vertical speed in metres per second where Double 8 H 32 positive values indicate increasing altitude up and negative values indicate decreasing altitude down 9 Reserved Float 4 H 40 10 XXXX 32 bit CRC ASCII and Binary only Hex H 44 11 CRI LF Sentence termina
304. message header depending on whether the command is abbreviated ASCII ASCII or binary 2 mark MARK1 0 Choose which Event Out Enum 4 H MARK2 1 mark to use MARK3 2 3 switch DISABLE 0 Disables Event output Enum 4 H 4 ENABLE 1 4 polarity NEGATIVE 0 Negative polarity default Enum 4 H 8 POSITIVE 1 Positive polarity 5 active default 500 000 000 Active period of the Event Ulong 4 H 12 period minimum 25 Out signal in nanoseconds maximum 999 999 975 6 not default 500 000 000 Not active period of the Ulong 4 H 16 active minimum 25 Event Out signal in period maximum 999 999 975 nanoseconds SPAN SE User Manual Rev 9 143 Appendix B Commands B 4 11 EXTHDGOFFSET Set the Angular Offset 144 The EXTHDGOFFSET command can be used to specify the angular offset from the dual antenna baseline to the SPAN computation frame It is highly recommended that these offsets be entered by entering a lever arm to both antennas as the measurement errors will be lower see Section 4 5 Configuring SPAN with ALIGN on SE D and MPPC D Models on page 79 However this command can be used to enter the offsets directly 1f necessary EXTHDGOFFSET is also available as a log when both lever arms are entered Refer to Section D 3 9 EXTHDGOFFSET Log the Angular Offset on page 245 Abbreviated ASCII Syntax Message ID 1204 EXTHDGOFFSET heading headingSTD pitch pitchS TD Abbreviated ASCII Example EXTHDGOFFSET 0 5 1 0 0 23 1 0
305. mm 76 3 12 2 Configuring the Ethernet Connection Gettngs AA 76 3 12 3 Configuring Log Requests Destined for the Ethernet Port 77 3 12 4 Connecting to the Ethernet Port 77 4 Dual Antenna Functionality 78 ARIES EE 78 4 2 Installatlori EE 78 4 3 Configuring ALIGN with GPAN GE D 79 4 4 Configuring ALIGN with GPAN MPP D 79 4 5 Configuring SPAN with ALIGN on GE D and MPPC D Models ee 79 4 5 1 Alignment on a Moving Vessel Aided Transfer Alignment Default 80 4 5 2 Alignment on a Stationary Vehicle Aided Static Alignment AA 80 4 5 3 Unaided Alignment 1c creer ere bitin on Die tenn twd adan ok ner tinc onda dn nine n Rene de deno 80 4 6 SPAN ALIGN Attitude Updates AAA 81 5 API Functionality 82 XS CHI RE 82 5 2 Loading User Applications ener nene nrnnr rn entren nenne 82 5 2 1 Verifying Loaded User Applications nnne 83 5 3 Starting Stopping and Removing a User Application eee ecceeeseeeceeneeeeeeeeesneeeeenaeeeeeeeees 83 5 3 1 Starting a User Application ssssene emm eene 83 5 3 2 Stopping a User Application sssseeeeen eem eene 83 5 3 3 Removing a User Application eeseenne emm 84 6 Variable Lever Arm 85 BERTI SAM 85 6 2 Technical Description 85 ESSE E 87 SPAN SE User Manual Rev 9 Appendix A Technical Specifications 88 CH SPAN SE
306. moved and that they are not damaged Figure 44 Remove Base 350 SPAN SE User Manual Rev 9 HG1700 IMU in Universal Enclosure Appendix E 2 Using a 30 mm socket remove the jam nut and free the wiring harness connector from the body as shown in Figure 2 Retain the O ring and the jam nut for reassembly Figure 45 Disconnect Wiring Harness from Enclosure Body SPAN SE User Manual Rev 9 351 Appendix E HG1700 IMU in Universal Enclosure 3 Usinga2 5 mm hex bit unscrew the M4 screws and remove the IMU mounting plate bracket and cable harness as shown in Figure 46 wiring harness not shown Figure 46 Remove IMU Mounting Plate and Bracket 352 SPAN SE User Manual Rev 9 HG1700 IMU in Universal Enclosure Appendix E E 2 Install the HG1700 Sensor Unit To install the HG1700 sensor unit in the Universal Enclosure 1 Using a Phillips screwdriver remove the 8 32 IMU mounting screws from the IMU mounting plate as shown in Figure 47 wiring harness not shown Figure 47 Remove IMU Mounting Screws 2 Check the connection of the internal cable harness to the board assembly and route as shown in Figure 48 Before you connect the IMU cable harness make sure the connector on the board assembly is clicked open Connect the IMU cable harness to the IMU fasten the 2 56 screws but do not use thread locking fluid then connect to the board assembly Ensure the cable housing latches Figure 48 Co
307. n 00 0 minutes 01 30 minutes 10 45 minutes 11 60 minutes PpP Binary Binary Field Field type Data Description Format Bytes Offset 1 GLOEPHEMERIS Log header H 0 header 2 sloto Slot information offset PRN identification Ushort 2 H Slot 37 This is also called SLOTO in Connect 3 freqo Frequency channel offset for satellite in the Ushort 2 H 2 range 0 to 20 4 sat type Satellite type where Uchar 1 H 4 0 GLO_SAT 1 GLO_SAT_M new M type 5 Reserved 1 H 5 6 e week Reference week of ephemeris GPS time Ushort 2 H 6 7 e time Reference time of ephemeris GPS time in ms Ulong 4 H 8 8 t offset Integer seconds between GPS and GLONASS Ulong 4 H 12 time A positive value implies GLONASS is ahead of GPS time 9 Nt Current data number This field is only output for Ushort 2 H 16 the new M type satellites See example output from both satellite types field 4 on page 249 10 Reserved 1 H 18 Continued on the following page 250 SPAN SE User Manual Rev 9 Data Logs Appendix D Field Field type Data Description Format ved Cary 11 Reserved 1 H 19 12 issue 15 minute interval number corresponding to Ulong 4 H 20 ephemeris reference time 13 health Ephemeris health where Ulong 4 H 24 0 GOOD 1 BAD 14 pos x X coordinate for satellite at reference time Double 8 H
308. n Double 8 H 44 9 UpVelocity Velocity in an upward direction Double 8 H 52 10 Roll Right handed rotation from Double 8 H 60 local level around the Y axis in degrees 11 Pitch Right handed rotation from Double 8 H 68 local level around X axis in degrees 12 Azimuth Right handed rotation from Double 8 H 76 local level around Z axis in degrees 13 Status INS status Enum 4 H 84 6 XXXX 32 bit CRC Hex 4 H 88 7 CRI LF Sentence Terminator ASCII only SPAN SE User Manual Rev 9 Data Logs Appendix D D 3 11 GLOCLOCK GLONASS Clock Information This log contains the time difference information between GNSS and GLONASS time as well as status flags The status flags are used to indicate the type of time processing used in the least squares adjustment GNSS and GLONASS time are both based on the Universal Time Coordinated UTC time scale with some adjustments GPS time is continuous and does not include any of the leap second adjustments to UTC applied since 1980 The result is that GPS time currently leads UTC time by 15 seconds GLONASS time applies leap seconds but is also three hours ahead to represent Moscow time The nominal offset between GPS and GLONASS time is therefore due to the three hour offset minus the leap second offset Currently this value is at 10785 seconds with GLONASS leading As well as the nominal offset there is a residual offset on the order of nanoseconds which must be estimated in the least sq
309. n M12 Connector on the Corrsys Datron Cable Female Pin Description Color Se 1 GND White No change 2 Ug Input Power Brown 3 Signal A Green 6 4 Signal A inverted Yellow 7 5 Signal B Grey 3 6 Signal B inverted Pink 1 7 Reserved No change 8 a Pin 2 is wired to a red banana plug Power in and Pin 1 is wired to a black banana plug Power return so the WPT needs power to operate 10 to 30 V Solder the shield on the WPT cable to the female DB9 housing b This modification is for the Corrsys Datron WPT 8 pin M12 plug cable number 14865 SPAN SE User Manual Rev 9 Technical Specifications A 2 4 3 IMU Performance PERFORMANCE IMU Appendix A iIMU FSAS Gyro Input Range 500 degrees s Gyro Rate Bias 0 75 hr Gyro Rate Scale Factor 300 ppm Angular Random Walk 0 1 degrees sq rt hr Accelerometer Range 5 g 20 g optional Accelerometer Linearity Accelerometer Scale Factor 400 ppm Accelerometer Bias 1 0 mg A 2 4 4 Electrical and Environmental ELECTRICAL IMU Power Consumption 16 W max IMU Input Voltage 10 to 34 V DC System Power Consumption 14 8 W typical Data Connector MIL C 38999 III Power Connector MIL C 38999 III same as data connector IMU Interface RS 422 ENVIRONMENTAL iIMU FSAS Temperature Operating 40 C to 71 C 40 F to 160 F Storage 40 C to 85 C 40 F to 185 F Humidity 95
310. n on page 148 for details RTK BASE CONFIGURATION The Connect position mode wizard currently cannot configure firmware version SCD000300 or SKS000200 to receive RTK corrections Instead configuration should be done manually through the Connect console using the GNSSCARDCONFIG command For information about RTK configuration of an OEMV equipped base station refer to OEMV Family Installation and Operation User Manual SPAN SE User Manual Rev 9 SPAN SE Operation Chapter 3 SPAN SE RTK ROVER CONFIGURATION Command description brackets represent optional parameters RTK correction data is input to SPAN SE using the port labelled OEMV3 on the green cable The port is configured using the GNSSCARDCONFIG command at the rover as follows gnsscardconfig card port rx_type tx_type baud com control parameters GPGGA Output For example through the SPAN SE COM1 COM4 USB or Ethernet port enter RTCA gnsscardconfig rtca none 9600 RTCM gnsscardconfig rtcm none 9600 RTCMV3 gnsscardconfig rtcmv3 none 9600 CMR gnsscardconfig cmr none 9600 CMR gnsscardconfig cmr none 9600 same as CMR The baud rate of the rover must match the baud rate of the RTK correction data source If you are using SPAN SE or SPAN MPPC with an RTK correction methodology that requires knowledge of the rover location you can configure SPAN to output GPGGA messages through the OEMV3 COMI port For example to configure SPAN t
311. nary Field pi Type Value Value Format Bytes Offset 1 RESET header This field contains the H 0 command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary 2 delay Seconds to wait before Ulong 4 H resetting Default is 0 SPAN SE User Manual Rev 9 169 Appendix B Commands B 4 28 RTKCOMMAND Reset or set the RTK filter to its defaults This command provides the ability to reset the RTK filter and clear any set RTK parameters The RESET parameter causes the AdVance RTK algorithm to undergo a complete reset forcing the system to restart the ambiguity resolution calculations The USE DEFAULTS command executes the following commands RTKDYNAMICS DYNAMIC RTKSVENTRIES 12 Abbreviated ASCII Syntax Message ID 97 RTKCOMMAND action Factory Default RTKCOMMAND USE DEFAULTS Abbreviated ASCII Example RTKCOMMAND RESET Field ASCII Binary Description Binary Binary Binary Type Value Value Format Bytes Offset 1 RTKCOMMAND This field contains the H 0 header command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary 2 type USE DEFAULTS 0 Reset to defaults Enum 4 H RESET 1 Reset RTK algorithm Field 170 SPAN SE User Manual Rev 9 Commands Appendix B B 4 29 RTKDYNAMICS Set the RTK dynamics mode This command
312. ndard deviation SPAN SE User Manual Rev 9 Commands Appendix B ASCII Binary Binary Binary Binary Description Format Bytes Offset Value Value 1 header This field contains the H 0 command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary 2 pitch 360 to 360 Input pitch angle about the x Double 8 H axis in degrees 3 roll 360 to 360 Input roll angle about the y Double 8 H 8 axis in degrees 4 azimuth 360 to 360 Input azimuth angle about the Double 8 H 16 z axis in degrees 5 pitchSTD 9 000278 1 to 180 Input pitch standard deviation Double 8 H 24 STD angle in degrees 6 rollSTD Input roll STD angle in degrees Double 8 H 32 7 azSTD Input azimuth STD angle in Double 8 H 40 degrees 1 0 000278 is equal to 1 arc second SPAN SE User Manual Rev 9 189 Appendix B Commands B 4 42 SETINITAZIMUTH Set initial azimuth and standard deviation 190 This command allows you to start SPAN operation with a previously known azimuth Azimuth is the weakest component of a coarse alignment and is also the easiest to know from an external source 1 e like the azimuth of roadway When using this command SPAN operation through alignment will appear the same as with a usual coarse alignment Roll and pitch will be determined using averaged gyro and accelerometer measurements The input azim
313. ng 4 12 seconds ASCII data 7 recs Number of records to follow Ulong 4 H 16 8 string GLONASS data string Uchar variabl H 20 string size e 1 9 Reserved Uchar 1 variable 10 Next record offset H 20 recs x string size 1 variable xxxx 32 bit CRC ASCII and Binary only Hex 4 variable variable CR LF Sentence terminator ASCII only 1 In the binary log case additional bytes of padding are added to maintain 4 byte alignment 252 SPAN SE User Manual Rev 9 Data Logs Appendix D D 3 14 GPALM Almanac Data This National Marine Electronics Association NMEA log see also Section D 2 NMEA Standard Logs on page 225 outputs raw almanac data for each satellite PRN contained in the broadcast message A separate record is logged for each PRN up to a maximum of 32 records GPALM outputs these messages with contents without waiting for a valid almanac Instead it uses a UTC time calculated with default parameters In this case the UTC time status 1s set to WARNING since it may not be 10096 accurate When a valid almanac is available the receiver uses the real parameters Then UTC time is then set to VALID It takes a minimum of 12 5 minutes to collect a complete almanac following receiver boot up If an almanac was stored in NVM the stored values are reported in the GPALM log once time is set on the receiver To obtain copies of ICD GPS 200 seen in the GPALM table footnotes refer to ARINC in the S
314. nnect IMU to IMU Mounting Plate SPAN SE User Manual Rev 9 353 Appendix E HG1700 IMU in Universal Enclosure 3 Being careful of the connectors and the orientation align the pilot holes of the IMU with the pilot pins of the mounting plate Gently place the IMU and mounting plate together being careful not to pinch the cable harness Screw the IMU and mounting plate together using thread locking fluid on the 8 32 screws as shown in Figure 49 ALIGN BOTH PILOT PINS TO HOLES ON IMU Figure 49 Installing IMU to Mounting Plate 354 SPAN SE User Manual Rev 9 HG1700 IMU in Universal Enclosure Appendix E 4 Starting with the round pilot hole shown in Figure 50 align the pilot holes of the assembled plate noting the orientation with the pilot pins of the enclosure body Lower the assembly into place then fasten using thread locking fluid on the M4 screws ROUND PILOT HOLE Figure 50 Assemble Into Enclosure Body SPAN SE User Manual Rev 9 355 Appendix E HG1700 IMU in Universal Enclosure 5 Connect the internal cable harness to the enclosure body as shown in Figure 51 During this step ensure the connector O ring supplied with the connector of the internal cable harness remains flat within the connector s groove and make sure the groove is clean and free of debris Fasten the connector to the enclosure body wall using the jam nut supplied with the connector Apply thread locking fluid then with a 30 mm socket
315. nnectors MIL C 38999 III 22 pin all IMU s IMU Interface RS 232 or RS 422 ENVIRONMENTAL LN 200 IMU Temperature Operating 30 C to 60 C 22 F to 140 F Storage 45 C to 80 C 49 F to 176 F Humidity 95 non condensing a For replacement connectors on the interface and power cables see Section K 3 Manufacturer s Part Numbers on page 407 SPAN SE User Manual Rev 9 109 Appendix A Technical Specifications A 24 ilMU FSAS Table 15 ilMU FSAS Specifications IMU Size 128 mm x 128 mm x 104 mm 5 04 x 5 04 x 4 09 IMU Weight 2 1 kg 4 63 Ib MECHANICAL DRAWINGS ON Y LO OC M6x1 6H 12deep 4x Dimensions are shown in millimetres Figure 33 ilMU FSAS Top Bottom Dimensions a See Figure 35 on page 112 for the center of navigation dimensions 110 SPAN SE User Manual Rev 9 Appendix A Technical Specifications POO TMM Dimensions are shown in millimetres Figure 34 ilMU FSAS Enclosure Side Dimensions 111 SPAN SE User Manual Rev 9 Appendix A Technical Specifications urod uogoes eut Je euiojepaocoe o D H LTSOF Lx SS 0 LTSO F Dimensions are shown in millimetres I LFSO EY ji D SIX I fod uonsesie ur Jejeuiojejeoae Julod uogaesiejur 1e euloJa o2oe Figure 35 ilMU FSAS Center of Navigation 112 SPAN SE User Manual Rev 9 Technical Specifications Appendix A A 2 4 4 ilMU FSAS Interface Cable
316. nology System does ZUPTs automatically It is not necessary to use this command under normal circumstances CO This command should only be used by advanced users of GNSS INS Abbreviated ASCII Syntax Message ID 382 INSZUPT SPAN SE User Manual Rev 9 155 Appendix B Commands B 4 21 INSZUPTCONTROL INS Zero Velocity Update Control 156 This command allows you to control whether ZUPTS are performed by the system When enabled ZUPTS allow the INS to reduce its accumulated errors Typically the system will automatically detect when it is stationary and apply a ZUPT For certain applications where it is known that the system will never be stationary such as marine or airborne applications ZUPTS can be disabled altogether Abbreviated ASCII Syntax Message ID 1293 INSZUPTCONTROL switch Abbreviated ASCII Example INSZUPTCONTROL DISABLE Field ASCII Binary Type Value Value Binary Binary Binary Field Format Bytes Offset Description 1 Header This field contains the H 0 command name or message header depending on whether the command is abbreviated ASCII ASCII or binary 2 Switch Disable 0 Disable INS zero velocity Enum 4 H updates Enable Enable INS zero velocity updates default SPAN SE User Manual Rev 9 Commands Appendix B B 4 22 LEVERARMCALIBRATE INS Calibration Command Use the LEVERARMCALIBRATE command to control the IMU to antenna lever ar
317. non condensing SPAN SE User Manual Rev 9 119 Appendix A Technical Specifications A 2 5 IMU CPT Table 19 Technical HW Specs for IMU CPT IMU CPT Enclosure Size 152 mm L X 168 mm W X 89 mm H IMU CPT Weight 2 29 kg MECHANICAL DRAWINGS y X e be en Se 1 22 je SS SS E 51 13 0 30 9 L 339 xd L 4X 86 1 03 8 Dimensions are in inches and in 6 00 C millimetres in square brackets 1524 gt Figure 40 IMU CPT Side and Perspective View 120 SPAN SE User Manual Rev 9 Technical Specifications Appendix A L 5 68 N Dimensions are in inches and in 1442 millimetres in square brackets Ol ee sean chest ss TO i 7 K SE E m En dH A n 5 01 E P 127 3 1 MI E L t 1 COE CT i e O 4 55 115 5 IIe LO 40 9 8 50 az 88 9 n i i i Ge 1 1 22 MOS NARI n ER 1 65 309 ei 41 8 4 55 115 5 A 6 66 Z 002 m 169 3 Bd E 4x 4X MOUNTING SURFACE AX er 88 UNPAINTED PNE 224 19 1 gt i GE aa
318. non operational 60 g 6 10 msec 1 2 sine Altitude 1000 to 50 000 ft Humidity 95 at 35 C 48 hrs MTBF 2 10 500 hours 124 SPAN SE User Manual Rev 9 II TA Commands This appendix describes in detail the commands needed to configure the receiver and request the data you need For information on OEMV specific commands refer to the OEMV Family Firmware Reference Manual B 1 Command Formats The receiver accepts commands in 3 formats Abbreviated ASCII ASCII Binary Abbreviated ASCII is the easiest to use for your input The other two formats include a CRC for error checking and are intended for use when interfacing with other electronic equipment Here are examples of the same command in each format Abbreviated ASCII Example LOG COMI BESTPOSB ONTIME 1 CR ASCII Example LOGA COM2 0 66 0 UNKNOWN 0 15 917 004c0000 5255 32858 COM1 BESTPOSB ONTIME 1 000000 0 000000 NOHOLD F95592DD CR Binary Example AA44121C 01000240 20000000 1D1D0000 29160000 00004C00 55525A80 20000000 2A000000 02000000 00000000 0000rF03F 00000000 00000000 00000000 2304B3F1 B 2 Using a Command as a Log All NovAtel commands may be used for data input as normal or used to request data output Consider the lockout command refer to the OEMV Family Firmware Reference Manual with the syntax lockout prn You can put this command into the receiver to de weight an undesirable satellite in t
319. ns in the three available slots Below 1s an abbreviated ASCII example COM3 log applicationstatus OK COM3 APPLICATIONSTATUS COM3 0 99 0 UNKNOWN O 0 000 404c0040 0000 326 lt 3 lt 9 FALSE 00000000 00000000 UserAppl 1 000A3 2010 Dec 20 11 26 51 9 FALSE 00000000 00000000 UserApp2 1 000A1 2010 Dec 24 09 09 09 9 FALSE 00000000 00000000 UserApp2 1 000A1 2010 Dec 24 09 09 09 In the example above UserAppl appears in slotl and UserApp2 appears in slots 2 and 3 5 3 Starting Stopping and Removing a User Application 5 3 1 Starting a User Application To start a user application use the APPLICATION command An abbreviated ASCII example of starting the application loaded in the second slot is application userapp2 start The application named userapp2 opens If queried the APPLICATIONSTATUS log will reflect the fact that userapp2 1s running For example COM3 application userapp2 start OK COM3 log applicationstatus COM3 APPLICATIONSTATUS COM3 0 99 0 FINESTEERING 1615 239395 238 40000040 0000 326 SE 9 FALSE 00000000 00000000 NovAppl 1 000A3 2010 Dec 20 11 26 51 9 TRUE 00000000 00000000 NovApp2 1 000A1 2010 Dec 24 09 09 09 9 FALSE 00000000 00000000 NovApp2 1 000A1 2010 Dec 24 09 09 09 COM3 5 3 2 Stopping a User Application When a user application is opened it continues to execute until the SPAN receiver is powered down The SPAN SE is a specializ
320. nual Rev 9 27 Foreword What s new in this version of the User Guide This version of the SPAN SE user manual provides users with additional information about the following e The SPAN SE operational procedures have been changed to show NovAtel Connect Added the new log and command for Heave functionality Conventions The following conventions have been used in this manual Note that provides information to supplement or clarify the accompanying text v Caution that a certain action operation or configuration may result in incorrect or improper use of the product C5 Warning that a certain action operation or configuration may result in regulatory noncompliance safety issues or equipment damage Prerequisites 28 The installation chapters of this document provide information concerning the installation requirements and considerations for the different parts of the SPAN system Although previous experience with Windows is not necessary to use the SPAN system software familiarity with certain actions that are customary in Windows will assist in the usage of the program This manual has been written with the expectation that you already have a basic familiarity with Windows SPAN SE User Manual Rev 9 Chapter 1 Introduction NovAtel s SPAN technology brings together two very different but complementary positioning and navigation systems namely GNSS and an Inertial Navigation System INS By
321. o receive RTCA corrections and output a 2 Hz GPGGA message containing the rover location while otherwise using default settings send the following command gnsscardconfig cardl coml novatel novatel on 9600 n 8 1 n off on 0 5 D Valid values for high rate GPGGA output are 20 10 5 4 and 2 Hz For logging at 1 Hz or slower any integer value in seconds is accepted SPAN SE User Manual Rev 9 51 Chapter 3 SPAN SE Operation 3 3 2 SPAN IMU Configuration 52 3 3 2 1 SPAN Configuration Manually Follow these steps to enable INS as part of the SPAN system using software commands or see SPAN Configuration with Connect on page 52 to see the preferred method using NovAtel s Connect software utility 1 Issue the SETIMUTYPE command to specify the type of IMU being used Basic configuration of the SPAN system is now complete The inertial filter starts once the receiver clock reaches FINESTEERING status and the IMU is connected A GNSS antenna must be connected and tracking satellites for operation 2 Issue the SETIMUTOANTOFFSET command to enter the distance from the IMU center of navigation to the antenna phase center see page 184 The offset between the antenna phase center and the IMU center of navigation must remain con stant and be known accurately m The X pitch Y roll and Z azimuth directions are clearly marked on the IMU enclosure The SETIMUTOANTOFFSET parameters are where the stan dard deviation
322. o to our application note APN 036 Using a Wheel Sensor with SPAN available on our website at www novatel com through Support Knowledge and Learning Latency between 1PPS and measurement from wheel sensor hardware 123 ms 1 The ticks per second do not need to be computed as shown in the example above If your hardware provides the tick count directly it is not necessary to compute wheel velocity 2 The wheel velocities in Fields 4 and 6 are not currently used in the SPAN filter In Inertial Explorer post processing wheel velocities may be used If you want to use wheel velocities in post processing complete fields 4 and 6 SPAN SE User Manual Rev 9 209 idee do Command Prompt Interface When the SPAN system turns on no activity information is transmitted from the serial ports except for the port prompt A terminal connected to the receiver display a messages on its monitor For example COMI if connected to COMI port The COM port can be COMI COM2 COM3 COM4 USBI ICOMI ICOM2 ICOMG or ICOM4 Commands are typed at the interfacing terminal s keyboard and sent after pressing the terminal s lt I gt or lt Enter gt key D Most valid commands do produce a visible response on the screen The indication that they have been accepted is a return of the port prompt from the receiver Example An example of no echo response to an input command is the SETIMUTOANTOFFSET command It can be entered as fol
323. o vehicle body Ca rotation parameters present and a kinematic alignment is NOT possible Therefore this command should only be entered after the system has performed either a static or kinematic alignment and has a valid INS solution A good INS solution and vehicle movement are required for the SPAN system to solve the vehicle SPAN body offset The solved vehicle body rotation parameters are output in the VEHICLEBODYROTATION log when the calibration is complete see page 345 When the calibration 1s done the rotation values are fixed until the calibration 1s 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 Section 3 4 1 Configuration for Alignment starting on page 55 The angular offset values are not applied to the attitude output unless the APPLYVEHICLEBODYROTATION command is disabled Abbreviated ASCII Syntax Message ID 641 RVBCALIBRATE reset Abbreviated ASCII Example RVBCALIBRATE RESET A Field ASCII Binary d Binary Binary Binary Field Type Value Value Description Format Bytes Offset 1 Log This field contains the H 0 Header command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary 2 Switch RESET 0 Control the vehicle ENUM 4 H DISABLE 1 body
324. of X rotation in Double 8 H 24 degrees degrees Default is 0 6 YUncert 0 180 Uncertainty of Y rotation in Double 8 H 32 degrees degrees Default is 0 7 ZUncert 0 180 Uncertainty of Z rotation in Double 8 H 40 degrees degrees Default is 0 SPAN SE User Manual Rev 9 147 Appendix B Commands B 4 15 GNSSCARDCONFIG GNSS port configuration 148 Use this command to configure both the interface mode and COM port mode on an internal GNSS card from a SPAN SE receiver port The GNSSCARDCONFIG command is especially useful for configuring RTK because the OEMV 3 COMI port is used for RTK correction input data You cannot use this command with the OEMV 2 and OEMV 3 connectors on the I O 1 Green cable as they provide direct access to the OEMV 2 and OEMV 3 GNSS cards respectively within the receiver Instead use the standard OEMV family INTERFACEMODE and COM commands The GNSSCARDCONFIG command can also be used to request that the OEMV 3 output a GPGGA log at the specified rate This 1s required for use with some Virtual Reference Station VRS networks Note that the logging rate is restricted to the usual OEMV 3 logging rates and the Transmit Interface Mode must be NOVATEL Abbreviated ASCII Syntax Message ID 1092 GNSSCARDCONFIG card port rx inter tx inter response bps parity data bits stop bits handshaking echo break GPGGA period Abbreviated ASCII Example GNSSCARDCONFIG CARD1 COM1 RTCA NOVATEL
325. oice to the original customer for the product NovAtel s responsibility respecting this warranty is solely to product replacement or product repair at an authorized NovAtel location only Determination of replacement or repair will be made by NovAtel personnel or by technical personnel expressly authorized by NovAtel for this purpose continued on page 19 AN IMU s should only be returned to the point of purchase NovAtel Dealer or Manufacturer If the IMU was purchased through NovAtel contact Customer Service to begin the Return Material Authorization RMA process When returning a Litton or Honeywell IMU from outside the U S follow these steps a Include a copy of the original U S export permit with it b Sendthe unit to Litton or Honeywell with the following wording on the documentation Shipped in accordance with 22 CFR 123 4 a 1 using air transport and not a carrier service The repaired or replaced device will be returned to you under this same CFR exemption c Identify the paperwork with the value of the hardware the country of origin as U S and the Incoterms 1f applicable for example FOB FAS CIF Ex Works d Lastly please clearly note on the paperwork to notify upon receipt Honeywell s customs broker EXPEDITORS or for Litton FOR CUSTOMS CLEARANCE BY FedEx Trade Networks 19601 Hamilton Ave Torrance CA 90502 1309 U S A 1 Return IMU to its manufacturer as follows Honeywell Honeywel
326. older than six hours 1s not shown Message ID 41 Log Type Asynch Recommended Input log rawephema onnew ASCII Example RAWEPHEMA COM1 15 60 5 FINESTEERING 1337 405297 175 00000000 97b7 1984 3 1337 403184 8b04e4818da44e50007b0Dd9cO05ee664ffbfe695df763626f00001b03c6b3 8b04e4818e2b63060536608fd8cdaa051803a41261157eal0a2610626 3a 8b04e4818ead0O00bGaa7f7ef8ffda25cla69a14881879b9c6ffa79863f9f2X0Obb16ac3 RAWEPHEMA COM1 0 60 5 SATTIME 1337 405390 000 00000000 97b7 1984 1 1337 410400 8b04e483 7244e50011d7a6105ee664 fbfe695df9e1643200001200aa92 8b04e483f 7a9e1faab2b16a27c7d41fb5c0304794811f7a10d40b564327e 8504e483 82c00252 57a782001b282027a31c0fba0fc525ffac84e10a06 c5834a5b Binary Binary Field Field type Data Description Format Bytes Offset 1 RAWEPHEM Log header H 0 header 2 prn Satellite PRN number Ulong 4 H 3 ref week Ephemeris reference week number Ulong 4 H 4 4 ref secs Ephemeris reference time s Ulong 4 H 8 5 subframe1 Subframe 1 data Hex 30 H 12 6 subframe2 Subframe 2 data Hex 30 H 42 7 subframe3 Subframe 3 data Hex 30 H 72 8 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 102 9 CRI LF Sentence terminator ASCII only SPAN SE User Manual Rev 9 Data Logs Appendix D D 3 56 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
327. on Velocity and Attitude This log allows INS position velocity and attitude to be collected in one log instead of using three separate logs The attitude is ofthe SPAN computation frame by default See the INSATT log on page 276 for an explanation of how the SPAN frame may differ from the IMU enclosure frame The attitude can be output in the vehicle frame as well See the APPLY VEHICLEBODYROTATION command on page 131 284 Recommended Input Field 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 Type Description Format Data Logs Message ID 507 Log Type Synch Binary Binary Bytes Offset 1 Log Header Log header H 0 2 Week GPS Week Ulong 4 H 3 Seconds Seconds from week start Double 8 H 4 4 Latitude Latitude WGS84 Double 8 H 12 5 Longitude Longitude WGS84 Double 8 H 20 6 Height Ellipsoidal Height WGS84 Double 8 H 28 7 North Velocity Velocity in a northerly direction a negative Double 8 H 36 value implies a southerly direction 8 East Velocity Velocity in an easterly direction a negative Double 8 H 44 value implies a westerly direction 9 Up Velocity Velocity in an up direction Double 8 H 52
328. on recycled paper OM 20000124 Rev 9 September 2012
329. only 1f bonded to the central building ground by 6 or heavier bonding wire These installation instructions are the minimum requirements for receiver and antenna installations Where applicable follow the electrical codes for the country of installation Examples of country codes include USA National Electrical Code NFPA 70 Canada Canadian Electrical Code CSA C22 UK British Standards Institute BSI 7671 26 SPAN SE User Manual Rev 9 Foreword Congratulations Congratulations on purchasing your Synchronized Position Attitude Navigation SPAN Technology system SPAN features a tight integration ofa NovAtel GNSS receiver and an Inertial Measurement Unit IMU SPAN provides continuous navigation information using an Inertial Navigation System INS to bridge short Global Navigational Satellite Systems GNSS outages Designed for dynamic applications SPAN provides precise position velocity and attitude information By complementing GNSS with inertial measurements SPAN Technology provides robust positioning in challenging conditions where GNSS alone is less reliable During short periods of GNSS outage or when less than four satellites are received SPAN Technology offers uninterrupted position and attitude output The tight coupling of inertial technology with GNSS also provides the benefits of faster satellite reacquisition and faster RTK initialization after outages SPAN SE receivers are the processing engines
330. or 3 Use the DOS copy command to direct the contents of the BOOT1 TXT file to the PC s COMI serial port C GPS gt copy bootl txt coml 1 files s copied C NGPS 4 The SPAN system is now initialized with the contents ofthe BOOT1 TXT command file and logging is directed from the receiver s COM2 serial port to the rover terminal SPAN SE User Manual Rev 9 211 Appendix C Command Prompt Interface C 2 WINDOWS As any text editor or communications program can be used for these purposes the use of Windows 98 is described only as an illustration The following example shows how Windows 98 accessory programs Notepad and HyperTerminal can be used to create a hypothetical waypoint navigation file on a laptop computer and send it to the receiver It is assumed that the laptop computer s COMI serial port is connected to the receiver s COMI serial port and that a rover terminal is connected to the receiver s COM2 serial port Example 1 Open Notepad and type in the following command text setimutype imu hg1700 ag58 setimutoantoffset 1 25 0 35 1 65 0 02 0 02 0 02 log coml rawimusb onnew log coml rangecmpb ontime 1 log coml inspvasb ontime 0 1 log coml inscovsb onnew 2 Save this with a convenient file name e g C GPS BOOTNAV1 TXT and exit Notepad 3 Ensure that the HyperTerminal settings are correctly set up to agree with the receiver communications protocol these settings can be saved e g C GPS OEMSETUP HT for use in f
331. or GPGGA output Float 4 H 48 output period output default Valid values for high rate logging are 0 05 0 1 0 2 0 25 and 0 5 For logging slower than 1Hz any integer value is accepted SPAN SE User Manual Rev 9 149 Appendix B Binary Value Commands Table 29 Serial Port Interface Modes ASCII Mode Name Description 0 NONE The port accepts generates nothing 1 NOVATEL The port accepts generates NovAtel commands and logs 2 RTCM The port accepts generates RTCM corrections 3 RTCA The port accepts generates RTCA corrections 4 CMR The port accepts generates CMR corrections 5 OMNISTAR The port accepts generates OmniSTAR corrections 6 7 Reserved 8 RTCMNOCR RTCM with no CR LF appended 10 13 Reserved 14 RTCMV3 The port accepts generates RTCM Version 3 0 corrections 15 NOVATELBINARY The port only accepts generates binary messages If an ASCII command is entered when the mode is set to binary only the command is ignored Only properly formatted binary messages are responded to and the response is a binary message 16 17 Reserved 18 GENERIC The port accepts generates nothing SEND SENDHEX commands from another port generate data on this port Any incoming data on this port can be seen with OEMV PASSCOM logs on another port 1 150 An output interface mode of RTCMNOCR is identical to RTCM but with the CR LF appended An input interface mode of
332. or INSSPDS INSPVA or INSPVAS Attitude INSATT or INSATTS INSPVA or INSPVAS Solution Uncertainty INSCOV or INSCOVS The position velocity and attitude are available together in the INSPVA and INSPVAS logs The BESTPOS GNSS only position log can be logged at rates up to 20 Hz directly from the OEMV port A BESTPOS GNSS INS position log is available at 1Hz 1Hz 2Hz 4Hz and 5Hz from any SPAN SE port Other GNSS logs RANGE PSRPOS and so on can be logged up to 20 Hz from the SPAN ports The BESTGPSPOS log is available from SPAN SE only at 1Hz 1 Hz 2Hz 4Hz and 5Hz Ensure that all windows other than the Console are closed in Connect and then use the O SAVECONFIG command to save settings in NVM Otherwise unnecessary data logging occurs and may overload your system Specific logs need to be collected for post processing See Section 3 6 Data Collection for Post Processing on page 66 To store data directly to the internal SD Card see Section 3 8 SD Card starting on page 69 58 SPAN SE User Manual Rev 9 SPAN SE Operation Chapter 3 3 4 6 Lever Arm Calibration Routine Each time the system is re mounted on a vehicle or the IMU or antenna is moved on the vehicle the lever arm must be redefined either through manual measurement or through calibration We recommend that you measure the lever arm using survey methodology and equipment for example a total station Only use calibrat
333. ormat 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 SensorlD SENSOR1 0 The sensor being configured Enum 4 H SENSOR2 1 SENSOR3 2 3 EventOut MARK1 0 Connected to a Sensor Input Enum 4 H 4 MARK2 1 Trigger MARK3 2 MARK4 3 4 OPP NEGATIVE 0 Output pulse polarity Enum 4 H 8 POSITIVE 1 5 OAP 2 500ms Output active period in Ulong 4 H 12 Value must be milliseconds Default is 2 ms divisible by 2 6 Eventln MARK1 0 Connected to a sensor output Enum 4 H 16 MARK2 1 Default is MARK2 MARK3 2 MARK4 3 7 EIC DISABLE 0 Event in control Default is Enum 4 H 20 EVENT 1 DISABLE 8 MIP NEGATIVE 0 Mark input polarity Default is Enum 4 H 24 POSITIVE 1 POSTIVE 9 MITB 99999999 Mark input time bias in Long 4 H 28 99999999 ms nanoseconds Default is 0 10 MITG 2 3599999 2 Mark input time guard in Ulong 4 H 32 milliseconds Default is 4 194 SPAN SE User Manual Rev 9 Commands Appendix B B 4 46 SETWHEELPARAMETERS Set wheel parameters The SETWHEELPARAMETERS command can be used when wheel sensor data is available It allows you to give the filter a good starting point for the wheel size scale factor It also gives the SPAN SE filter an indication of the expected accuracy of the wheel data Usage of the SETWHEELPARAMETERS command depends on which method is used to communicate to the wheel senso
334. ositioning Mode LE DS e dried eee d con Detto eer reegt ken loce chs Deb d ie aoe 67 UO 1 Green Cable Connector Pin Outs nennen nnns 94 UO 2 Yellow Cable Connector Pin Outs sssssssssessseseneeenenenene rennen nnne 96 Universal IMU Enclosure Specifications enne 97 Universal IMU Enclosure Interface Cable Pinouts nene 101 Universal IMU Enclosure Electrical and Environmental sssssssssssseensnensnnessssrnrnnesrrre rene 103 HG1700 IMU Gpechficatons cccccccccccceeceeecesenseeeeaeeceeeeeeeeececeseecessceeenesaeeeeseeeeeeeeeeeees 104 LN 200 IMU Specifications 2 0 0 0 ccccccccccccceccecescseesesseeeeeceaeeeeeeeceeeeeesesesceeeseasaaaaeaeaeeeeeeeeeees 107 IIMU FSAS Specifications 1 een desen dee decente ise doe eroe deht Zeie n ds 110 IMU Interface Cable Pin Out eene eerte nennen intentis nnns 115 Legacy ilMU FSAS Cable Y Adapter Pim Out nnns 116 Cable Modification for Corrsys Datron WT 118 Technical HW Specs for IMU CPfT nennen nnn nnne nennen nenne 120 IMU CPT Connector Pin Out Descriptions nnne 122 Mass Storage Device ase ka nennen nenei tnn nne ren sn si nne ren nns nnne 126 inte Re 133 COM Serial Port Identifiers east e aaa kod cnet cete redet eed eR eee iaa 136 nc 136 Hand Shaking DEE 136 Tx DTR and RTS Availability essen enne 138 SPAN SE COM Port Values eee rti edet erede core espe e de ta eee asp des 139 ERESET T
335. otations on page 60 To apply the vehicle to body rotation angles to the output attitude in the INSPVA or INSATT logs the APPLYVEHICLEBODYROTATION command needs to be enabled please refer to Section B 4 3 APPLYVEHICLEBODYROTATION Enable vehicle to body rotation starting on page 131 SPAN SE User Manual Rev 9 207 Appendix B Commands Abbreviated ASCII Syntax Message ID 642 VEHICLEBODYROTATION alpha beta gamma Oalpha beta 6gamma Abbreviated ASCII Example VEHICLEBODYROTATION 0 0 90 0 0 5 Binary Binary Field Field Type Description Format Bytes Offset 1 Log Header Log header H 0 2 X Angle Right hand rotation about SPAN Double 8 H computation frame X axis in degrees 3 Y Angle Right hand rotation about SPAN Double 8 H 8 computation frame Y axis in degrees 4 Z Angle Right hand rotation about SPAN Double 8 H 16 computation frame Z axis in degrees 5 X Uncertainty Uncertainty of X rotation in degrees Double 8 H 24 Default is 0 6 Y Uncertainty Uncertainty of Y rotation in degrees Double 8 H 32 Default is 0 7 Z Uncertainty Uncertainty of Z rotation in degrees Double 8 H 40 Default is 0 8 XXXX 32 bit CRC Hex 4 H 48 9 CRI LF Sentence Terminator ASCII only Refer also to our application note APN 037 Vehicle to Body Rotations available on our website at www novatel com through Support Knowledge and Learning 208 SPAN SE User Man
336. otected under the following U S patents 55 101 416 56 243 409 BI 5 390 207 56 608 998 BI 5 414 729 6 664 923 BI 5 495 499 6 721 657 B2 5 734 674 6 728 637 B2 5 736 961 6 750 816 BI 5 809 064 7 193 559 B2 6 184 822 BI 7 346 452 6 211 821 B1 OXY Zi 2 SPAN SE User Manual Rev 9 O Copyright 2012 NovAtel Inc All rights reserved Unpublished rights reserved e under International copyright laws Printed in Canada on recycled paper Recyclable Table of Contents Proprietary Notice Software License Terms and Conditions Warranty Policy Customer Support Firmware Updates and Model Upgrades Notices Foreword 1 Introduction 1 1 Fundamentals of GNSS INS aaa ta ataaettattaaoooaoteoeoeseosoeoooaooooooooononnoeeoeaooaooooaonnn 1 2 Models and Features x HER este kw k dl reet koka de vesc d s lar go Re o ERE ded 2 SPAN SE Installation 2 1 SPAN SE Hardware Description eseeesssssesssssseseeene nennen nnne nennen nnn 2 2 SPAN SE Hardware Installation cccccccccccceceeceesseseeceececeeeeseeaueaseeeseeeeeeeeeaaeaaeessseeeeeeneees 2 2 1 Mount ADIDAS CE fan dan don de eee e eeben 2 2 2 Mount IM rn roe pre ELE Hee se na RN Eee to Pe D TED Eats RE 2 2 3 Connect Interface Cables neseneotooaoooooooooooesenooesoeoooosoooaooon 2 2 4 Connect Power 2 2 5 Power Button 5 w b ako teet trum fete oct ete ahah ec dete o Ene fet esee eeu bus eb Ges fete tu 2 2 6 Connect Additional Equipmen
337. pe Description Bytes Offset on Input 6 Message Type Char Bits 0 4 Reserved 1 6 N Bits 5 6 Format 00 Binary 01 ASCII 10 Abbreviated ASCII NMEA 11 Reserved Bit 7 Response bit 0 Original Message 1 Response Message 7 Port Address Uchar See Table 40 on page 220 decimal 1 7 N values greater than 16 may be used lower 8 bits only 8 Message Ushort The length in bytes of the body of the 2 8 N Length message This does not include the header nor the CRC 9 Sequence Ushort This is used for multiple related logs 2 10 N It is a number that counts down from N 1 to 0 where N is the number of related logs and 0 means it is the last one of the set Most logs only come out one at a time in which case this number is 0 10 Idle Time Uchar The time that the processor is idle in 1 12 Y the last second between successive logs with the same Message ID Take the time 0 200 and divide by two to give the percentage of time 0 10090 11 GPS Time Enum Indicates the quality of the GPS time 4 3 13 N4 Status see Table 43 on page 221 12 Week Ushort GPS week number 2 14 N 4 13 ms GPSec Milliseconds from the beginning of 4 16 N4 the GPS week 14 Receiver Ulong 32 bits representing the status of 4 20 Y Status various hardware and software components of the receiver between successive logs with the same Message ID 15 Reserved Ushort Reserved for internal use 2 24 Y 16 Recei
338. pendix D Nibble Bit Mask Description Range Value 28 0x10000000 Carrier phase measurement 9 Half cycle not added N7 1 Half cycle added 29 Reserved 30 0x40000000 PRN lock flag 0 PRN not locked out 1 PRN locked out 31 0x80000000 Channel assignment 0 Automatic 1 Forced 1 Grouped Channel has an associated channel L1 L2 pairs 2 This bit is zero until the parity is known and the parity known flag bit 11 is set to 1 A Field SEN Binary Binary Field type Data Description Format Bytes Offset 1 RANGE Log header H 0 header 2 obs Number of observations with information to follow Long 4 H 3 PRN slot Satellite PRN number of range measurement UShort 2 H 4 GPS 1 to 32 SBAS 120 to 138 and GLONASS 38 to 61 4 glofreq GLONASS Frequency 7 UShort 2 H 6 5 psr Pseudorange measurement m Double 8 H 8 6 psr std Pseudorange measurement standard deviation m Float 4 H 16 7 adr Carrier phase in cycles accumulated Doppler range Double 8 H 20 8 adr std Estimated carrier phase standard deviation cycles Float 4 H 28 9 dopp Instantaneous carrier Doppler frequency Hz Float 4 H 32 10 C No Carrier to noise density ratio Float 4 H 36 C No 10 log10 S No dB Hz 11 locktime number of seconds of continuous tracking no cycle Float 4 H 40 slipping 12 ch tr Tracking status see Table 66 Channel Tracking Status ULong 4 H 44
339. plane about mount body frame Y axis in degrees 4 ZAngle 180 180 Right hand rotation from mount Double 8 H 16 to gimbal plane about mount body frame Z axis in degrees 4 XUncert 0 180 Uncertainty of X rotation in Double 8 H 24 degrees Default is 0 5 YUncert 0 180 Uncertainty of Y rotation in Double 8 H 32 degrees Default is 0 6 ZUncert 0 180 Uncertainty of Z rotation in Double 8 H 40 degrees Default is 0 152 SPAN SE User Manual Rev 9 Commands B 4 18 IPCONFIG Set IP information Use this command to configure Internet Protocol IP information See also Section 3 12 SPAN SE Ethernet Connection on page 76 Abbreviated ASCII Syntax IPCONFIG Interface Abbreviated ASCII Example IPCONFIG ETHA STATIC 10 1 100 25 255 255 255 0 10 1 100 1 Mode Mask Gateway Appendix B Message ID 1243 g Field ASCII d D Binary Binary Binary Field D t Type Value a Format Bytes Offset 1 header This field contains the H 0 command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary 2 Interface Physical interface SPAN Ulong 4 H SE can currently only use ETHA 3 Mode DHCP Automatic IP address Ulong 4 H 4 assignment Static Manual IP address assignment 4 IP IP Address Enum 4 H 8 5 Mask Subnet mask Enum 4 H 12 6 Gateway IP gateway Enum 4 H 16 SPAN SE User Manu
340. port it is connected to yn aa DI mu lt Back Next gt Cancel SPAN SE User Manual Rev 9 53 Chapter 3 3 4 Real Time Operation SPAN SE Operation SPAN operates through the OEMV command and log interface Commands and logs specifically related to SPAN operation are documented in Appendices B and D of this manual respectively Real time operation notes Inertial data does not start until FINESTEERING status is reached and therefore the SPAN system does not function unless a GNSS antenna is connected with a clear view of the sky The Inertial solution is computed separately from the GNSS solution The GNSS solution is available from the SPAN system through the GNSS specific logs even without SPAN running The integrated INS GNSS solution is available through special INS logs documented in Appendix D of this manual The INS GNSS solution is available at the maximum rate of output of the IMU 100 or 200 Hz Because of this high data rate a shorter header format was created These shorter header logs are defined with an S RAWIMUSB rather than RAWIMUB We recommend you use these logs instead of the standard header logs to save throughput Status of the inertial solution can be monitored using the inertial status field in the INS logs Table 5 below Table 5 Inertial Solution Status Binary ASCII 0 INS INACTIVE Description IMU logs are present but the alignment routine has not
341. ppendix D Data Logs starting on page 213 Can I still access the GNSS only solution while running SPAN The GNSS only solution used when running the OEMV receiver without the IMU is still available when running SPAN BESTGPSPOS solutions are available at 1 Hz or 5 Hz from any port of SPAN SE Other GNSS logs RANGE PSRPOS and so on can be logged up to 20 Hz from the SPAN SE ports SPAN SE User Manual Rev 9 Frequently Asked Questions Appendix L 6 What will happen to the INS solution when I lose GNSS satellite visibility When GNSS tracking is interrupted the INS GNSS solution bridges through the gaps with what is referred to as free inertial navigation The IMU measurements are used to propagate the solution Errors in the IMU measurements accumulate over time to degrade the solution accuracy For example after one minute of GNSS outage the horizontal position accuracy is approximately 2 5 m when using an HG1700 AG58 The SPAN solution continues to be computed for as long as the GNSS outage lasts but the solution uncertainty increases with time This uncertainty can be monitored using the INSCOV log see page 276 7 What does it mean if my IMUCARD version string looks like this lt IMUCARD Test mode 20Hz mm r2 1 0 0 Sep 13 2010 09 34 20 This means that the SPAN enabled receiver has detected the SDLC card and is communicating with card but the SDLC card is not communicating with the IMU Check that the SDLC to IMU
342. pt to do so Abbreviated ASCII Syntax Message ID 431 COMCONTROL port signal control mode Factory Default COMCONTROL COM1 COMCONTROL COM2 EFAULT rs232 COMCONTROL COM3 EFAULT rs232 comcontrol com4 rts default rs232 ES a 9 EFAULT rs232 ES a 9 ES e 9 Abbreviated ASCII Example COMCONTROL COM1 RS422 Table 26 Tx DTR and RTS Availability Tx Available On COM1 COM2 COM3 COM4 DTR Available On COM1 COM2 COM3 COM4 RTS Available On COM1 COM2 COM3 COM4 SE CARD 138 SPAN SE User Manual Rev 9 Commands Appendix B Table 27 SPAN SE COM Port Values Binary ASCII 1 COM1 2 COM2 3 COM3 6 THISPORT 7 FILE 8 ALL 13 USB1 19 COM4 23 ICOM1 24 ICOM2 25 ICOM3 29 ICOM4 ASCII Binary Description Binary Binary Binary Value Value Format Bytes Offset 1 COMCONTROL This field contains the H 0 header command name or message header depending on whether command is abbreviated ASCII ASCII or binary 2 port See Table 27 on RS232 RS422 port to Enum 4 H page 139 control Valid ports are COM1 COM2 COM3 and COM4 3 signal Unused on the SPAN SE Enum 4 H 4 4 control Unused on the SPAN SE Enum 4 H 8 5 mode RS232 0 RS 232 mode Enum 4 H 12 RS422 1 RS 422 mode N A 2 Used only for ICOM1 and USB1 information SPAN SE User Manual Rev 9
343. ption Format Bytes Offset 1 Log Header Log Header H 0 2 X Offset IMU Enclosure Frame m Double 8 H 3 Y Offset IMU Enclosure Frame m Double 8 H 8 4 Z Offset IMU Enclosure Frame m Double 8 H 16 5 X Uncertainty IMU Enclosure Frame m Double 8 H 24 6 Y Uncertainty IMU Enclosure Frame m Double 8 H 32 7 Z Uncertainty IMU Enclosure Frame m Double 8 H 40 8 iMapping See Table 34 Full Mapping Integer 4 H 48 Definitions on page 183 9 XXXX 32 bit CRC Hex 4 H 52 10 CRI LF Sentence Terminator ASCII only SPAN SE User Manual Rev 9 237 Appendix D Data Logs D 3 5 COMCONFIG Current COM Port Configuration This log outputs the current COM port configuration for each port on your receiver Message ID 317 Log Type Polled Recommended Input log comconfiga once ASCII examples COMCONFIGA COM1 0 98 5 FINESTEERING 1635 320272 363 00000000 0000 407 10 COM 1 9600 N 8 1 N OFF ON NOVATEL NOVATEL ON COM2 9600 N 8 1 N OFF ON NOVATEL NOV ATEL ON COM3 9600 N 8 1 N OFF ON NOVATEL NOVATEL ON COM4 9600 N 8 1 N OFF ON NOVATEL NOVATEL ON IMU 9600 N 8 1 N OFF OFF IMU IMU OFF USB1 12000000 N 0 0 N OFF OFF NOVATEL NOVATEL ON ICOM1 10000000 N 0 0 N OFF OFF NOVATEL NOVATEL ON ICOM2 10000000 N 0 0 N OFF OFF NOVATEL NOVATEL ON ICOM3 10000000 N 0 0 N OFF OFF NOVATEL NOVATEL ON ICOM4 10000000 N 0 0 N OFF OFF NOVATEL NOVA
344. r see Section 3 5 SPAN Wheel Sensor Configuration on page 64 1 Ifyou have integrated an external wheel sensor the SETWHEELPARAMETERS command can be used to override the number of ticks per revolution given in the WHEELVELOCITY command If this command is not entered the default wheel circumference of 1 96 meters is used In addition this command supplies the resolution of the wheel sensor which allows the filter to weight the wheel sensor data appropriately as in setwheelparameters 1000 2 03 0 002 2 Ifyou have an external wheel sensor that will be connected to an EVENT line on the SPAN SE then the SETWHEELPARAMETERS command must be sent in order to select which MARK to use The wheel parameters must also be specified here as the default values will not be used The two optional parameters in the command are specifically for this mode of operation For example if you had a wheel sensor attached to the first EVENT IN MARK1 with a tick provided with positive polarity the command would look like setwheelparameters markl positive 1000 2 03 0 002 3 Ifyou are using a wheel sensor connected directly to the MAR iIMU FSAS the SETWHEELPARAMETERS command allows you to set the number of ticks per revolution that is correct for your wheel installation the default is 58 The default wheel circumference is 1 96 meters The input type for this mode should be IMU and the polarity is unused setwheelparameters IMU 1000 2 03 0 002
345. r information refer to Table 83 on page 346 If the NMEATALKER command see the NMEATALKER section of the Firmware Reference Manual is set to AUTO the talker the first two characters after the sign in the log header is set to GP GPS satellites only GL GLONASS satellites only or GN satellites from both systems NovAtel does not support a GLONASS only solution Message ID 1045 Log Type Asynch Recommended Input log gphdt onchanged Example 1 GPS only SGPHDT 75 5664 T 36 Example 2 Combined GPS and GLONASS SGNHDT 75 5554 T 45 Field Structure Field Description Symbol Example 1 GPHDT Log header GPHDT 2 heading Heading in degrees X X 75 5554 3 True Degrees True T T 4 Tax Checksum hh 36 5 CRI LF Sentence terminator CR LF 266 SPAN SE User Manual Rev 9 Data Logs Appendix D D 3 22 GPVTG Track Made Good And Ground Speed The GPVTG log outputs these messages without waiting for a valid almanac Instead it uses a UTC time calculated with default parameters In this case UTC status is set to WARNING since it may not be 100 accurate When a valid almanac is available the receiver uses the real parameters Then the UTC time is set to VALID GPVTG like BESTPOS contains the best available position from either GNSS only or GNSS INS Message ID 226 Log Type Synch Recommended Input log gpvtg ontime 1 Example 1 GPS only GPVTG 172 516 T 155 295
346. r more information on SPAN SE cables please see Appendix A Technical Specifications on page 88 SPAN SE User Manual Rev 9 33 Chapter 2 SPAN SE Installation 34 Figure 3 SPAN SE Example Installation s S SES E G e X SPAN SE receiver with an on board SD Card for data storage User supplied NovAtel GNSS antenna Connect an LN 200 HG 1700 iIMU FSAS or a Litef LCI with an IMU interface cable to the connector labelled IMU on the SPAN SE I O 2 yellow cable For the other connections that only apply to the iIMU FSAS see Section A 2 4 1 iIMU FSAS Interface Cable starting on page 113 Connections for the HG 900 and HG 930 IMUs are not show on this diagram For information about inte grating the HG1900 and HG1930 IMUs with a SPAN SE contact NovAtel Customer Support User supplied power supply SPAN SE 1 9 to 28 V DC Separate supply for IMU 3 see Table 3 on page 40 User supplied computer for setting up and monitoring to one of the four available COM ports the USB device port or the Ethernet port SPAN SE I O 2 yellow cable see Section A 1 1 3 I O 2 Yellow Cable NovAtel part number 01018133 on page 95 SPAN SE I O 1 green cable see Section 4 1 1 2 I O 1 Green Cable NovAtel part number 01018134 on page 93 Optional second user supplied NovAtel GNSS antenna Refer to Chapter 4 Dual Antenna Functionality on page 78
347. r second where a positive value indicates speed upward and a negative value indicates speed downward 7 Status INS status see Table 5 on page 54 Enum 4 H 36 8 XXXX 32 bit CRC ASCII Binary and Hex 4 H 40 Short Binary only 9 CR LF Sentence terminator ASCII only 286 SPAN SE User Manual Rev 9 Data Logs D 3 38 INSSPDS Short INS Speed This is a short header version of the INSSPD log on page 286 Recommended Input log insspdsa ontime 1 ASCII Example Appendix D Message ID 323 Log Type Synch INSSPDSA 1541 487975 000 1541 487975 000549050 323 101450813 9 787233999 0 038980077 INS SOLUTION GOOD 105ba028 n Binary Binary Field Field Type Data Description Format Bytes Offset 1 Log Header Log header H 0 2 Week GPS Week Ulong 4 H 3 Seconds into Seconds from week start Double 8 H 4 Week 4 Trk gnd Track over ground Double 8 H 12 5 Horizontal Speed Horizontal speed in metres per Double 8 H 20 second 6 Vertical Speed Vertical speed in metres per Double 8 H 28 second 7 Status INS status see Table 5 on Enum 4 H 36 page 54 8 XXXX 32 bit CRC ASCII Binary and Hex 4 H 40 Short Binary only 9 CRI LF Sentence terminator ASCII only SPAN SE User Manual Rev 9 287 Appendix D Data Logs D 3 39 INSUPDATE INS Update This log contains the most recent INS update information and provides information about the updates that were per
348. rameter hold prevents a log from being removed when the UNLOGALL command with its defaults is issued To remove a log which was invoked using the hold parameter requires the specific use of the UNLOG command see page 204 To remove all logs that have the hold parameter use the UNLOGALL command with the held field set to 1 see page 206 The port parameter is optional If port is not specified port is defaulted to the port that the command was received on 1 SPAN SE users can request up to 25 GNSS only logs that is logs generated on the internal OEMV 3 and up to 30 SPAN specific logs provided the requested data amount is less than the effective baud rate of the communication port logging the data If you attempt to log more than 30 logs at a time the receiver responds with an Insufficient Resources error 2 Maximum flexibility for logging data is provided to the user by these logs The user Is cautioned however to recognize that each log requested requires additional CPU time and memory buffer space Too many logs may result in lost data Receiver overload can be monitored using the idle time field and buffer overload bits of the Receiver Status in any log header 3 Polled log types do not allow fractional offsets or ONTIME rates faster than 1 Hz 4 Usethe ONNEW trigger with the MARKxTIME or MARKxPVA logs see page 306 5 Only the MARKxPVA logs or MARKxTIME logs and polled log types are generated on
349. rate differential quality position solutions An SBAS capable receiver permits anyone within the area of coverage to take advantage of its benefits Do not set SBAS in the RTKSOURCE command as it can not provide carrier phase positioning and disallows all other sources of RTK information RTK In the PSRDIFFSOURCE command RTK enables using RTK correction types for PSRDIFF positioning When using multiple correction types such as RTCM RTCA RTCMV3 or CMR the positioning filter selects the first received message 10 AUTO 12 In the PSRDIFFSOURCE command AUTO means the first received RTCM or RTCA message has preference over an L band message In the RTKSOURCE command AUTO means that both the NovAtel RTK filter and the OmniSTAR HP XP filter if authorized are enabled The NovAtel RTK filter selects the first received RTCM RTCA RTCMV3 or CMR message The BESTPOS log selects the best solution between NovAtel RTK and OmniSTAR HP XP 11 NONE 13 Disables all differential correction types 12 Reserved 13 RTCMV3 RTCM Version 3 0 ID 0 lt RTCMV3 ID lt 4095 or ANY Cannot be used in PSRDIFFSOURCE command 1 Base Station ID parameter in the command is ignored 2 Available only with the PSRDIFFSOURCE command refer to page 166 3 All PSRDIFFSOURCE entries fall back to SBAS except NONE SPAN SE User Manual Rev 9 167 Appendix B Commands ASCII Binary es Binary Binary Binary
350. regular Binary and ASCII logs please refer to the OEMV Family Firmware Reference Manual Table 41 Short ASCII Message Header Structure A Field a Field Field Type Type Description 1 Yo Char Yo Symbol Message Char This is the name of the log Week Number Ushort GPS week number A Ww N Seconds Ulong Seconds from the beginning of the GPS week Table 42 Short Binary Message Header Structure Field Field Type Type Description Bye ana 1 Sync Char Hex OxAA 1 0 2 Sync Char Hex 0x44 1 1 3 Sync Char Hex 0x13 1 2 4 Message Length Uchar Message length notincluding header 1 3 or CRC 5 Message ID Ushort Message ID number 2 4 6 Week Number Ushort GPS week number 2 6 7 Milliseconds Ulong Milliseconds from the beginning of 4 8 the GPS week D 1 5 GPS Time Status All reported receiver times are subject to a qualifying time status This status gives you an indication of how well a time is known see Table 43 Table 43 GPS Time Status GPS Time Status GPS Time Status Decimal ASCII Description 20 UNKNOWN Time validity is unknown 60 APPROXIMATE Time is set approximately 100 COARSE This time is valid to coarse precision Continued on the following page SPAN SE User Manual Rev 9 221 Appendix D Data Logs GPS Time Status GPS Time Status 1 Decimal ASCII Description 120 COARSESTEERING Time is coarse set and is being
351. ribed on page 138 of this manual 240 Recommended Input log comprotocola ASCII Example once Data Logs Message ID 1145 Log Type Polled COMPROTOCOLA COM1 0 95 0 FINESTEERING 1521 319232 645 00000000 0000 149 5 COMI RS232 COM2 RS232 COM3 RS232 COMA RS232 IMU RS232 de92c2fb Binary Binary Field Field Type Description Format Bytes Offset 1 Log Header Log Header H 0 2 recs Number of records to follow Ulong H 3 port COM port see Table 23 COM Enum 4 H 4 Serial Port Identifiers on page 136 4 protocol Port protocol see Table 48 below Enum 4 H 8 5 next record offset H 4 record number x 8 6 XXXX 32 bit CRC Hex 4 H 4 recs x 8 7 CRI LF Sentence Terminator ASCII only Table 48 Port Protocol ASCII Binary Description RS232 0 RS 232 mode RS422 1 RS 422 mode SPAN SE User Manual Rev 9 Data Logs Appendix D D 3 7 CORRIMUDATA and CORRIMUDATAS Corrected IMU measurements The CORRIMUDATA S log contains the RAWIMU data corrected for gravity earth s rotation and accelerometer and gyroscope biases The values in this log are instantaneous incremental values in units of radians for the attitude rate and m s for the accelerations To get the full attitude rate and acceleration values you must multiply the values in the CORRIMUDATA S log by the data rate of your IMU in Hz The short header format CORRIMUDAT
352. rigin is at the Center of Navigation 3 1 3 Enclosure Frame The definition of the enclosure frame is defined on the IMU and represents how the sensors are mounted in the enclosure If the IMU is mounted with the z axis as marked on the IMU enclosure pointing up the IMU enclosure frame is the same as the SPAN computation frame When the IMU enclosure Z is pointing up the mapping see SETIMUORIENTATION command on page 181 1s 5 You can force the SPAN computation frame to be the same as the IMU enclosure frame by sending the following command SETIMUORIENTATION 5 The origin of this frame is not the enclosure center but the Center of Navigation sensor center You can determine the Center of Navigation of the enclosure using the enclosure markings In the example of the Litef LCI 1 IMU shown in Figure 13 in the Universal IMU Enclosure the Center of Navigation is indicated by the L1 icon The HG1700 and LN200 IMUs may be housed in their own enclosures See Appendix A 2 3 LN 200 IMU Single Connector Enclosure starting on page 107 and Appendix A 2 2 HG1700 IMU Single Connector Enclosure starting on page 104 for the LN200 and HG1700 enclosure markings respectively Contact NovAtel for center of navigation drawings for the HG1900 and HG1930 IMUs a LO a naro e vom Figure 13 Enclosure Frame SPAN SE User Manual Rev 9 45 Chapter 3 SPAN SE Operation 3 1 4 Vehicle Frame The definition of the vehicle frame is as follows
353. rogress box is displayed 11 Select Tools Logging Control Window from the Connect main menu to control the receiver s logging to files and serial ports Refer to the Connect on line Help for more information 12 Use the Console window to enter commands See also Section 3 6 Data Collection for Post Pro cessing on page 66 If you have to power down your receiver ensure that all windows other than the Console window are closed in Connect and then use the SAVECONFIG command SPAN SE User Manual Rev 9 SPAN SE Operation Chapter 3 3 2 1 INS Window in Connect Connect is a 32 bit Windows application The application provides a graphical user interface to allow you to set up and monitor the operation of the SPAN system by providing a series of windows The INS Window in Connect is described below Please refer to the OEMV Family Installation and Operation User Manual for more details on Connect and other OEMV Family PC software programs e INS Window The Position Velocity and Attitude roll pitch and azimuth sections display data from the INSPVA log along with standard deviations calculated from the INSCOV log Information in the ZUPT Zero Velocity Update section reflects whether a ZUPT has been applied The receiver uses the X Y and Z Offset fields to specify an offset from the IMU for the output position and velocity of the INS solution as specified by the SETINSOFFSET command or the Connect SPAN wizard The Wheel Sens
354. round 15 USB Host 16 USB Host 17 USB Host VBUS 18 Ground 19 USB Device Continued on the following page 394 SPAN SE User Manual Rev 9 SPAN MPPC Interface Card Appendix J Pin Description Signal Levels 20 USB Device 21 USB Device VBUS 22 Ground 23 Ethernet TX 24 Ethernet TX 25 Ground 26 Ground 27 Ethernet RX 28 Ethernet RX 29 Ground 30 Ground 31 COM1 RX RS422 Serial port is software configurable for COM CTS RS232 RS232 or RS422 operation 32 COM1 RX RS422 COM1 RxD RS232 33 COM1 TX RS422 COM1 TxD RS232 34 COM1 TX RS422 COM RTS RS232 35 Ground 36 Ground 37 IMU Port RX RS422 IMU Port CTS RS232 38 IMU Port RX RS422 IMU Port RxD RS232 39 IMU Port TX RS422 IMU Port RTS RS232 40 IMU Port TX RS422 IMU Port TxD RS232 SPAN SE User Manual Rev 9 395 Appendix J SPAN MPPC Interface Card Table 94 J601 Multi Communication Header B Pin Description Signal Levels Pin 2 Pin 40 1 OEMV Port CTS RS232 Connection to OEMV 3 receiver UART COM1 RS 232 only 2 OEMV Port RxD RS232 3 OEMV Port RTS RS232 4 OEMV Port TxD RS232 5 Ground 6 Event out 1 Strobe Software configurable GPS synchronous output strobe LVTTL level 7 Event out 2 Strobe Software configurable GPS synchronous o
355. s Long 4 H 20 7 X Accel Output Change in velocity count along X axis 1 Long 4 H 24 8 Z Gyro Output Change in angle count around Z axis right Long 4 H 28 handed 9 Y Gyro Output Change in angle count around Y axis 3 Long 4 H 32 right handed 10 X Gyro Output Change in angle count around X axis 3 right Long 4 H 36 handed 11 XXXX 32 bit CRC ASCII Binary and Short Binary Hex 4 H 40 only 12 CRI LF Sentence terminator ASCII only SPAN SE User Manual Rev 9 327 Appendix D Data Logs 1 The change in velocity acceleration scale factor for each IMU type can be found in Table 74 on page 328 Multiply the scale factor in Table 74 by the count in this field for the velocity incre ments in m s See Table 1 on page 32 for a list of IMU enclosures To obtain acceleration in m s multiply the velocity increments by the output rate of the IMU eg 100Hz for HG1700 IMU CPT 200Hz iMAR FSAS LN200 and LCI 2 A negative value implies that the output is along the positive Y axis marked on the IMU A positive value implies that the change is in the direction opposite to that of the Y axis marked on the IMU 3 The change in angle gyro scale factor can be found in Table 74 on page 328 Multiply the appro priate scale factor in Table 74 by the count in this field for the angle increments in radians Table 74 Raw IMU Scale Factors Scale Gyroscope Scale Factor Acceleration Scale IMU Factor ALCI 2 07 rad
356. s iterating towards validity 3 INVALID The clock model is not valid 4 ERROR Clock model error SPAN SE User Manual Rev 9 307 Appendix D Data Logs Field Field type Data Description Format Binary Binary dy P Bytes Offset 1 MARKXTIME Log header H 0 header 2 week GPS week number Long 4 H 3 seconds Seconds into the week as measured from the Double 8 H 4 receiver clock coincident with the time of electrical closure on the Mark Input port 4 offset Receiver clock offset in seconds A positive offset Double 8 H 12 implies that the receiver clock is ahead of GPS Time To derive GPS time use the following formula GPS time receiver time offset 5 offset std Standard deviation of receiver clock offset s Double 8 H 20 6 utc offset This field represents the offset of GPS time from Double 8 H 28 UTC time computed using almanac parameters UTC time is GPS time plus the current UTC offset plus the receiver clock offset UTC time GPS time offset UTC offset 7 status Clock model status see Table 62 Clock Model Enum 4 H 36 Status on page 307 8 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 40 9 CRI LF Sentence terminator ASCII only 308 1 O indicates that UTC time is unknown because there is no almanac available in order to acquire the UTC offset SPAN SE User Manual Rev 9 Data Logs Appendix D D 3 51 PASHR NMEA Inertial Attitude Data The
357. satellite system s corrections grid it reverts to ANY mode and chooses a system based on other criteria Once tracking satellites from one system in ANY or AUTO mode it does not track satellites from other systems This is because systems such as WAAS EGNOS and MSAS do not share broadcast information and have no way of knowing each other are there The testmode parameter in the example is to get around the test mode of these systems EGNOS at one time used the IGNOREZERO test mode At the time of printing ZEROTOTWO is the correct setting for all SBAS including EGNOS running in test mode On a simulator you may want to leave this parameter off or specify NONE explicitly When you use the SBASCONTROL command to direct the GNSS receiver to use a specific correction type the GNSS receiver begins to search for and track the relevant GEO PRNS for that correction type only You can force the GNSS receiver to track a specific PRN using the ASSIGN command You can force the GNSS receiver to use the corrections from a specific SBAS PRN using the SBASCONTROL command Abbreviated ASCII Syntax Message ID 652 SBASCONTROL keyword system prn testmode Factory Default sbascontrol disable auto 0 none Abbreviated ASCII Example 1 SBASCONTROL ENABLE WAAS 0 ZEROTOTWO Table 33 System Types ASCII Binary Description NONE 0 Don t use any SBAS satellites AUTO 1 Automatically determine satellite system to
358. served 8 DOPPLER_VELOCITY Velocity computed using instantaneous Doppler 9 15 Reserved 16 SINGLE Single point position 17 PSRDIFF Pseudorange differential solution 18 WAAS Solution calculated using corrections from an SBAS 19 PROPOGATED Propagated by a Kalman filter without new observations 20 OMNISTAR OmniSTAR VBS position L1 sub meter 1 21 31 Reserved 32 L1_FLOAT Floating L1 ambiguity solution 33 IONOFREE FLOAT Floating ionospheric free ambiguity solution 34 NARROW FLOAT Floating narrow lane ambiguity solution 48 L1 INT Integer L1 ambiguity solution 49 WIDE INT Integer wide lane ambiguity solution 50 NARROW INT Integer narrow lane ambiguity solution 51 RTK DIRECT INS RTK status where the RTK filter is directly initialized from the INS filter 52 INS INS calculated position corrected for the antenna 53 INS PSRSP INS pseudorange single point solution no DGPS corrections 94 INS PSRDIFF INS pseudorange differential solution 2 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 NS OmniSTAR high precision solution 59 INS OMNISTAR XP INS OmniSTAR extra precision solution l 64 OMNISTAR_HP OmniSTAR high precision 1 65 OMNISTAR_XP OmniSTAR extra precision 1 66 CDGPS Position solution using CDGPS corrections 1 In addition to a NovAtel receiver with L band capabil
359. set up hardware 33 SETAUTOLOGGING command 178 SETGIMBALORIENTATION command 179 SETHEAVEWINDOW command 180 SETIMUORIENTATION command 179 181 SETIMUTOANTOFFSET command 184 SETIMUTOANTOFFSET2 command 185 SETIMUTYPE command 186 SETINITATTITUDE command 188 SETINITAZIMUTH command 190 SETINSOFFSET command 192 SETMARKXOFFSET command 193 SETUPSENSOR command 194 SETWHEELPARAMETERS command 195 short binary header 213 221 signal timing 138 SOFTLOADFILE command 197 SOFTPOWER command 198 SPAN frame 181 SPAN HG enclosure HG1700 IMU installation 360 SPAN IMU enclosure LN 200 IMU 377 SPANAUTH command 199 SPANMODEL command 201 SPAN MPPC 390 connector pin outs 394 firmware version 2 mechanical drawing 391 SPAN SE D 78 configuring ALIGN 79 SPANVALIDMODELS log 339 speed 236 286 over ground 267 static mode 171 status 229 235 channel tracking 314 316 clock model 308 COM port 310 data 257 event 337 flag 331 indicators 67 receiver 159 216 331 334 time 216 word 338 steer time 222 strobe 74 subframe 318 support 21 synchronize 74 synchronize INS with GPS 283 synchronous log 214 T talker NMEA 164 technical specifications 88 102 103 106 109 119 124 tests built in 68 time coarse fine 222 CPU 159 ephemeris 318 fine 222 GPS 342 interval 161 162 of mark in event 308 of position fix 257 SPAN SE User Manual Rev 9 precision 222 stamp 223 status 216 221 222 steering 222 synchronized 283 UTC 256 268
360. sse eene nennen mener enne 375 Final cae 376 Required Parts ses S 377 Bolten Flex KOY va si kawo rai poison ea dee W son kenb en ede dere eer es 378 Lift Top Cover and Tube Body neret ee dene eden ka kak fose Rede de ann 379 SPAN IMU Re Assembly essei erinnere mener nte Ene di man kd ask n ako ia kinan Denn mann 380 Attach Wiring fe lu 381 Attach Samtec Connector eerte king ane s e a as qe n odas p a tr ER net aa 382 LN 200 SPAN IM UI ot eter p rtr eet ere SEA sa pie Eti E Eeer 383 SPAN SE Interface Card sse enne enne nennen 385 SPAN MPPC Interface Card eet ex EENS an don daki m te 391 SPAN MPPC Board Stack perspective view ssese em 392 SPAN MPPC Board Stack dimensions esee 393 SPAN MPPC Breakout Board AAA 398 SPAN MPPC Breakout Board Connectors ssssssss eene 398 SPAN SE User Manual Rev 9 Tables OO JO Om P GO Supported IMU Typ6s erret ertet dede nei e dee dnce ce ee nea pend Ee k e dak 32 Receiver Enclosure Back Panel Labele 37 IMU Power Su pply eerie ceci teorie tie de Rer Raid aer de sek a SEENEN Eeer 40 Power Button States eie Lente edite stetur be Pn Ue gre i oka ER Red 40 Inertial Solution Status neret pers eese Lt S Aa T RAN rera Rake nes 54 Solutiori Paramlelters one rien aka aaa an ki na SES ERROR Ed eo Rp Ak nana Ran ere 58 P
361. st USB A USB Device USB B Ethernet RJ 45 Ethernet UO 1 Green ODU Mini Snap Series K 30 pin connector see Table 8 on page 94 UO 2 Yellow ODU Mini Snap Series K 30 pin connector see Table 9 on page 96 NOVATEL PART NUMBER SPAN SE 01018071 PHYSICAL Size 247 x 199 x 76 mm Weight 3 4 kg maximum ENVIRONMENTAL Operating 40 C to 65 C Temperature Storage Temperature 50 C to 95 C Humidity Not to exceed 95 non condensing Continued on the following page 88 SPAN SE User Manual Rev 9 Technical Specifications Appendix A ENVIRONMENTAL Tested to these IEC 60529 IPX7 Waterproof standards IEC 60529 IPX6 Dust IEC 68 2 27 60 g Shock non operating RTCA DO 160D curve C Vibration random IEC 68 2 6 Vibration sinusoidal FCC Part 15 Class B Emissions EN 55022 Class B Emissions EN 55024 Immunity EN 60950 1 Safety SPAN SE User Manual Rev 9 89 Technical Specifications Appendix A Note All dimensions are in millimetres n f M E
362. started INS is inactive 1 INS_ALIGNING INS is in alignment mode 2 INS_SOLUTION_NOT_GOOD The INS solution is still being computed but the azimuth solution uncertainty has exceed 2 degrees The solution is still valid but you should monitor the solution uncertainty in the INSCOV log You may encounter this state during times when the GNSS used to aid the INS is absent 1 3 INS_SOLUTION_GOOD The INS filter is in navigation mode and the INS solution is good 6 INS_BAD_GPS_AGREEMENT The INS filter is in navigation mode and the GNSS solution is suspected to be in error This may be due to multipath or limited satellite visibility The inertial filter has rejected the GNSS position and is waiting for the solution quality to improve 7 INS_ALIGNMENT_COMPLETE The INS filter is in navigation mode but not enough vehicle dynamics have been experienced for the system to be within specifications 1 See also the Frequently Asked Question appendix question 7 on page 409 54 SPAN SE User Manual Rev 9 SPAN SE Operation Chapter 3 3 4 1 Configuration for Alignment If logging to a PC ensure the Control Panel s Power Settings on your PC are not set to C3 go into Hibernate or Standby modes Data will be lost if one of these modes occurs during a logging session All alignment and calibration activities should be conducted under open sky conditions for maximum system performance
363. t sse eene enne nnne 3 SPAN SE Operation 3 1 Definition of Reference Frames within SPAN 3 1 1 Local Level Frame ENU A 3 1 2 SPAN Computation Frame 3 1 3 Enclosure Fraime scsi aset petet maison pa an kan Ps n HEIL REI A LIY UE gne dta ie d gens 3 1 4 Vehicle Frame re Ere EREORERCERS ENT BURNER REPRE GER ARR R D RAP PS AA RUE 3 2 Communicating with the SPAN System eene nnns 3 2 1 INS Window in Connect eben en a teet deere 3 3 Software ie EC EE 3 3 1 GNSS Configuration 5 neret co ec e b di anan ed edd d e 3 3 2 SPAN IMU Configuration dane ko atan vie don eod rete eei ase dd fe e s ankre oben din E 3 4 Real Time Operation cede reete dp ee cede decre e de e deal ya ded pe edere redes 3 4 1 Configuration for Alignment sssssssssssssssse eene eter inneren 3 4 2 INS Configuration Command Summary sse 3 4 3 System Start Up and Alignment Techniques c ccccceeeceececeeeeeeeeeeeeeeeeeeeeeeteesnaees 3 4 4 Navigation Mode 3 4 5 Data Re Te WEE 3 4 6 Lever Arm Calibration Routine eene 3 4 7 Vehicle to Body Rotations ssssssssssssesssssseseee enne nnne nennen nnns 3 4 8 Vehicle to SPAN Frame Angular Offsets Calibration Routine 3 5 SPAN Wheel Sensor Configuration eene nnns 3 5 1 Wheel Sensor Updates Using the Event Input Lines 3 5 2 Wheel Sensor Updates using the iIMU FSAS IMU 000000 cece eeeeeeeceeeeeeneeeeeeesenee
364. t 6 utc UTC time of position hours minutes hhmmss ss 220152 50 seconds decimal seconds 7 data status Data status A A A Data valid V Data invalid 8 mode ind Positioning system mode indicator see a A Table 51 on page 257 9 XX Checksum hh 1B 10 CRI LF Sentence terminator CRI LF SPAN SE User Manual Rev 9 Data Logs D 3 17 GPGRS GPS Range Residuals for Each Satellite Appendix D Range residuals can be computed in two ways and this NMEA log reports those residuals See also Section D 2 NMEA Standard Logs on page 225 Under mode 0 residuals output in this log are used to update the position solution output in the GPGGA message Under mode 1 the residuals are re computed after the position solution in the GPGGA message is computed The receiver computes range residuals in mode 1 An integrity process using GPGRS would also require GPGGA for position fix data GPGSA for DOP figures and GPGSV for PRN numbers for comparative purposes The GPGRS log outputs these messages with contents without waiting for a valid almanac Instead it uses a UTC time calculated with default parameters In this case the UTC time status is set to WARNING since it may not be 10096 accurate When a valid almanac is available the receiver uses the real parameters Then the UTC time is set to VALID D If the range residual exceeds 4 value for this field is 3 order of parameters used in the calculation
365. t external users may need to access Table 86 SPAN SE Interface Card Header Description 386 Header ID Function Connector Format J300 USB Host USB Type A jack J301 USB Device USB Type B jack J401 LED Control 2x6 pin header male 2mm pitch J500 Power Button Control 4 position 3mm pitch right angle female SW500 SD Logging Button Pushbutton J600 SD Card Slot SD memory card slot J601 Multi Communication Port A 2x15 pin header male 2mm pitch J605 Ethernet RJ45 jack J606 Multi Communication Port B 2x15 pin header male 2mm pitch J702 Input Power 4 position 3mm pitch vertical female Table 87 J401 LED Header Pin Description Signal Levels IL 1 3v3 2 3v3 3 LED1a 3 3 V 4 LED1b 3 3 V 5 LED2a 3 3 V 6 LED2b 3 3 V 7 LED3a 3 3 V 8 LED3b 3 3 V 9 LED4a 3 3 V 10 LED4b 3 3 V 11 LED5a 3 3 V 12 LED5b 3 3 V a a lines have 470Q series resistance and b lines have 3300 SPAN SE User Manual Rev 9 SPAN SE Interface Card Appendix I Table 88 J500 Power Button Header Pin Description Signal Levels CIRCUIT 4 bo e CIRCUIT 1 CIRCUIT 2 1 LED Positive 5 0 V 120Q series resistor 2 LED Negative Return Power Switch Pull up to 5V 4 GND Table 89 J702 Input Power Header Pin Description Signal Levels LAST CIRCUIT gt e eo e a geg 1 CIRCUIT 2
366. tandards and References section of the GNSS Reference Book available on our website Refer also to NMEA contact information there Message ID 217 Log Type Asynch Recommended Input log gpalm onchanged Example SGPALM 28 01 01 1337 00 305a 90 1b9d fd5b al10ce9 ba0a5e 2 48f1 cccb76 006 001 27 SGPALM 28 02 02 1337 00 4aa6 90 0720 d50 al0c5a 4dc146 d89bab 079056 fe4 000 70 SGPALM 28 24 26 1337 00 878c 90 1032 d5c a10c90 1db6b6 2eb7 5 ce95c8 00d 000 23 SGPALM 28 25 27 1337 00 9cde 90 07 2 d54 a10da5 adc097 562da3 6488dd De 000 2F SGPALM 28 26 28 1337 00 5509 90 Ob7c d59 al0cc4 ald262 83e2c0 3003bd 02d 000 78 SGPALM 28 27 29 1337 00 47 7 90 1b20 d58 al0ce0 d40a0b 2d570e 221641 122 006 7D SGPALM 28 28 30 1337 00 4490 90 0112 fd4a al0ccl1 33d10a 81dfc5 3bdb0f 178 004 28 SPAN SE User Manual Rev 9 253 Appendix D Data Logs Field Structure Field Description Symbol Example 1 GPALM Log header GPALM 2 msg Total number of messages logged Set to X X 17 zero until almanac data is available 3 msg Current message number X X 17 4 PRN Satellite PRN number XX 28 GPS 1 to 32 5 GPS wk GPS reference week numbera X X 653 6 SV hith SV health bits 17 24 of each almanac page hh 00 7 ecc e eccentricity c d hhhh 3EAF 8 alm ref time toa almanac reference time hh 87 9 incl angle sigma j inclination angle hhhh OD68 10 omega
367. tax Message ID 493 PSRDIFFSOURCE type ID Factory Default psrdiffsource auto ANY Abbreviated ASCII Examples 1 Select only SBAS RTKSOURCE NONE PSRDIFFSOURCE SBAS SBASCONTROL ENABLE AUTO 2 Enable OmniSTAR VBS and HP or XP RTKSOURCE OMNISTAR PSRDIFFSOURCE OMNISTAR 3 Enable RTK and PSRDIFF from RTCM with a fall back to SBAS RTKSOURCE RTCM ANY PSRDIFFSOURCE RTCM ANY SBASCONTROL ENABLE AUTO 166 SPAN SE User Manual Rev 9 Commands Binary ASCII 0 RTCM 3 Appendix B Table 31 DGPS Type Description RTCM ID 0 RTCM ID x 1023 or ANY RTCA 3 RTCA ID A four character string containing only alpha a z or numeric characters 0 9 or ANY CMR 3 CMR ID 0 CMR ID 31 or ANY Cannot be used in PSRDIFFSOURCE command OMNISTAR 3 In the PSRDIFFSOURCE command OMNISTAR enables OmniSTAR VBS and disables other DGPS types OmniSTAR VBS produces RTCM type corrections In the RTKSOURCE command OMNISTAR enables OmniSTAR HP XP if allowed and disables other RTK types OmniSTAR HP XP has its own filter which computes corrections in RTK float mode or within about 10 cm accuracy SBAS In the PSRDIFFSOURCE command when enabled SBAS such as WAAS EGNOS and MSAS forces the use of SBAS as the pseudorange differential source SBAS is able to simultaneously track two SBAS satellites and incorporate the SBAS corrections into the position to gene
368. ter the RVBCALIBRATE ENABLE command is entered there are no vehicle body C 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 SPAN SE User Manual Rev 9 63 Chapter 3 SPAN SE Operation The solved rotation values are used only for a rough estimate of the angular offsets between the IMU and vehicle frames The offsets are used when aligning the system while in motion see Section 3 4 1 Configuration for Alignment starting on page 55 The angular offset values are not applied to the attitude output unless the APPLY VEHICLEBODYROTATION command is enabled see page 131 3 5 SPAN Wheel Sensor Configuration The SPAN SE receiver supports various wheel sensor inputs A wheel sensor can be used to measure the distance travelled by counting the number of revolutions of a ground vehicle wheel Typical wheel sensor hardware outputs a variable frequency pulse that varies linearly with speed If the pulses are accumulated and the size of the wheel known a displacement of the wheel over time can be calculated SPAN SE takes in a wheel sensor input and applies a displacement update to the GNSS INS Kalman filter in order to constrain the position error growth during GNSS outages SPAN also automatically estimates the size of the wheel to mitigate small changes in the size of the wheel
369. terial returned under warranty shall be returned to NovAtel prepaid by the Buyer and returned to the Buyer prepaid by NovAtel THE FOREGOING WARRANTIES DO NOT EXTEND TO I NONCONFORMITIES DEFECTS OR ERRORS IN THE PRODUCTS DUE TO ACCIDENT ABUSE MISUSE OR NEGLIGENT USE OF THE PRODUCTS OR USE IN OTHER THAN A NORMAL AND CUSTOMARY MANNER ENVIRONMENTAL CONDITIONS NOT CONFORMING TO NOVATEL S SPECIFICATIONS OR FAILURE TO FOLLOW PRESCRIBED INSTALLATION OPERATING AND MAINTENANCE PROCEDURES II DEFECTS ERRORS OR NONCONFORMITIES IN THE PRODUCTS DUE TO MODIFICATIONS ALTERATIONS ADDITIONS OR CHANGES NOT MADE IN ACCORDANCE WITH NOVATEL S SPECIFICATIONS OR AUTHORIZED BY NOVATEL III NORMAL WEAR AND TEAR IV DAMAGE CAUSED BY FORCE OF NATURE OR ACT OF ANY THIRD PERSON V SHIPPING DAMAGE OR VI SERVICE OR REPAIR OF PRODUCT BY THE DEALER WITHOUT PRIOR WRITTEN CONSENT FROM NOVATEL IN ADDITION THE FOREGOING WARRANTIES SHALL NOT APPLY TO PRODUCTS DESIGNATED BY NOVATEL AS BETA SITE TEST SAMPLES EXPERIMENTAL DEVELOPMENTAL PREPRODUCTION SAMPLE INCOMPLETE OR OUT OF SPECIFICATION PRODUCTS OR TO RETURNED PRODUCTS IF THE ORIGINAL IDENTIFICATION MARKS HAVE BEEN REMOVED OR ALTERED THE WARRANTIES AND REMEDIES ARE EXCLUSIVE AND ALL OTHER WARRANTIES EXPRESS OR IMPLIED WRITTEN OR ORAL INCLUDING THE IMPLIED WARRANTIES OF MERCHANTABILITY OR FITNESS FOR ANY PARTICULAR PURPOSE ARE EXCLUDED NOVATEL SHALL NOT BE LIABLE FOR ANY LOSS DAMAGE EXPENSE OR INJU
370. the data using a PC SD Card reader C SD CARD IMPORTANT INFORMATION Do not remove the SD Card while data logging to the card is in progress This may result in damage to the card and loss of data Stop the logging using the LOG button or the LOGFILE command before removing the SD Card Do not unplug power to the receiver while data logging to the card is in progress Stop the logging before removing power or use the power button to power down 2 Usethe File Transfer Protocol FTP functionality built into the SPAN SE The FTP functionality is available over the Ethernet port on the receiver e The Internet Protocol IP address default mask and gateway settings for the receiver can be set using the IPCONFIG command Only use FTP on a secure connection as this port has no security settings at this time For information about setting up the Ethernet port refer to Section 3 12 SPAN SE Ethernet Connection starting on page 76 For information on connecting the Ethernet port refer to Section 3 12 4 Connecting to the Ethernet Port starting on page 77 For information about the FTP functionality and Ethernet port commands refer to Appendix B 3 7 FTP starting on page 128 FTP functionality is only available if the receiver is not writing files to the SD Card 3 10 Adding Timed Camera Triggers Use the SPAN EVENT IN and SPAN EVENT OUT connections to attach up to three cameras to a SPAN SE and then trigger th
371. the fly at the exact time of the mark Synchronous and asynchronous logs output the most recently available data 6 If you do use the ONTIME trigger with asynchronous logs the time stamp in the header does not necessarily represent the time the data was generated but rather the time when the log is being transmitted If the log contains a time parameter in the message itself this time will be the time of validity of the data Abbreviated ASCII Syntax Message ID 1 LOG port message trigger period offset hold Factory Default LOG COM1 RXSTATUSEVENTA ONNEW 0 0 HOLD LOG COM2 RXSTATUSEVENTA ONNEW 0 0 HOLD LOG COM3 RXSTATUSEVENTA ONNEW 0 0 HOLD log com4 rxstatuseventa onnew 0 0 Hold LOG USB1 RXSTATUSEVENTA ONNEW 0 0 HOLD SPAN SE User Manual Rev 9 159 Appendix B Field Abbreviated ASCII Example 1 LOG COMI PSRPOS ONTIM E 10 5 HOLD Commands The above example shows BESTPOS logging to COM port 1 at 1 second intervals and offset by 0 5 seconds output at 0 5 1 5 2 5 seconds and so on The hold parameter is set so that logging is not disrupted by the UNLOGALL command To send a log only one time the trigger option can be ignored Abbreviated ASCII Example 2 See Section Section B 1 Command Formats on page 125 for additional examples Field Name LOG COM1 PSRPOS ONC Binary Value E NOHOLD Description Binary Binary Bytes Offset
372. the following items M E Client for Microsoft Networks ivi Ir File and Printer Sharing for Microsoft Networks Uninstall en Description Transmission Control Protocol Intemet Protocol The default wide area network protocol that provides communication across diverse interconnected networks Show icon in notification area when connected Iv Notify me when this connection has limited or no connectivity 2x Connect the computer s Ethernet port to the SPAN SE Ethernet port using a shielded Ethernet cross over cable Set the static IP address on the computer to the following settings in the Local Area Connection Properties dialog box Internet Protocol TCP IP Properties E 215 General You can get IP settings assigned automatically if your network supports this capability Otherwise you need to ask your network administrator for the appropriate IP settings C Obtain an IP address automatically e Use the following IP address IP address 192 168 0 9 Subnet mask 255 255 255 0 Default gateway 192 168 0 1 Obtain DNS server address automatically Use the following DNS server addresses Preferred DNS server A Altemate DNS server a Advanced mm The last octet of the IP address can be any number from 1 to 255 inclusive except for 10 which is the last value in the SPAN SE default IP address In the above example we have used 9 for
373. the last octet SPAN SE User Manual Rev 9 77 Chapter 4 Dual Antenna Functionality This chapter describes the SPAN SE dual antenna functionality with references to the user commands and logs that have been added for this feature In this chapter SPAN SE D refers to SPAN SE with dual antenna functionality Not all SPAN SE enclosures have the hardware necessary to perform dual antenna operations The dual antenna functionality requires both extra HW and SW from the base model SPAN SE 4 1 Overview NovAtel ALIGN heading technology generates distance and bearing information between a master and one or more rover receivers This feature is ideal for customers who want relative directional heading separation heading between two objects or heading information with moving base and pointing applications Heading applications can be applied over various markets including machine control unmanned vehicles marine and agricultural markets SPAN SE D and SPAN MPPC D provide the hardware necessary to run an ALIGN baseline inside one enclosure However SPAN MPPC D must be paired with the OEMV3 receiver and an OEMV based remote to run ALIGN Two antennas can be connected to the SPAN SE D to compute a GNSS heading solution From any of the SPAN SE D or SPAN MPPC D COM ports the ALIGN baseline solution can be logged along with the standard OEMV logs If the SPAN SE D or SPAN MPPC D is configured as a SPAN capable model the ALI
374. to decimal results in a value of 7 Therefore bit 7 of the receiver error word is set indicating there is a problem with the supply voltage of the receiver s power circuitry E 5 H NEN 7 m 11 Figure 16 Status LED Flash Sequence Example Description Ref Description 1 Red 7 End of previous sequence 2 Yellow 8 Beginning of sequence 3 1 second pause 9 Most significant bit of binary value 4 Word identifier flash 10 Lease significant bit of binary value 5 Bit identifier flashes 11 Start of next sequence 6 End of sequence SPAN SE User Manual Rev 9 SPAN SE Operation Chapter 3 3 8 SD Card Data commands and logs can be recorded from the SPAN SE to a removable SD Card The need for a companion handheld data logger is avoided and continuous user interaction is not required since the SPAN SE is capable of logging data according to pre configured parameters without any user intervention To minimize the possibility of damage always keep the SD Card cover closed except C3 when exchanging SD Cards Do not change the card while logging is in progress Data will be lost It is not necessary to turn the receiver off before inserting or extracting a SD Card but the logging session should be closed by pressing the SD Card logging button or issuing the LOGFILE CLOSE command before removing the card An example of an SD Card is shown in Figure 5 SD
375. to the standard process Ulong 4 H 20 9 good dgps Number of standard updates Ulong 4 H 24 10 bad data Number of missing standard updates Ulong 4 H 28 11 Reserved the hp status 7 field is obsolete and has been Hex 2 H 32 replaced by the longer OmniSTAR HP Status field The shorter legacy status here is maintained for backward compatibility 12 hp status 2 Additional status pertaining to the HP or XP Hex 2 H 34 process see Table 60 on page 297 13 bytes hp Number of bytes fed to the HP or XP process Ulong 4 H 36 14 hp status Status from the HP or XP process see Table 61 Hex 4 H 40 on page 298 15 Reserved Hex 4 H 44 16 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 48 17 CRI LF Sentence terminator ASCII only SPAN SE User Manual Rev 9 299 Appendix D Data Logs D 3 45 LOGFILESTATUS Displays information about system logging This log displays the current status of media logging The output file is updated to reflect each new log entry If no log file is open FileState is CLOSED FileName is NULL and Filesize is 0 Message ID 1146 Log Type Polled Recommended Input log logfilestatusa once ASCII Example LOGFILESTATUSA ICOM1 0 98 5 UNKNOWN 0 644 581 404c0020 0000 411 OPEN Datafi le dat 0 SD 8ef3dc64 Field Field Type Wem sd Data Description Format Bye Pina 1 Log Log header H 0 Header 2 FileState OPEN 0 The file status Enum 4 H CLOSE 1 3 FileName Output filename in
376. tonomous solution with no external SPAN SE User Manual Rev 9 Introduction Chapter 1 inputs However because of errors in the IMU measurements that accumulate over time an inertial only solution degrades with time unless external updates such as position velocity or attitude are supplied The SPAN system s combined GNSS INS solution integrates the raw inertial measurements with all available GNSS information to provide the optimum solution possible in any situation By using the high accuracy GNSS solution the IMU errors can be modeled and mitigated Conversely the continuity and relative accuracy of the INS solution enables faster GNSS signal reacquisition and RTK solution convergence The advantages of using SPAN technology are its ability to Provide a full attitude solution roll pitch and azimuth Provide continuous solution output in situations when a GNSS only solution is impossible Provide faster signal reacquisition and RTK solution resolution over stand alone GNSS because of the tightly integrated GNSS and INS filters e Output high rate up to 100 or 200 Hz depending on your IMU model and other logging selections position velocity and attitude solutions for high dynamic applications e Useraw phase observation data to constrain INS solution drift even when too few satellites are available for a full GNSS solution 1 2 Models and Features All SPAN system receivers are factory configurable for L1 L2 RTK capability
377. tor ASCII only SPAN SE User Manual Rev 9 Data Logs Appendix D D 3 4 BESTLEVERARM BESTLEVERARM2 IMU to Antenna Lever Arm The BESTLEVERARM log contains the distance between the IMU and the primary GNSS antenna in the IMU enclosure frame and its associated uncertainties If the you enter the lever arm through the SETIMUTOANTOFFSET command see page 164 these values are reflected in this log When the lever arm calibration is complete see the LEVERARMCALIBRATE command on page 157 the solved values are also output in this log The BESTLEVERARM2 log contains the distance between the IMU and the secondary GNSS antenna in the IMU enclosure frame Currently the secondary lever arm cannot be calibrated so must be entered using the SETIMUTOANTOFFSET2 command The values in the BESTLEVERARM and BESTLEVERARM2 logs are also available in the IMUTOANTOFFSETS log see page 273 The default X pitch Y roll and Z azimuth directions of the inertial frame are clearly marked on the IMU see Figure 43 on page 181 BESTLEVERARM Message ID 674 BESTLEVERARM2 Message ID 1256 Log Type s 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 Descri
378. ts Number of satellites in use May be different to the xx 10 number in view 9 hdop Horizontal dilution of precision X X 1 0 10 alt Antenna altitude above below mean sea level X X 1062 22 11 a units Units of antenna altitude M metres M M 12 undulation Undulation the relationship between the geoid X X 16 271 and the WGS84 ellipsoid 13 u units Units of undulation M metres M M 14 age Age of Differential GPS data in seconds XX empty when no differential data is present 15 stn ID Differential base station ID 0000 1023 XXXX empty when no differential data is present 16 Tax Checksum hh 48 17 CRI LF Sentence terminator CRI LF 256 1 Anindicator of 9 has been temporarily set for WAAS NMEA standard for WAAS not decided yet This indicator can be customized using the GGAQUALITY command 2 The maximum age reported here is limited to 99 seconds SPAN SE User Manual Rev 9 Data Logs Appendix D D 3 16 GPGLL Geographic Position This NMEA log provides altitude and longitude of the present vessel position time of position fix and status See also Section D 2 NMEA Standard Logs on page 225 GPGLL like BESTPOS contains the best available position from either GNSS only or GNSS INS Table 52 on page 257 compares the position precision of selected NMEA logs The GPGLL log outputs these messages with contents without waiting for a valid almanac Instead it uses a UTC time calculate
379. tware resource OK Warning N6 25 0x02000000 OEMV 2 CPU overload No overload Warning 26 0x04000000 OEMV 3 CPU overload No overload Warning 27 0x08000000 SD logging warning buffer is OK buffer is greater than 80 full 28 0x10000000 Forced UNLOGALL to OEMV3 Did not happen Happened N7 29 0x20000000 OEMV 2 status event No event Event 30 0x40000000 OEMV 3 status event No event Event 31 0x80000000 Reserved 334 SPAN SE User Manual Rev 9 Data Logs Appendix D Table 77 Auxiliary 1 Status Nibble Bit Mask Description NO 0 0x00000001 Reserved 1 0x00000002 2 0x00000004 3 0x00000008 Position averaging Off On N1 4 0x00000010 Reserved 5 0x00000020 6 0x00000040 7 0x00000080 OEMV 3 USB connection status Connected Not connected N2 8 0x00000100 OEMV 3 USB1 buffer overrun No overrun Overrun flag 9 0x00000200 OEMV 3 USB2 buffer overrun No overrun Overrun flag 10 0x00000400 OEMV 3 USB3 buffer overrun No overrun Overrun flag 11 0x00000800 Reserved Table 78 OEMV 3 Status Nibble Bit Mask Description Bit 0 Bit 1 Table 79 OEMV 2 Status Nibble Bit Mask Description NO 0 0x0000001 Reserved SPAN SE User Manual Rev 9 335 Appendix D Data Logs Field Field type Data Description Format Binary Binary yp P Bytes Offset 1 RXSTATUS Log header H 0 header
380. ty of any kind including lia bility for negligence for the Software covered by this Agreement and all other performance or non performance by NovAtel under or related to this Agreement are to the remedies specified by this Agreement 9 Governing Law This Agreement is governed by the laws of the Province of Alberta Canada Each of the parties hereto irrevocably attorns to the jurisdiction of the courts of the Province of Alberta 10 Customer Support For Software UPDATES and UPGRADES and regular customer support contact the NovAtel GNSS Hotline at 1 800 NOVATEL U S or Canada only or 403 295 4900 Fax 403 295 4901 e mail to support novatel ca website http www novatel com or write to NovAtel Inc Customer Service Dept 1120 68 Avenue NE Calgary Alberta Canada T2E 8S5 SPAN SE User Manual Rev 9 15 Terms and Conditions 16 Standard Terms and Conditions of Sales 1 PRICES All prices are Firm Fixed Price FCA 1120 68th Avenue N E Calgary Alberta All prices include standard commercial packing for domestic shipment All transportation insurance special packing costs and expenses and all Federal provincial and local excise duties sales and other similar taxes are the responsibility of the Purchaser 2 PAYMENT Terms are prepayment unless otherwise agreed in writing Interest shall be charged on overdue accounts at the rate of 1896 per annum 1 596 per month from due date 3 DELIVERY Purchaser s
381. ual Rev 9 Commands Appendix B B 4 56 WHEELVELOCITY Wheel velocity for INS augmentation The WHEELVELOCITY command is used to input wheel sensor data into the SPAN SE receiver Abbreviated ASCII Syntax Message ID 504 WHEELVELOCITY latency ticks rev wheel vel Rsrvd fwheel vel Rsrvd Rsrvd ticks s Abbreviated ASCII Example WHEELVELOCITY 123 8 10 0 0 0 0 40 WHEELVELOCITY 123 8100000 80 WHEELVELOCITY 123 8 10 0 00 0 120 The above are for a vehicle traveling at a constant velocity with these wheel sensor characteristics Wheel Circumference 2m Vehicle Velocity assumed constant for this example 10 m s Ticks Per Revolution 8 Cumulative Ticks Per Second 10 m s 8 ticks rev 2 m rev 40 Field ASCII Binary Binary Field Format Offset Description Type Value Value 1 header This field contains the command name H 0 or the message header depending on whether the command is abbreviated ASCII ASCII or binary 2 latency A measure of the latency in the velocity Ushort 2 H time tag in ms 3 ticks rev Number of ticks per revolution Ushort 2 H 2 4 wheel vel Short wheel velocity in ticks per second Ushort 2 H 4 5 Reserved Ushort 2 H 6 6 fwheel vel Float wheel velocity in ticks per second Float 4 H 8 7 Reserved Ulong 4 H 12 8 Ulong 4 H 16 9 ticks s Cumulative number of ticks per second Ulong 4 H 20 Refer als
382. uares adjustment The GLONASS M satellites broadcasts this difference in the navigation message This log also contains information from the GLONASS navigation data relating GLONASS time to UTC Message ID 719 Log Type Asynch Recommended Input log gloclocka onchanged ASCII Example GLOCLOCKA COM1 0 54 5 SATTIME 1364 411884 000 00000000 1d44 2310 0 0 000000000 0 000000000 0 0 0 000000275 792 0 000001207 0 000000000 0 000000000 0 437e9afaf SPAN SE User Manual Rev 9 247 Appendix D Data Logs a v Binary Field Field type Data Description Format Offset 1 GLOCLOC Log header H 0 K header 2 Reserved Ulong 4 H 3 Double 8 H 4 4 Double 8 H 12 5 sat type Satellite type where Uchar 1 H 20 0 GLO SAT 1 GLO SAT M new M type N Four year interval number starting from 1996 Uchar 11 H 219 7 TGPS GPS time scale correction to UTC SU given at Double 8 H 24 beginning of day N in seconds 8 NA GLONASS calendar day number within a four Ushort 28 H 32 8 year period beginning since the leap year in days 9 ic GLONASS time scale correction to UTC time Double 8 H 36 in seconds 10 b1 Beta parameter 1st order term Double 8 H 44 11 b2 Beta parameter 2nd order term Double 8 H 52 12 Kp The Kp scale summarizes the global level of Uchar 1 H 60 geomagnetic activity A Kp of O to 4 is below storm levels 5 to 9 13 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 61 14
383. unt is from one 1PPS to the next PPS 4 polarity NEGATIVE 0 Negative polarity default Enum 4 H 8 POSITIVE Positive polarity 5 t_bias If Field 3 is EVENT Long 4 H 12 Time bias in nanoseconas default 0 minimum 999 999 999 maximum 999 999 999 If Field 3 is COUNT This field is not used 6 t guard If Field 3 is EVENT Ulong 4 H 16 Time guard in milliseconds default 4 minimum 2 maximum 3 599 999 If Field 3 is COUNT This field is not used 142 SPAN SE User Manual Rev 9 Commands B 4 10 EVENTOUTCONTROL Control event out properties Appendix B This command controls up to three Event Out output triggers See also Section 3 11 Synchronizing External Equipment starting on page 74 The 240000000 command will generate a 4 Hz signal The signal is held high for 10 ms during each cycle and the leading edge of the high signal is aligned to the 1 PPS D EVENTOUTCONTROL MARK1 ENABLE EOS ISP CA E 10000000 Abbreviated ASCII Syntax EVENTOUTCONTROL mark switch polarity active period non active period Abbreviated ASCII Example Message ID 613 EVENTOUTCONTROL MARK3 ENABLE a Field ASCII Binary SE Binary Binary Binary Field D t i Type Value Value CE Format Bytes Offset 1 header This field contains the H 0 command name or the
384. ure See Section 3 4 6 Lever Arm Calibration Routine starting on page 59 See also Appendix A Technical Specifications starting on page 86 which gives dimensional drawings of the IMU enclosures 1 The closer the antenna is to the IMU the more accurate the position solution Also your measurements when using the SETIMUTOANTOFFSET command must be as accurate as possible or at least more accurate than the GNSS positions being used For example a 10 cm error in recording the antenna offset will result in at least a 10 cm error in the output Millimeter accuracy is preferred especially in RTK mode 2 The offset from the IMU center of navigation to the antenna phase center and or a user point device must remain constant especially for RTK or DGPS data Ensure the IMU antenna and user point device are bolted in one position perhaps by using a custom bracket 2 2 3 Connect Interface Cables 38 The SPAN SE has two circular connectors on the back panel Each connector has a cable that breaks out the serial ports into DB9 connectors and the input and output event signals to bare wires Each peripheral signal is identified on the cable with a label See Section A 2 2 3 Electrical and Environmental on page 106 for more information on signals wiring and pin out information of the SPAN SE port and its cables 1 Connect the I O 1 green cable s 30 pin connector to the I O 1 green port on the SPAN SE 2 Connect the I O 2 yellow ca
385. use default ANY 2 Use any and all SBAS satellites found WAAS 3 Use only WAAS satellites EGNOS 4 Use only EGNOS satellites MSAS 5 Use only MSAS satellites 176 SPAN SE User Manual Rev 9 Commands Field Type 1 SBASCONTROL header Field ASCII Value Binary Value Description This field contains the command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary Binary Format Appendix B Binary Binary Bytes Offset H 0 2 keyword DISABLE 0 Receiver does not use SBAS corrections ENABLE 1 Receiver uses SBAS corrections Enum 3 system See Table 33 on page 176 Choose the SBAS the receiver will use Enum 4 H 4 4 prn 0 Receiver uses any PRN default 120 138 Receiver uses SBAS corrections only from this PRN ULong 4 H 8 5 testmode NONE 0 ZEROTOTWO Receiver interprets Type 0 messages as they are intended as do not use default Receiver interprets Type 0 messages as Type 2 messages IGNOREZERO 2 SPAN SE User Manual Rev 9 Receiver ignores the usual interpretation of Type 0 messages as do not use and continues Enum 4 H 12 177 Appendix B Commands B 4 34 SETAUTOLOGGING Start SD Card Logging at Boot Up This command is used to enable and disable SD card auto logging at boot up If you have already used the SAVECONFIG
386. using Abbreviated ASCII Syntax Message ID 863 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 that if you have mounted your SPAN system with the positive Z axis as marked on the enclosure in a direction that is not up please refer to the SETIMUORIENTATION command to determine the SPAN computation frame axes mapping that SPAN automatically applies SPAN SE User Manual Rev 9 Commands Appendix B Field ASCII Binary Binary Binary Binary Description Format Bytes Offset Type Value Value 1 header This field contains the command H 0 name or the message header depending on whether the command is abbreviated ASCII ASCII or binary 2 azimuth 360 to 360 Input azimuth angle in degrees Double 8 H 3 azSTD 0 000278 to 180 Inputazimuth standard deviation Double 8 H 8 angle in degrees SPAN SE User Manual Rev 9 191 Appendix B Commands B 4 43 SETINSOFFSET Set INS offset The SETINSOFFSET command is used to specify an offset from the IMU for the output position and velocity of the INS solution This command shifts the position and velocity in the INSPOS INSPOSS INSVEL INSVELS INSSPD INSSPDS INSPVA and INSPVAS logs by the amount specified in metres with respect
387. ut the vehicle must remain stationary for the duration of the alignment which is approximately 1 minute The attitude estimates solved by the alignment are larger than the system specified attitude accuracy and vary upon the characteristics of the sensor and the geographic latitude of the system Attitude accuracy converges with motion after the coarse alignment is complete see Section 3 4 4 Navigation Mode on page 57 If the system is stationary for less than 1 minute the coarse alignment finishes early provided at least 30 stationary seconds were detected The quality of the coarse alignment is poorer with stationary durations of less than 1 minute The IMU CPT and HG1930 IMUS cannot perform coarse alignments as these IMUs cannot accurately sense Earth s rotation For these IMUs the default alignment routine is the Kinematic Alignment If a stationary alignment is required see Section 3 4 3 3 Manual Alignment on page 57 and Section 3 4 3 4 Dual Antenna Alignment on page 57 3 4 3 2 Kinematic Alignment If the preferred coarse alignment routine cannot be performed because the vehicle cannot remain stationary for the length of time required an alternate alignment routine is available The kinematic or moving alignment is performed by estimating the attitude from the GNSS velocity vector and injecting it into the SPAN filter as the initial system attitude The kinematic alignment is the default alignment routine for IMU CPT Currently
388. uth will be used rather than what is computed by the normal coarse alignment routine This alignment takes the same amount of time as the usual coarse alignment 60 s nominally Input azimuth values must be accurate for good system performance e Sending SETINITAZIMUTH resets the SPAN filter The alignment will take approximately 1 minute but some time and vehicle dynamics are required for the SPAN filter to converge Bridging performance will be poor before filter convergence e The azimuth angle is with respect to the SPAN frame If the IMU enclosure is mounted with the z axis pointing upwards the SPAN frame is the same as what is marked on the enclosure If the IMU is mounted in another way SPAN transforms the SPAN frame axes such that z points up for SPAN computations You must enter the azimuth with respect to the transformed axis See SETIMUORIENTATION on page 179 for a description of the axes mapping that occurs when the IMU is mounted differently from Z pointing up This command is not save configurable see the SAVECONFIG command on page 175 and if needed must be entered at startup 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 179 unless you have your IMU mounted with the Z axis not pointing up Then use the tables in the SETIMURIENTATION command on pages 182 183 to determine the azimuth axis that SPAN is
389. utput at a rate of 0 5 seconds log the TIME log ontime 0 5 as follows log time ontime 0 5 The TIME log offset field can then be used to determine any offset in PPS output relative to GPS time Message ID 101 Log Type Synch Recommended Input log timea ontime 1 ASCII Example TIMEA COM1 0 50 5 FINESTEERING 1337 410010 000 00000000 9924 1984 VALID 1 953377165e 09 7 481712815e 08 12 99999999492 2005 8 25 17 53 17000 VALID e2fc088c SPAN SE User Manual Rev 9 341 Appendix D Data Logs Field Field type Data Description Format Binary Binary yp P Bytes Offset 1 TIME Log header H 0 header 2 clock Clock model status not including current Enum 4 H status measurement data see Table 62 on page 307 3 offset Receiver clock offset in seconds from GPS time A Double 8 H 4 positive offset implies that the receiver clock is ahead of GPS time To derive GPS time use the following formula GPS time receiver time offset 4 offset std Receiver clock offset standard deviation Double 8 H 12 5 utc offset The offset of GPS time from UTC time computed Double 8 H 20 using almanac parameters UTC time is GPS time plus the current UTC offset plus the receiver clock offset UTC time GPS time offset UTC offset 6 utc year UTC year Ulong 4 H 28 7 utc month UTC month 0 12 Uchar 1 H 32 8 utc day UTC day 0 31 1 Uchar 1 H 33 9 utc hour UTC hour 0 23 Uchar 1 H 34 10 utc min UT
390. utput strobe LVTTL level 8 Event out 3 Strobe Software configurable GPS synchronous output strobe LVTTL level 9 Event out 4 Strobe Software configurable GPS synchronous output strobe LVTTL level 10 Ground 11 Event in 1 Strobe Software configurable LVTTL level input event trigger 12 Event in 2 Strobe Software configurable LVTTL level input event trigger 13 Event in 3 Strobe Software configurable LVTTL level input event trigger 14 Event in 4 Strobe Software configurable LVTTL level input event trigger 15 Ground 16 Ground 17 CAN 1 18 CAN 1 19 CAN 2 20 CAN 2 21 Ground 22 Ground 396 Continued on the following page SPAN SE User Manual Rev 9 SPAN MPPC Interface Card Appendix J Pin Description Signal Levels 23 COM2 RX RS422 COM2 RxD RS232 24 COM2 RX RS422 COM2 CTS RS232 25 COM TX RS422 COM2 TxD RS232 26 COM2 TX RS422 COM2 RTS RS232 27 Ground 28 Ground 29 COM3 RX RS422 COM3 RxD RS232 30 COM3 RX RS422 COM3 CTS RS232 31 COMB TX RS422 COMS TxD RS232 32 COMS TX RS422 COM3 RTS RS232 33 COM4 RX RS422 COM4 RxD RS232 34 COM4 RX RS422 COM4 CTS RS232 35 COM4 TX RS422 COM4 TxD RS232 36 COM4 TX RS422 COM4 RTS RS232 37 Ground 38 Ground 39 ARINC 40 ARINC SPAN SE User Manual Rev 9 397 Appendix J SPAN MPPC Interfa
391. uture sessions You may wish to use XON XOFF handshaking to prevent loss of data 4 Select Transfer Send Text File to locate the file that is to be sent to the receiver Once you double click on the file or select Open HyperTerminal sends the file to the receiver The above example sets the IMU type to be the HG1700 AGS8 It also sets the leverarm from the IMU center to the GNSS antenna phase center with the SETIMUTOANTOFFSET command Log requests on COMI of SPAN SE are also made In this case RAWIMUSB logs are logged asynchronously at 100 Hz RANGECMPB logs synchronously at 1 Hz INSPVASB at 10 Hz and the INSCOVSB log would be logged when updated which is at 1 Hz also 212 SPAN SE User Manual Rev 9 idee An Data Logs The INS specific logs follow the same general logging scheme as normal OEMV Family logs They are available in ASCII or binary formats and are defined as being either synchronous or asynchronous Information on both SPAN only and selected OEMV logs are contained in this appendix For information on other available logs and output logging please refer to the OEMV Family Firmware Reference Manual One difference from the standard OEMV Family logs is that there are two possible headers for the ASCII and binary versions of the logs Which header is used for a given log is described in the log definitions in this chapter The reason for having the alternate short headers is that the normal OEMV 3 binary header is quite long
392. validity 221 TIME log 341 TIMEDWHEELDATA log 343 track over ground 236 tracking channel 312 continuous 299 315 loop 312 Transmission Control Protocol TCP 76 TI transmit 137 311 trigger 142 143 error 331 log 159 214 302 303 option 160 troubleshooting 408 true north 236 pseudorange error orientation 263 U undulation 232 best position 234 universal enclosure HG1700 349 Universal IMU Enclosure LN 200 IMU 366 specifications 97 technical specifications 120 UNLOG command 204 UNLOGALL command 206 up 290 User Datagram Protocol UDP 76 77 using a command as a log 125 V validity clock model 307 receiver model 339 variable lever arm 85 VARIABLELEVERARM log 344 VBS OmniSTAR HP XP 299 SPAN SE User Manual Rev 9 Index initiate 133 subscription 294 VDOP see dilution of precision vector values 290 vehicle frame 46 vehicle to body rotation RVB 131 174 vehicle to SPAN frame angular offset cali bration 63 VEHICLEBODYROTATION log 345 velocity 192 284 computation 290 INS 154 278 limit 231 mark 306 version 199 346 receiver model 346 VERSION log 346 W warranty 18 Waypoint Products Group 249 Web site 21 week reference 318 wheel sensor data 209 343 odometer 116 WHEELSIZE log 348 WHEELVELOCITY command 209 word raw ephemeris 318 status 338 week number 254 Y year 342 347 Z Zero Velocity Update ZUPT 155 417 4 4082 NovZtel Recyclable Printed in Canada
393. ver Ushort This is a value between 0 65535 2 26 Y S W Version that represents the receiver software build number 1 The 8 bit size means that you will only see 0xAO0 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 SPAN SE User Manual Rev 9 219 Appendix D 220 ASCII Port Name Data Logs Table 40 Detailed Serial Port Identifiers Hex Port Value Decimal Port Description COM1 20 32 COM port 1 COM2 40 64 COM port 2 COM3 60 96 COM port 3 SPECIAL AO 160 Unknown port THISPORT CO 192 Current COM port FILE E 224 User specified file destination SD card USB1 5A0 1440 USB port 1 ICOM1 OCAO 3232 ICOM port 1 ICOM2 10A0 4256 ICOM port 2 ICOM3 11A0 4512 ICOM port 3 ICOM4 15A0 5536 ICOM port 4 COM4 OEAO 3744 COM port 4 XCOM1 1A0 416 Internal virtual COM channels for use with SPAN API XCOM2 2A0 672 Internal virtual COM channels for use with SPAN API XCOM3 9A0 2464 Internal virtual COM channels for use with SPAN API SPAN SE User Manual Rev 9 Data Logs Appendix D D 1 4 ASCII and Binary Logs with Short Headers These logs are set up in the same way normal ASCII or binary logs are except that a normal ASCII or binary header is replaced with a short header see Tables 41 and 42 For the message header structure of OEMV 3
394. wa ewa er eee dede pepe dede ted o dec de te o NENNEN pethidine 274 54 Lever EE EH 275 55 Heading Update Enu ms eret eid erede e eed e deed Pe kl bas da es DEA 289 56 Wheel Status viw boo iain Geet aks rad ei dust et se ie ee deci Ee Ee 289 57 L band Subscription Type tete iere tet sec a a po Rd e T Hn ke nh n A Ten 293 58 L band Signal Tracking Giatus AA 295 59 OmniSTAR VBS Status Word 296 60 OmniSTAR HP XP Additional Status Vor 297 61 OmniSTAR HP XP Status Word 298 62 Clock Model Gates 307 63 Tracking St te ib ee iere o edie eid Dee dee ic pe DA te eade oka edmi 313 64 Correlator T eege ee De en Pote ee er ee eee 313 65 Channel Tracking Example cecinere epis ita banca ateraia 313 66 Channel Tracking Status 2 1 11 oerte inerti remet deitate dee Ee ibn reir ne b k due 314 67 Range Record Format RANGECMP only 316 68 OI e 321 69 Litef LG l 1 IMU Status ti tette Pet eri sere RETE e kaa skin 322 70 Modes INGIGAatlOn 22 PEE 323 71 HG1700 and LN200 Status en nennen nnne 323 72 MU CPT Status E 325 73 HG1900 and HG1930 Status eene eene nennen enne nnne 326 74 Raw IMU Scale Factors iin rented ineo quite Mek Ea nes EUR Eque ce ve ode speso uai si peye 328 75 SPAN Receiver Error ete eet en ee e eed de pede dedo pee ease pe eee d 332 76 SPAN Recelver Status iu sike oo dwan idcm eec ce ade te dete e a eene de dan ees 334 77 Auxiliary 1 Stat S ies se
395. ware SPAN SE User Manual Rev 9 31 Chapter 1 Introduction NovAtel s SPAN SE S receiver is configured at the factory for single antenna operation and features one GNSS OEMV 3 receiver inside while the SPAN SE D is manufactured with dual GNSS receivers and can be configured for single or dual antenna operation There are no hardware or software upgrade paths available from the SE S to the SE D so NovAtel recommends the dual antenna SPAN SE D 1f you are unsure if your application required a single or dual antenna SPAN currently supports specific Honeywell iMAR Litton KVH and Luef IMUs When using an IMU with SPAN it is housed in an enclosure with a PCB board to handle power communication and data timing See Appendix A Technical Specifications starting on page 86 for details Table 1 Supported IMU Types Model Name Me ol a Compatible IMUs IMU H62 100 Hz HG1700 AG62 UIMU H62 IMU H58 100 Hz HG1700 AG58 UIMU H58 IMU LN200 200 Hz LN 200 UIMU LN200 200 and 400 Hz models IMU SE FSAS EI 200 Hz iIMU FSAS UIMU LCI 200 Hz LITEF LCI 1 IMU CPT 100 Hz IMU CPT IMU HG1900 100 Hz HG1900 CA50 IMU HG1930 100 Hz HG1930 CA50 No IMU Each SPAN SE has the following extra features e Rugged shock water and dust resistant enclosure e A removable SD Card slot for on board data collection Each SPAN MPPC has the following extra features Small volume for size restricted applications S
396. wn IMU type default 1 IMU HG1700 AG11 Honeywell HG1700 AG11 AG58 2 3 Reserved 4 IMU HG1700 AG17 Honeywell HG1700 AG17 AG62 5 IMU HG1900 CA29 Honeywell HG1900 CA29 6 7 Reserved 8 IMU LN200 Litton LN 200 200 Hz model 9 IMU LN200 400HZ Litton LN 200 400 Hz model 10 Reserved 11 IMU HG1700 AG58 Honeywell HG1700 AG58 12 IMU HG1700 AG62 Honeywell HG1700 AG62 13 IMU IMAR FSAS iMAR ilMU FSAS 14 15 Reserved 16 IMU KVH COTS IMU CPT 17 18 Reserved 19 IMU LITEF LOCH NG Litef LCI 1 IMU 20 IMU HG1930 AA99 Honeywell HG1930 AA99 SPAN SE User Manual Rev 9 187 Appendix B Commands B 4 41 SETINITATTITUDE Set initial attitude of SPAN in degrees 188 This command allows you to input a known attitude to start SPAN operation rather than the usual coarse alignment process The caveats and special conditions of this command are listed below e This alignment is instantaneous based on the user input This allows for faster system startup however the input values must be accurate or SPAN will not perform well e Ifyou are uncertain about the standard deviation of the angles you are entering err on the side of a larger standard deviation Sending SETINITATTITUDE resets the SPAN filter The alignment is instantaneous but some time and vehicle dynamics are required for the SPAN filter to converge Bridging performance is poor before filter convergence e Theroll about the Y axis pitch about the X axis and azimuth about the
397. x00001000 Reserved IMU Status Passed O Failed 1 13 0x00002000 Reserved IMU Status Passed O Failed 1 14 0x00004000 Reserved IMU Status Passed O Failed 1 15 0x00008000 Reserved Reserved N4 16 Ox00010000 Reserved Reserved 17 Ox00020000 Reserved Reserved 18 Ox00040000 Reserved Reserved 19 Ox00080000 Reserved Reserved N5 20 Ox00100000 Reserved Reserved 21 Ox00200000 Reserved Reserved 22 Ox00400000 Reserved Reserved 23 Ox00800000 Reserved Reserved N6 24 Ox01000000 Reserved IMU Status Passed O Failed 1 25 Ox02000000 Reserved IMU Status Passed O Failed 1 26 Ox04000000 Reserved IMU Status Passed O Failed 1 27 Ox08000000 IMU Status Passed 0 IMU Status Passed 0 Failed 1 Failed 1 N7 28 Ox10000000 IMU Status Passed 0 IMU Status Passed 0 Failed 1 Failed 1 29 0x20000000 IMU Status Passed 0 Reserved Failed 1 30 0x40000000 IMU Status Passed 0 IMU Status Passed O Failed 1 Failed 1 31 0x80000000 IMU Status Passed 0 Reserved Failed 1 324 SPAN SE User Manual Rev 9 Data Logs Appendix D Table 72 IMU CPT Status Nibble Bit Mask Description Range Value 0 0x00000001 Gyro X Status 1 Valid 0 Invalid NO 1 0x00000002 Gyro Y Status 1 Valid 0 Invalid 2 0x00000004 Gyro Z Status 1 Valid 0 Invalid 3 0x00000008 Unused Set to 0 4 0x00000010 Accelerometer X Status 1 Valid 0 Invalid N1 5
398. xial cable SPAN SE User Manual Rev 9 39 Chapter 2 SPAN SE Installation 2 2 4 Connect Power The SPAN SE receiver requires an input supply voltage between 9 VDC and 28 VDC The power cable supplied has bare leads that can be connected to an appropriate DC power supply The receiver has an internal power module that does the following filters and regulates the supply voltage protects against over voltage over current and high temperature conditions e provides automatic reset circuit protection There is always a drop in voltage between the power source and the power port due to cable loss Improper selection of wire gauge can lead to an unacceptable voltage drop at the SPAN system A paired wire run represents a feed and return line Therefore a 2 m wire pair represents a total wire path of 4 m For a SPAN system operating from a 12 V system a power cable longer than 2 1 m 7 ft should not use a wire diameter smaller than 24 AWG Each IMU requires its own power supply see Table 3 on page 40 Table 3 IMU Power Supply IMU Power Requirement LN 200 HG1900 HG1930 HG1700 and Litef LCI 1 12 to 28 V DC iIMU FSAS 10 to 34 V DC IMU CPT 9 to 18 VDC For pin out information on the power connector on the SPAN SE see Section A 1 1 1 Power Adapter Cable NovAtel part number 01018135S on page 92 Details on each IMU s power ports and cables are in the IMU appendices starting on page 97 2 2 5 Pow
399. y Data The BESTVEL log contains the best available velocity from either GNSS only or GNSS INS BESTGPSVEL contains the best available GNSS velocity without INS Both logs have an identical format In addition it reports a velocity status indicator which is useful in indicating whether or not the corresponding data is valid The velocity measurements sometimes have a latency associated with them The time of validity is the time tag in the log minus the latency value A valid solution with a latency of 0 0 indicates that the instantaneous Doppler measurement was used to calculate velocity The velocity is typically computed from the average change in pseudorange over the time interval or the RTK Low Latency filter As such it is an average velocity based on the time difference between successive position computations and not an instantaneous velocity at the BESTGPSVEL time tag The velocity latency to be subtracted from the time tag is normally 1 2 the time between filter updates Under default operation the positioning filters are updated at a rate of 2 Hz This translates into a velocity latency of 0 25 second The latency can be reduced by increasing the update rate of the positioning filter being used by requesting the BESTGPSVEL or BESTGPSPOS messages at a rate higher than 2 Hz For example a logging rate of 10 Hz would reduce the velocity latency to 0 005 seconds For integration purposes the velocity latency should be applied to the record ti
400. y known flag in the ch tr status field is not set as there may exist a half 1 2 cycle ambiguity on the measurement The tracking error estimate of the pseudorange and carrier phase ADR is the thermal noise of the receiver tracking loops only It does not account for possible multipath errors or atmospheric delays If both the L1 and L2 signals are being tracked for a given PRN two entries with the same PRN appear in the range logs As shown in Table 66 Channel Tracking Status on page 314 these entries can be differentiated by bit 20 which is set if there are multiple observables for a given PRN and bits 21 22 which denotes whether the observation is for L1 or L2 This is to aid in parsing the data Message ID 43 Log Type Synch Recommended Input log rangea ontime 30 ASCII Example RANGEA COM1 0 63 5 FINESTEERING 1429 226979 000 00000000 5103 2748 26 6 0 23359924 081 0 078 122757217 106875 0 015 3538 602 43 3 19967 080 08109c04 6 0 23359926 375 0 167 95654966 812027 0 019 2757 355 36 7 19960 461 01309c0b 21 0 20200269 147 0 038 106153137 954409 0 008 86 289 49 5 13397 470 08109c44 21 0 20200268 815 0 056 82716721 366921 0 008 67 242 46 1 13391 980 01309c4b 16 0 23945650 428 0 091 125835245 287192 0 024 2385 422 41 9 10864 640 08109c64 16 0 23945651 399 0 148 98053428 283142 0 028 1858 773 37 7 10859 980 01309c6b 44 12 19388129 378 0 335 103786179 553598 0 012 975 676 36 6 3726 656 8119e24 44 1
401. ys Ulong 4 H 136 30 Flags Information flags see Table 49 GLONASS Ulong 4 H 140 Ephemeris Flags Coding on page 250 31 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 144 32 CRI LF Sentence terminator ASCII only SPAN SE User Manual Rev 9 251 Appendix D Data Logs D 3 13 GLORAWEPHEM Raw GLONASS Ephemeris Data This log contains the raw ephemeris frame data as received from the GLONASS satellite Message ID 792 Log Type Asynch Recommended Input log glorawephema onchanged Example GLORAWEPHEMA COMI 3 47 0 SATTIME 1340 398653 000 00000000 332d 2020 38 9 0 1340 398653 080 4 0148d88460fc115dbdaf78 0 0218e0033667aec83af2a5 0 03800059031e14439c75ee 0 0404 22660000000000065 0 17 3dd17 GLORAWEPHEMA COM1 0 47 0 SATTIME 1340 398653 000 00000000 332d 2020 41 13 0 1340 398653 078 4 0108d812532805bfalcd2c 0 0208e0a36e8e0952b111da 0 O3c02023b68c9Ja32410958 0 0401fda44000000000002a 0 0b237405 Field Field type Data Description Format Binary Binary Bytes Offset 1 GLORAWEPHEM Log header H 0 header 2 sloto Slot information offset PRN identification Ushort 2 H Slot 37 Ephemeris relates to this slot and is also called SLOTO in Connect 3 freqo Frequency channel offset in the range 0 Ushort 2 H 2 20 4 sigchan Signal channel number Ulong H 4 5 week GPS Week in weeks Ulong 4 8 6 time GPS Time in milliseconds binary data or Ulo

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