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SPAN-CPT Receiver User Manual

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1. 44 5 SPAN CPT KVH Connector Pin Out Descriptions 45 6 FRESET Target ete a 51 7 NMEA WIE c 55 8 Full Mapping Definitions 22 1 0000000 ene enne enne nnne nnne 59 9 Short ASCII Message Header Structure 71 10 Short Binary Message Header 71 11 Position or Velocity Type inpre cene 74 12 Tof Bite PES LU em 76 13 Iesu M M 92 14 SPAN CPT Status 2 a ter gio eoe p EE a idu 98 15 SPAN CPT Status 99 16 Raw SPAN CPT Scale 99 7 SPAN CPT User Manual Rev 3 Software License BY INSTALLING COPYING OR OTHERWISE USING THE SOFTWARE PRODUCT YOU AGREE TO BE BOUND BY THE TERMS OF THIS AGREEMENT IF YOU DO NOT AGREE WITH THESE TERMS OF USE DO NOT INSTALL COPY OR USE THIS ELECTRONIC PRODUCT SOFTWARE FIRMWARE SCRIPT FILES OR OTHER ELECTRONIC PRODUCT WHETHER EMBEDDED IN THE HARDWARE ON A CD OR AVAILABLE ON THE COMPANY WEB SITE hereinafter referred to as Software 1 License NovAtel Inc NovAtel grants you a non exclusive non transferable license not a sale to where the Software will be used on NovAtel supplied hardware or in conjunction with other NovAtel supplied software use the Software with the product s as supplied by
2. ente nha Co pez e coire EL test Ede pu 41 3 5 Data Collection for Post 43 A Technical Specifications 44 B INS Commands 49 C INS Logs 70 D Command Prompt Interface 103 E Replacement Parts 106 4 SPAN CPT User Manual Rev 3 F Frequently Asked Questions 107 SPAN CPT User Manual Rev 3 Figures 1 2 Basic Set Up science e ee eee Ur ue 21 3 SEO die 22 4 SPAN CPT Enclosure 23 5 Connect the antenna to the antenna port 22 22 24 6 Apply Power to the SPAN CPT 25 7 Local Level Frame ENU 222 11 00000 000 610000000 00000000 27 8 The Enclosure 28 9 Vehicle Frame mi uut 28 10 Corrsys Datron usi enint Ee pene casar P echa 39 11 SPAN CPT Enclosure Dimensions 44 12 SPAN CPT KVH Development Terminated Cable 45 SPAN CPT User Manual Rev 3 SPAN CPH System 19 Tables 1 Inertial Solution 34 2 Cable Modification for Corrsys Datron 40 3 Solution Pararrieters 5 rer e eee eeu 41 4 Technical HW Specs for
3. This field contains the command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively header 2 x offset 360 Offset along the IMU enclosure Double 8 H frame X axis m for Markl 3 y offset 360 Offset along the IMU enclosure Double 8 H 8 frame Y axis m for Markl 4 2 offset 360 Offset along the IMU enclosure Double 8 H 16 frame Z axis m for Mark1 5 aoffset 360 Roll offset for Mark1 degrees Double 8 H 24 6 Boffset 360 Pitch offset for Markl degrees Double 8 H 32 7 yoffset 360 Azimuth offset for Mark1 degrees Double 8 H 40 Abbreviated ASCII Example SETMARKIOFFSET 0 324 0 106 1 325000 66 SPAN CPT User Manual Rev 3 2 14 SETWHEELPARAMETERS Set Wheel Parameters The SETWHEELPARAMETERS command can be used when wheel sensor data is available It allows you to give the filter a good starting point for the wheel size scale factor It also gives the SPAN filter an indication of the expected accuracy of the wheel data Usage of the SETWHEELPARAMETERS command depends on what wheel sensor you are using The SETWHEELPARAMETERS command allows you to set the number of ticks per revolution that Is correct for your wheel installation the default is 58 Abbreviated ASCII Syntax Message ID 847 SETWHEELPARAMETERS ticks circ spacing ASCII Binary Binary Binary Description Format Offset
4. identifier and the asterisk preceding the four checksum digits See also Section C 1 Description of ASCII and Binary Logs with Short Headers on page 71 2 The highest rate that you should request GPS logs RANGE BESTPOS RTKPOS PSRPOS and so on while in INS operation is 5 Hz If the receiver is not running INS no IMU is attached GPS logs can be requested at rates up to 20 Hz Please also refer to the OEMV Family Firmware Reference Manual for information on the supplied Convert4 program that lets you change binary to ASCII data or short binary to short ASCII data and vice versa Convert4 is also capable of RINEX conversions to and from ASCII or binary Table 1 Inertial Solution Status on page 34 shows the status values included in the INS position velocity and attitude output logs If you think you have an IMU unit hooked up properly and you are not getting a good status value something is wrong and the hardware setup must be checked out This situation can be recognized in the RAWIMU data by observing accelerometer and gyro values which are not changing with time SPAN CPT User Manual Rev 3 70 C 1 Description of ASCII and Binary Logs with Short Headers These logs are set up in the same way normal ASCII or binary logs are except that a normal ASCII or binary header is replaced with a short header see Tables 9 and 10 For the message header structure of OEMV 3 regular Binary and ASCII logs please refer to the OEMV Family
5. 2 ID GP 0 GPS GP only Enum 4 H AUTO 1 GPS and or Inertial IN SPAN CPT User Manual Rev 3 55 2 7 RVBCALIBRATE Vehicle to Body Rotation Control The RVBCALIBRATE command is used to enable or disable the calculation of the vehicle to SPAN body angular offset This command should be entered when the SPAN CPT 15 re mounted in the vehicle or if the rotation angles available are known to be incorrect WARNING After the RVBCALIBRATE ENABLE command is entered there are no vehicle body rotation parameters present and a kinematic alignment is NOT possible Therefore this command should only be entered after the system has performed either a static or kinematic alignment and has a valid INS solution A good INS solution and vehicle movement are required for the SPAN CPT system to solve the vehicle to body SPAN offset The solved vehicle body rotation parameters are output in the VEHICLEBODYROTATION log when the calibration is complete When the calibration 1s done the rotation values are fixed until the calibration is re run by entering the RVBCALIBRATE command again or by entering the VEHICLEBODYROTATION command with known values lt The solved rotation values are used only for a rough estimate of the angular offsets between the SPAN CPT and vehicle frames The offsets are used when aligning the system while in motion see Section 3 3 1 System Start Up and Alignment Techniques starting on page 35 The an
6. 7 X Accel Output Change in velocity count along x axis Long 4 24 8 2 Gyro Output Change in angle count around z axis Long 4 28 Right handed 9 Gyro Output Change in angle count around y axis Long 4 32 Right handed 10 X Gyro Output Change in angle count around x axis Long 4 H 36 Right handed 11 XXXX 32 bit CRC ASCII Binary and Short Binary Hex 4 40 only 12 CR LF Sentence terminator ASCII only a The change in velocity acceleration scale factor for each IMU type can be found in Table 16 on page 99 Multiply the scale factor in Table 16 by the count in this field for the velocity increments in m s b A negative value implies that the output is along the positive Y axis marked on the IMU A positive value implies that the change is in the direction opposite to that of the Y axis marked on the IMU c The change in angle gyro scale factor can be found in Table 16 on page 99 Multiply the appropriate scale factor in Table 16 by the count in this field for the angle increments in radians SPAN CPT User Manual Rev 3 97 Table 14 SPAN 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 0x0000001
7. If you use the APPLY VEHICLEBODYROTATION command the reported attitude in the INSPVA or INSATT logs are in the vehicle frame Otherwise the reported attitude is in the SPAN Frame The vehicle frame is as follows Vehicle Z Axis points up through the roof of the vehicle perpendicular to the ground e Vehicle Y Axis points out the front of the vehicle in the direction of travel e Vehicle X Axis completes the right handed system out the right hand side of the vehicle when facing forward The rotation values are used during kinematic alignment The rotation 1s used to transform the vehicle frame attitude estimates from GPS into the SPAN frame of the IMU during kinematic alignment The uncertainty values report the accuracy of the angular offsets lt If your SPAN CPT is mounted with the Z axis as marked on the IMU enclosure pointing up IMU enclosure frame is the same as the SPAN frame Follow these steps to measure the rotation angles in the order and direction required for input in the VEHICLEBODYROTATION command Start with SPAN CPT enclosure in the vehicle frame as described above 2 Rotate about the vehicle Z axis This angle is the gamma angle in the command and follows the right hand rule for sign correction 3 Rotate about the new X axis to complete the transformation into the SPAN frame This angle is the alpha angle in the command 4 Finally rotate about the new Y axis to align the X Y plane with the SPAN
8. 2 14 INSSPDS Short INS Speed This is a short header version of the INSSPD log on Page 90 Structure Message ID 323 Log Type Synch Binary Binary Field Field Type Data Description Format Bytes Offset 1 Log Header Log header H 0 2 Week GPS Week Ulong 4 H 3 Seconds into Week Seconds from week start Double 8 H 4 4 Trk gnd Track over ground Double 8 H 12 5 Horizontal Speed Horizontal speed in m s Double 8 H 20 6 Vertical Speed Vertical speed in m s Double 8 H 28 7 Status INS status see Table 1 on page 34 Enum 4 H 36 8 XXXX 32 bit CRC ASCII Binary and Hex 4 H 40 Short Binary only 9 CR LF Sentence terminator ASCII only Recommended Input log insspdsa ontime 1 ASCII Example SINSSPDSA 1105 425385 000 1105 425384 996167250 223 766800423 0 019769837 0 024795257 INSSolutionGood 15b8 64 4 SPAN CPT User Manual Rev 3 91 C 2 15 INSUPDATE INS Update This log contains the most recent INS update information It gives you information about what updates were performed in the INS filter at the last update epoch and a wheel sensor status indicator Structure Message ID 757 Log Type Asynch 3 1 qr Binary Binary Field Field Type Data Description Format Bytes Offset 1 Log Header Log header H 0 2 Solution Type Type of GPS solution used for the last Enum 4 H update see Table 11 on page 74 3 Reserved Integer 4 H 4 4 Phase
9. Dual Frequency GPS 5 736 961 Anti Jamming Technology 35 734 674 Position for Velocity Kalman Filter 6 664 923 7 193 559 B2 SPAN Technology 6 721 657 B2 76 750 816 37 346 452 10 758 363 pending 10 932 497 pending 2 SPAN CPT User Manual Rev 3 Proprietary Notice KVH Technology 75 444 534 5 481 358 5 512 904 5 552 887 5 739 944 5 768 462 6 041 149 6 134 356 6 351 310 B1 6 370 289 B1 6 429 939 6 441 779 6 466 596 6 542 651 6 594 020 6 718 097 6 763 153 6 836 334 6 856 300 6 864 347 6 891 622 7 120 323 Copyright 2008 2009 Novatel Inc All rights reserved Unpublished rights reserved EY under International copyright laws Printed in Canada on recycled paper Recyclable SPAN CPT User Manual Rev 3 3 Table of Contents Proprietary Notice 2 Software License 8 Terms and Conditions 10 Warranty Policy 13 Customer Service 15 Notices 16 Congratulations 17 Scope 17 Prerequisites 18 1 Introduction 19 11 5 te a a ee RUE ess 20 2 SPAN CPT Installation 21 2 1 Hardware Description i iii inaid 21 2 1 1 SPAN CPT Hardware 22 2 2 Hardware Set Up meseci e rtt eee atte deed de ge 22 2 2 1 Mount Antenna 2 0 e aate cg ice ee sed ere crat dede fete crue rede dug teda 22 2 2 2 Mount SPAN GCPT eins eere feti
10. This is because the order of the roll and pitch fields have been reversed 80 SPAN CPT User Manual Rev 3 C 25 INSATTS Short INS Attitude This is a short header version of the NSATT log on Page 80 Structure Message ID 319 Log Type Synch Binary Binary Field Field Type Data Description Format Bytes Offset 1 Log Header Log header H 0 2 Week GPS Week Ulong 4 H 3 Seconds into Seconds from week start Double 8 H 4 Week 4 Roll Right handed rotation from local Double 8 H 12 level around y axis in degrees 5 Pitch Right handed rotation from local Double 8 H 20 level around x axis in degrees 6 Azimuth Left handed rotation around z axis Double 8 H 28 Degrees clockwise from North 7 Status INS status see Table 1 on page 34 Enum 4 H 36 8 XXXX 32 bit CRC ASCII Binary and Short Hex 4 H 40 Binary only 9 CR LF Sentence terminator ASCII only Recommended Input log insattsa ontime 1 ASCII Example SINSATTSA 1105 425385 000 1105 425384 996167250 4 822147742 0 035766158 123 262113519 INSSolutionGood 3563a760 lt The structure of the INSATTS log is different in this firmware version 1 3 than in any earlier beta versions This is because the order of the roll and pitch fields have been reversed SPAN CPT User Manual Rev 3 61 C 2 6 INSCOV INS Covariance Matrices The position attitude and velocity matrices in this log each contain 9 covariance
11. Warranty NovAtel does not warrant the contents of the Software or that it will be error free The Software is furnished AS IS and without warranty as to the performance or results you may obtain by using the Software The entire risk as to the results and performance of the Software is assumed by you See product enclosure if any for any additional warranty 7 Indemnification NovAtel shall be under no obligation or liability of any kind in contract tort or oth erwise and whether directly or indirectly or by way of indemnity contribution or otherwise howsoever to the Licensee and the Licensee will indemnify and hold NovAtel harmless against all or any loss dam age actions costs claims demands and other liabilities or any kind whatsoever direct consequential special or otherwise arising directly or indirectly out of or by reason of the use by the Licensee of the Software whether the same shall arise in consequence of any such infringement deficiency inaccu racy error or other defect therein and whether or not involving negligence on the part of any person 8 Disclaimer and Limitation of Liability a THE WARRANTIES IN THIS AGREEMENT REPLACE ALL OTHER WARRANTIES EXPRESS OR IMPLIED INCLUDING ANY 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 INCLUD
12. 8 H 20 6 Height Ellipsoidal Height WGS84 Double 8 H 28 7 Status INS status see Table 1 on page 34 Enum 4 H 36 8 XXXX 32 bit CRC ASCII Binary and Short Hex 4 H 40 Binary only 9 CR LF Sentence terminator ASCII only Recommended Input log insposa ontime 1 ASCII Example INSPOSA COM3 0 0 0 EXACT 1105 425385 000 00040000 323a 0 1105 425384 996167250 51 058410364 114 065465722 1067 791685696 INSSolutionGood 9bfd5al2 SPAN CPT User Manual Rev 3 85 C 2 9 INSPOSS Short INS Position This is a short header version of the JVSPOS log on Page 85 Structure Message ID 321 Log Type Synch Binary Binary Field Field Type Data Description Format Bytes Offset 1 Log Header Log header H 0 2 Week GPS Week Ulong 4 H 3 Seconds into Week Seconds from week start Double 8 H 4 4 Latitude Latitude WGS84 Double 8 H 12 5 Longitude Longitude WGS84 Double 8 H 20 6 Height Ellipsoidal Height WGS84 Double 8 H 28 7 Status INS status see Table 1 on page 34 Enum 4 H 36 8 XXXX 32 bit CRC ASCII Binary and Hex 4 H 40 Short Binary only 9 CR LF Sentence terminator ASCII only Recommended Input log inspossa ontime 1 ASCII Example SINSPOSSA 1105 425385 000 1105 425384 996167250 51 058410364 114 065465722 1067 791685696 INSSolutionGood 9bfd5al2 86 SPAN CPT User Manual Rev 3 C 2 10 INSPOSSYNC Time Synchronised INS Posi
13. Bytes Offset 1 header Log header H 0 2 Sol Status Solution status see Table 12 Solution Status on Enum 4 H page 76 3 Vel Type Velocity type see Table 11 Position or Velocity Enum 4 H 4 Type on page 74 4 Latency A measure of the latency in the velocity time tag in Float 4 H 8 seconds It should be subtracted from the time to give improved results 5 Age Differential age Float 4 12 6 Hor Spd Horizontal speed over ground in metres per second Double 8 H 16 7 Trk Gnd Actual direction of motion over ground track over Double 8 H 24 ground with respect to True North in degrees 8 Vert Spd Vertical speed in metres per second where Double 8 H 32 positive values indicate increasing altitude up and negative values indicate decreasing altitude down 9 Reserved Float 4 H 40 10 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 44 11 CR LF Sentence terminator ASCII only Recommended Input log bestgpsvela ontime 1 ASCII Example BESTGPSVELA COM1 0 62 5 FINESTEERING 1049 247755 000 00000128 7e3 0 SOL COMPUTED SINGLE 0 250 0 000 0 1744 333 002126 0 3070 6 0082 d dc635c SPAN CPT User Manual Rev 3 C 2 3 BESTLEVERARM IMU to Antenna Lever Arm This log contains the distance between the SPAN CPT and the GPS antenna in the IMU enclosure frame and its associated uncertainties If the you enter the lever arm through the SETIMUTOANTOFFSET command see pa
14. NovAtel You agree not to use the Software for any purpose other than the due exercise of the rights and licences hereby agreed to be granted to you 2 Copyright NovAtel owns or has the right to sublicense all copyright trade secret patent and other proprietary rights in the Software and the Software is protected by national copyright laws international treaty provisions and all other applicable national laws You must treat the Software like any other copy righted material except that you may make one copy of the Software solely for backup or archival pur poses one copy may be made for each piece of NovAtel hardware on which it is installed or where used in conjunction with other NovAtel supplied software the media of said copy shall bear labels showing all trademark and copyright notices that appear on the original copy You may not copy the product manual or written materials accompanying the Software No right is conveyed by this Agree ment for the use directly indirectly by implication or otherwise by Licensee of the name of NovAtel or of any trade names or nomenclature used by NovAtel or any other words or combinations of words proprietary to NovAtel in connection with this Agreement without the prior written consent of 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 l
15. Number of raw phase observations used Integer 4 H 8 in the last INS filter update 5 Reserved Integer 4 H 12 6 Zupt Flag A zero velocity update was performed Boolean 4 H 16 during the last INS filter update 0 False 1 True 7 Wheel Status Wheel status see Table 13 below Ulong 4 H 18 8 Reserved Ulong 4 H 22 9 XXXX 32 bit CRC ASCH Binary and Short Hex 4 H 26 Binary only 10 CR LF Sentence terminator ASCII only Recommended Input log insupdate onchanged ASCII Example INSUPDATEA UNKNOWN 0 32 5 FINESTEERING 1379 339642 042 00040040 3670 2431 SINGLE 0 6 0 FALSE WHEEL SENSOR UNSYNCED 0 fb5df08b 92 Table 13 Wheel Status Binary ASCII WHEEL SENSOR INACTIVE WHEEL SENSOR ACTIVE WHEEL SENSOR USED WHEEL SENSOR BAD MISC WHEEL SENSOR UNSYNCED WHEEL SENSOR HIGH ROTATION SPAN CPT User Manual Rev 3 C 2 16 INSVEL INS Velocity This log contains the most recent North East and Up velocity vector values with respect to the local level frame and also includes an INS status indicator Structure Message ID 267 Log Type Synch Binary Binary Field Field Type Data Description Format Bytes Offset 1 Log Header Log header H 0 2 Week GPS Week Ulong 4 H 3 Seconds into Week Seconds from week start Double 8 H 4 4 North Velocity Velocity North in m s Double 8 H 12 2 East Velocity Velocity East in m s Double 8 20 6 Up Velocity V
16. Rev 3 SPAN CPT Installation Chapter 2 Z up X right Y Front Figure 4 SPAN CPT Enclosure Mounting 1 Mount the SPAN CPT enclosure and antenna securely to a vehicle Ensure they cannot move due to dynamics and that the distance and relative direction between them is fixed 2 Measure the lever arm offsets from the SPAN CPT navigation centre to the antenna phase centre in the SPAN CPT enclosure frame Also it is important to measure the distance from the SPAN CPT to the antenna the Antenna Lever Arm each installation on the axis defined on the SPAN CPT enclosure See Appendix A Technical Specifications D4 1 The closer the antenna is to the SPAN CPT the more accurate the position solution Also your measurements when using the SETIMUTOANTOFFSET command must be as accurate as possible or at least more accurate than the GPS positions being used For example a 10 cm error in recording the antenna offset will result in at least a 10 cm error in the output Millimeter accuracy is preferred 2 offset from the SPAN CPT to the antenna and or a user point device must remain constant especially for RTK or DGPS data Ensure the SPAN CPT antenna and user point device are bolted in one position perhaps by using a custom bracket 223 Connect COM Cables SPAN CPT has one multi purpose I O connector that contains pins for the RS232 com ports USB ports pps signals and event input triggers Refer to Appendix A for p
17. frame This angle is the beta angle in the command lt Enter rotation angles in degrees 68 SPAN CPT User Manual Rev 3 To apply the vehicle to body rotation angles the APPLY VEHICLEBODYROTATION needs to be enabled Please see page 50 for more information Abbreviated ASCII Syntax VEHICLEBODYROTATION alpha beta gamma O alpha O beta gamma Message ID 642 2 Field Field Type Data Description Format Bytes Offset Log Header Log header H 0 X Angle Right hand rotation about vehicle Double 8 H frame X axis degrees Y Angle Right hand rotation about vehicle Double 8 H 8 frame Y axis degrees Z Angle Right hand rotation about vehicle Double 8 H 16 frame Z axis degrees X Uncertainty Uncertainty of X rotation degrees Double 8 H 24 default 0 Y Uncertainty Uncertainty of Yrotation degrees Double 8 H 32 default 0 Z Uncertainty Uncertainty of Z rotation degrees Double 8 H 40 default 0 XXXX 32 bit CRC Hex 4 H 48 CR LF Sentence terminator ASCII only Refer also to our application note on Vehicle to Body Rotations NovAtel part number APN 037 available on our website at http www novatel com support applicationnotes htm Abbreviated ASCII Example VEHICLEBODYROTATION 0 0 900 0 5 SPAN CPT User Manual Rev 3 69 191275172 4 5 Logs INS specific logs follow the same general logging scheme as n
18. location is Start Programs NovAtel OEMV NovAtel CDU 2 Select Open from the Device menu View Tools Help Open Ctr O Close Config 3 Select the New button in the Open dialog box The Options Configuration dialog opens Open Edit New 4 Usethe button at the top of the configurations selection box to add a new configuration To delete a configuration select it from the list and on the button To duplicate an existing configuration click on the button You can select any name in the list and edit it to change it Preferences Configurations 8 SPANCPT Startup Options Update Log Definitions Device Type Type Serial Serial Settings Port COM1 x Passive Baud Rate mx Hardware Handshaking SPAN CPT User Manual Rev 3 29 Chapter 3 SPAN CPT Operation 11 12 3 2 1 Select Serial or USB from the Type list and select the port that the SPAN CPT is con nected to from the Port list Select 115200 from the Baud Rate list Uncheck the Hardware handshaking checkbox Select OK to save the new device settings Select the new configuration from the Available device configs area of the Open dialog Select the Open button to open SPAN CPT communications Available device configs SPANCPT COM1 at 115200 Baud As CDU establishes the communication session with the receiver
19. on page 57 for a description of the axes mapping that occurs when the SPAN CPT is mounted differently from z pointing up D4 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 57 unless you have your SPAN CPT mounted with the z axis not pointing up Then use the tables in the SETIMURIENTATION command on pages 58 59 to determine the azimuth axis that SPAN is using Abbreviated ASCII Syntax Message ID 863 SETINITAZIMUTH azimuth azSTD SPAN CPT User Manual Rev 3 63 ASCII Binary Binary Binary Binary Value Value Description Tarma Bytes Offset 1 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 azimuth 360 to 360 Input azimuth angle in degrees Double 8 H 3 azSTD 0 000278 to 180 Input azimuth standard Double 8 H 8 deviation angle in degrees 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 not pointing up please refer to the SETIMUORIENTATION command to determine the SPAN frame axes mapping that SPA
20. power supply A minimum of 12V should be supplied to the system for stable SPAN CPT performance The supply should also be able to output at least 12W over the entire operating temperature range Why don t I have any INS logs 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 How access the inertial solution The INS GPS solution is available from a number of specific logs dedicated to the inertial filter The INSPOS INSPVA INSVEL INSSPD and INSATT logs are the most commonly used logs for extracting the INS solution These logs can be logged at any rate up to the rate of the IMU data 100 Hz Further details on these logs are available in Appendix C INS Logs starting on Page 65 still access the GPS only solution while running SPAN The GPS only solution used when running the OEMV receiver without the IMU is still available when running SPAN Logs such as PSRPOS RTKPOS and OMNIPOS are still available Any non INS logs should be logged at a maximum rate of 5 Hz when running SPAN Only INS specific logs documented in Appendix C INS Logs starting on Page 65 should be logged at rate
21. the Order and which are not in the aggregate in excess of ten 1096 percent of the total Order price SPAN CPT User Manual Rev 3 Warranty Policy NovAtel Inc warrants that its Global Positioning System GPS products are free from defects in materials and workmanship subject to the conditions set forth below for the following time periods SPAN CPT Unit One 1 Year GPSAntenna Series One 1 Year Cables and Accessories Ninety 90 Days Computer Discs Ninety 90 Days Software Warranty One 1 Year Date of sale shall mean the date of the invoice to the original customer for the product NovAtel s responsibility respecting this warranty is solely to product replacement or product repair at an authorized NovAtel location only Determination of replacement or repair will be made by NovAtel personnel or by technical personnel expressly authorized by NovAtel for this purpose continued on Page 14 WARNING Only return an IMU to its manufacturer and not to NovAtel 13 SPAN CPT User Manual Rev 3 14 Warranty Policy NovAtel warrants that during the Warranty Period that a the Product will be free from defects in material and workmanship and conform to NovAtel specifications and b the software will be free from error which materially affect performance THESE WARRANTIES ARE EXPRESSLY IN LIEU OF ALL OTHER WARRANTIES EXPRESS OR IMPLIED INCLUDING WITHOUT LIMITATION ALL IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A P
22. values with respect to the SPAN frame axis as follows variance about X rotation angle pitch and are displayed within the log output as variance about Y rotation angle roll variance about Z rotation angle azimuth or yaw 2 2 2 22 These values are computed once per second and only available after alignment See also Section 3 3 1 System Start Up and Alignment Techniques starting on page 35 Structure Message ID 264 Log Type Asynch Binary Binary Field Field Type Data Description Format Bytes Offset 1 Log Header Log header H 0 2 Week GPS Week Ulong 4 H 3 Seconds into Week Seconds from week start Double 8 H 4 4 Position Covariance Position covariance matrix in local List of 9 72 H 12 level frame Meters squared Doubles 5 Attitude Covariance Attitude covariance matrix in local List of 9 72 H 84 level frame Degrees squared Doubles rotation around the given axis 6 Velocity Covariance Velocity covariance matrix in local List of 9 72 H 156 level frame Meters second squared Doubles 7 XXXX 32 bit CRC ASCII Binary and Short Hex 4 H 228 Binary only 8 CR LF Sentence terminator ASCII only 82 SPAN CPT User Manual Rev 3 Recommended Input log inscova onchanged ASCII Example INSCOVA COM3 0 0 0 EXACT 1105 425385 020 00040000 c45c 0 1105 425385 000000000 0 099
23. 0 Accelerometer X Status 1 Valid 0 Invalid Nl 5 0x00000020 Accelerometer Y Status 1 Valid 0 Invalid 6 0x00000040 Accelerometer Z Status 1 Valid 0 Invalid 7 0 00000080 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 98 SPAN CPT User Manual Rev 3 Recommended Input log rawimusa onnew ASCII Example SRAWIMUSA 1105 425384 180 1105 425384 156166800 00000077 43088060 430312 3033352 132863 186983 823 5aa97065 Table 14 shows how to change the bolded field IMU Status in the SPAN CPT example above into it s binary equivalent and then how to read Table 15 SPAN CPT Status Example Table 15 SPAN CPT Status Example OAD X OAN T m Table 16 Raw SPAN CPT Scale Factors 0 1 Gyroscope uu e 3600 012560 LSB Acceleration 0 05 215 m s LSB Scale Factor SPAN CPT User Manual Rev 3 99 C 2 21 TIMEDWHEELDATA Timed Wheel Data This log contains wheel sensor data The time stamp in the header is the
24. 1 Inertial Solution Status Binary ASCII Description 0 INS_INACTIVE IMU logs are present but the alignment routine has not started INS is inactive 1 INS_ALIGNING INS is in alignment mode When in this status the user can move to initiate the kinematic alignment or send a SETINITAZIMUTH command This status also shows if the IMU status is not valid The IMU status is given in the RAWIMU and RAWIMUS logs See Section B 2 11 on page 63 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 GPS used to aid the INS is absent 3 INS SOLUTION GOOD The INS filter is in navigation mode and the INS solution is good 6 INS BAD GPS AGREEMENT The INS filter is in navigation mode and the GPS solution is suspected to be in error This may be due to multipath or limited satellite visibility The inertial filter has rejected the GPS position and is waiting for the solution quality to improve 7 INS ALIGNMENT COMPLETE The INS filter is in navigation mode but not enough vehicle dynamics have been experienced for the system to be within specifications 34 SPAN CPT User Manual Rev 3 SPAN CPT Operation Chapter 3 3 3 1 System Start Up and Alignment Techniques The system requires an initial attitude estim
25. 1481 251850 001 00040000 46f4 3388 1481 251850 001000000 51 116573435 114 037237211 1040 805671970 0 000257666 0 003030102 0 000089758 3 082229474 1 019023628 89 253955744 INS SOLUTION GOOD SPAN CPT User Manual Rev 3 95 C 2 19 PASHR NMEA fix and position data The PASHR 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 and sets the UTC time to VALID For more information about NMEA refer to the OEMV Firmware Reference Manual found on our Web site The PASHR log contains only INS derived attitude information and is only filled when an inertial solution is available 96 Structure Message ID 1177 Log TypeSynch Field Structure Feild Description Symbol Example 1 PASHR Log Header PET PASHR 2 Time UTC Time hhmmss ss 195124 00 3 Heading Heading value in decimal degrees HHH HH 305 30 4 True Heading T displayed if heading is relative to true T T north 5 Roll Roll in decimal degrees The sign will RRR RR 0 05 always be displayed 6 Pitch Pitch in decimal degrees The sign PPP PP 0 13 will always be displayed 7 Reserved 8 Roll Accuracy Roll standard deviation in decimal ILIIT 0 180 degrees 9 Pitch Accuracy Pit
26. 2 Navigation Mode Once the alignment routine has successfully completed SPAN CPT enters navigation mode SPAN CPT computes the solution by accumulating velocity and rotation increments from the IMU to generate position velocity and attitude SPAN CPT models system errors by using a Kalman filter The GPS solution phase observations and automatic zero velocity updates ZUPTs provide updates to the Kalman filter When a sensor is connected to the system wheel displacement updates are also used in the filter Following the alignment the attitude is coarsely defined especially in heading Vehicle dynamics specifically turns stops and starts allow the system to observe the heading error and allows the heading accuracy to converge Three to five changes in heading should be sufficient to resolve the heading accuracy The INS Status field changes to INS SOLUTION GOOD once convergence is complete If the attitude accuracy decreases the INS Status field changes to INS SOLUTION NOTGOOD When the accuracy converges again the INS status continues as INS SOLUTION GOOD 3 3 3 Vehicle to SPAN CPT Frame Angular Offsets Calibration Routine Kinematic fast alignment requires that the angular offset between the vehicle and the SPAN CPT 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 VEHICLEBODY ROTATION command see page 68 If the angular offset is mor
27. 3 2 8 SPAN CPT Configuration using Command Line 3 2 3 1 GPS Configuration The GPS configuration can be set up for different accuracy levels such as single point SBAS DGPS and RTK RTCA RTCM RTCM V3 CMR and CMR Plus ProPak V3 receivers can also be set up for Omnistar HP Omnistar XP Omnistar VBS or CDGPS Refer to the OEMV User Manuals for details on DGPS RTK L band or SBAS setup and operation With no additional configuration the system operates in single point mode 3 2 8 2 INS Configuration Once communication has been established to the receiver issue the SETIMUTOANTOFFSET command to enter the distance from the SPAN CPT to the GPS antenna see page 60 The offset 32 SPAN CPT User Manual Rev 3 SPAN CPT Operation Chapter 3 between the antenna phase centre and the IMU navigation centre must remain constant and be known accurately m The X Y and Z positive directions are clearly marked on the SPAN CPT enclosure The SETIMUTOANTOFFSET parameters are where the standard deviation fields are optional and the distances are measured from the IMU navigation centre to the Antenna Phase Centre SETIMUTOANTOFFSET x offset y offset z offset x stdev y stdev z stdev A typical RTK GPS solution is accurate to a few centimeters For the SPAN CPT system to have this level of accuracy the offset must be measured to within a centimeter Any offset error between the two systems shows up directly in the output position For exa
28. 4 114 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 Position Type Table 11 Position or Velocity Type Position Type binary ASCII 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 7 Reserved 8 DOPPLER VELOCITY Velocity computed using instantaneous Doppler 9 15 Reserved 16 SINGLE Single point position 17 PSRDIFF Pseudorange differential solution 18 WAAS Solution calculated using corrections from an SBAS 19 PROPOGATED Propagated by a Kalman filter without new observations Continued on the following page SPAN CPT User Manual Rev 3 Posion Description 20 OMNISTAR OmniSTAR VBS position L1 sub meter 21 31 Reserved 32 L1 FLOAT Floating L1 ambiguity solution 33 IONOFREE FLOAT Floating ionospheric free ambiguity solution 34 NARROW FLOAT Floating narrow lane ambiguity solution 48 L1 INT Integer L1 ambiguity solution 49 WIDE INT Integer wide lane ambiguity solution 50 NARROW INT Integ
29. 4 915188605 8 488207941 0 759619515 2 892414901 6 179554750 INS ALIGNMENT COMPLETE 855d6f76 SPAN CPT User Manual Rev 3 89 2 13 INSSPD INS Speed This log contains the most recent speed measurements in the horizontal and vertical directions and includes an INS status indicator Structure Message ID 266 Log Type Synch Binary Binary Field Field Type Data Description Format Bytes Offset 1 Log Header Log header H 0 2 Week GPS Week Ulong 4 H 3 Seconds into Week Seconds from week start Double 8 H 4 4 Trk gnd Actual direction of motion over ground Double 8 H 12 track over ground with respect to True North in degrees 5 Horizontal Speed Magnitude of horizontal speed in m s Double 8 H 20 where a positive value indicates you are moving forward and a negative value indicates you are reversing 6 Vertical Speed Magnitude of vertical speed in m s Double 8 H 28 where a positive value indicates speed upward and a negative value indicates speed downward 7 Status INS status see Table 1 on page 34 Enum 4 H 36 8 XXXX 32 bit CRC ASCII Binary and Short Hex 4 H 40 Binary only 9 CR LF Sentence terminator ASCII only Recommended Input log insspda ontime 1 ASCII Example INSSPDA COM3 0 0 0 EXACT 1105 425385 000 00040000 e ce 0 1105 425384 996167250 223 766800423 0 019769837 0 024795257 INSSolutionGood 15b864 4 90 SPAN CPT User Manual Rev 3
30. 41 To store data with a SPAN CPT connect a laptop computer to it The laptop computer should be equipped with a data storage device such as a Compact Flash Card CD or MP3 disc Logging Restriction Important Notice High rate data logging is regulated in SPAN to prevent logging of unusable data or overloading the system Please note these 3 rules when configuring your SPAN CPT system 1 Only one high rate INS log can be configured for output at a time Once log is selected for output at a rate equal to 100 Hz all other log requests are limited to a maximum rate of 50 Hz Below are examples of acceptable logging requests SPAN CPT User Manual Rev 3 41 Chapter 3 42 SPAN CPT Operation LOG RAWIMUSB ONNEW 100 Hz LOGINSPVASB ONTIME 0 02 acceptable 50 Hz logging The following is rejected because RAWIMU has already been requested at 100 Hz LOG INSPOSSB ONTIME 0 01 100 Hz request Below is another example set of acceptable logging requests LOGINSPOSSB ONTIME 0 01 100 Hz request LOG INSVELSB ONTIME 0 02 50 Hz request The following are rejected in this case because INSPOSSB has already been requested at a high rate LOG RAWIMUSB ONNEW 100 Hz request LOGINSATTSB ONTIME 0 01 100 Hz request RAWIMU and RAWIMUS logs are only available with the ONNEW or ONCHANGED trigger These logs are not valid with the ONTIME trigger The raw IMU observations contained in these logs are sequential changes in velocity and rotation A
31. 7319969301073 0 0240959791179416 0 0133921499963209 0 0240959791179416 0 1538605784734939 0 0440068023663888 0 0133921499963210 0 0440068023663887 0 4392033415009359 0 0034190251365443 0 0000759398593357 0 1362852812808768 0 0000759398593363 0 0032413999569636 0 0468473344270137 0 1362852812808786 0 0468473344270131 117 5206493841025100 0 0004024901765302 0 0000194916086028 0 0000036582459112 0 0000194916086028 0 0004518869575566 0 0000204616202028 0 0000036582459112 0 0000204616202028 0 0005095575483948 1 c92787 SPAN CPT User Manual Rev 3 83 C 2 7 INSCOVS Short INS Covariance Log This is a short header version of the JVCOV log on Page 82 These values are also computed once per second Structure Message ID 320 Log Type Asynch 2 e ine 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 4 4 Position Covariance Position covariance matrix in local List of 9 72 12 level frame Meters squared Doubles 7 2 7 7 72 5 Attitude Covariance Attitude covariance matrix in local List of 9 72 84 level frame Degrees squared Doubles rotation around the given axis 7 2 7 7 72 6 Velocity Covariance Velocity covariance matrix in local List of 9 72 156 level frame Meters second squared Double
32. A SITE TEST SAMPLES EXPERIMENTAL DEVELOPMENTAL PREPRODUCTION SAMPLE INCOMPLETE OR OUT OF SPECIFICATION PRODUCTS OR TO RETURNED PRODUCTS IF THE ORIGINAL IDENTIFICATION MARKS HAVE BEEN REMOVED OR ALTERED THE WARRANTIES AND REMEDIES ARE EXCLUSIVE AND ALL OTHER WARRANTIES EXPRESS OR IMPLIED WRITTEN OR ORAL INCLUDING THE IMPLIED WARRANTIES OF MERCHANTABILITY OR FITNESS FOR ANY PARTICULAR PURPOSE ARE EXCLUDED NOVATEL SHALL NOT BE LIABLE FOR ANY LOSS DAMAGE EXPENSE OR INJURY ARISING DIRECTLY OR INDIRECTLY OUT OF THE PURCHASE INSTALLATION OPERATION USE OR LICENSING OR PRODUCTS OR SERVICES IN NO EVENT SHALL NOVATEL BE LIABLE FOR SPECIAL INDIRECT INCIDENTAL OR CONSEQUENTIAL DAMAGES OF ANY KIND OR NATURE DUE TO ANY CAUSE There are no user serviceable parts in the GPS receiver and no maintenance is required When the status code indicates that a unit is faulty replace with another unit and return the faulty unit to NovAtel Inc Before shipping any material to NovAtel or Dealer please obtain a Return Material Authorization RMA number from the point of purchase Once you have obtained an RMA number you will be advised of proper shipping procedures to return any defective product When returning any product to NovAtel please return the defective product in the original packaging to avoid ESD and shipping damage SPAN CPT User Manual Rev 3 Customer Service Firmware Upgrades Firmware upgra
33. ARRANTIES ARE EXPRESSLY IN LIEU OF ALL OTHER WARRANTIES EXPRESS OR IMPLIED INCLUDING WITHOUT LIMITATION ALL IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE NOVATEL SHALL IN NO EVENT BE LIABLE FOR SPECIAL INDIRECT INCIDENTAL OR CONSEQUENTIAL DAMAGES OF ANY KIND OR NATURE DUE TO ANY CAUSE Purchaser s exclusive remedy for a claim under this warranty shall be limited to the repair or replacement at NovAtel s option and at NovAtel s facility of defective or nonconforming materials parts or components or in the case of software provision of a software revision for implementation by the Buyer All material returned under warranty shall be returned to NovAtel prepaid by the Buyer and returned to the Buyer prepaid by NovAtel The foregoing warranties do not extend to i nonconformities defects or errors in the Products due to accident abuse misuse or negligent use of the Products or use in other than a normal and customary manner environmental conditions not conforming to NovAtel s specifications or failure to follow prescribed installation operating and maintenance procedures ii defects errors or nonconformities in the Products due to modifications alterations additions or changes not made in accordance with NovAtel s specifications or authorized by NovAtel iii normal wear and tear iv damage caused by force of nature or act of any third person v shipping damage vi service or repair of Product by
34. ARTICULAR PURPOSE NOVATEL SHALL IN NO EVENT BE LIABLE FOR SPECIAL INDIRECT INCIDENTAL OR CONSEQUENTIAL DAMAGES OF ANY KIND OR NATURE DUE TO ANY CAUSE Purchaser s exclusive remedy for a claim under this warranty shall be limited to the repair or replacement at NovAtel s option and at NovAtel s facility of defective or nonconforming materials parts or components or in the case of software provision of a software revision for implementation by the Buyer All material returned under warranty shall be returned to NovAtel prepaid by the Buyer and returned to the Buyer prepaid by NovAtel THE FOREGOING WARRANTIES DO NOT EXTEND TO I NONCONFORMITIES DEFECTS OR ERRORS IN THE PRODUCTS DUE TO ACCIDENT ABUSE MISUSE OR NEGLIGENT USE OF THE PRODUCTS OR USE IN OTHER THAN A NORMAL AND CUSTOMARY MANNER ENVIRONMENTAL CONDITIONS NOT CONFORMING TO NOVATEL S SPECIFICATIONS OR FAILURE TO FOLLOW PRESCRIBED INSTALLATION OPERATING AND MAINTENANCE PROCEDURES II DEFECTS ERRORS OR NONCONFORMITIES IN THE PRODUCTS DUE TO MODIFICATIONS ALTERATIONS ADDITIONS OR CHANGES NOT MADE IN ACCORDANCE WITH NOVATEL S SPECIFICATIONS OR AUTHORIZED BY NOVATEL 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 BET
35. E af719fd9 SPAN CPT User Manual Rev 3 C 2 12 INSPVAS Short INS Position Velocity and Attitude This is a short header version of the INSPVA log on page 88 Structure Message ID 508 Log Type Synch Field Field Type Description Format 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 ve Double 8 36 value implies a southerly direction 8 East Velocity Velocity in an easterly direction a ve Double 8 44 value implies a westerly direction 9 Up Velocity Velocity in an up direction Double 8 52 10 Roll Right handed rotation from locallevel Double 8 60 around y axis in degrees 11 Pitch Right handed rotation from locallevel Double 8 68 around x axis in degrees 12 Azimuth Left handed rotation around z axis Double 8 76 Degrees clockwise from North 13 Status INS Status see Table 1 on page 34 Enum 4 84 14 32 bit 4 88 15 CR LF Sentence Terminator ASCII only Recommended Input log inspvasa ontime 1 ASCII Example 5 5 1264 144059 000 1264 144059 002135700 51 116680071 114 037929194 515 286704183 211 896368884 8
36. EMV 3 4 Module 24 2 RS232 DCD to OEMV 3 6 Module 25 COM Signal GND 5 26 Reserved White 2f Reserved White 28 Reserved White 29 PPS from OEMV 3 White 30 EVENTI to OEMV 3 Black 31 3 Signal GND White Continued on the following page 46 SPAN CPT User Manual Rev 3 Female Male Function coe Pr COM DBS to USB Comments 32 CAN2L OEMV 3 White 33 CAN2H OEMV 3 Black 34 CAN2 SIGNAL GND Black 35 NIC 36 NIC 37 Chassis GND White E Chassis GND Green SPAN CPT User Manual Rev 3 47 A 1 2 KVH IMU Sensor Specs PERFORMANCE FIBER OPTIC GYROS I N Bias Offset 20 hr Turn On To Turn On Bias Repeatability Compensated hr In Run Bias Variation At Constant Temperature 1 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 1 Max Input 375 sec Bias Offset 50 mg Turn On To Turn On Bias Repeatability 0 75 mg In Run Bias Variation At Constant Temperature 0 25 mg 1c Temperature Dependent Bias Variation 0 5 mg C 16 Scale Factor Error Total 4000 ppm 10 Temperature Dependent SF Variation 1000 ppm 10 Accel Noise 55 ug VHz 1c Bandwidth 50 Hz Max Input 10 0 A 1 3 Electrical and Environmental ELECTRICAL Inpu
37. Firmware Reference Manual Table 9 Short ASCII Message Header Structure Field Field Field Type Type Description 1 Char symbol Message Char This is the name of the log Week Number Ushort GPS week number AJU Milliseconds Ulong Milliseconds from the beginning of the GPS week Table 10 Short Binary Message Header Structure Field Field Type Description Byes Binary 1 Sync Char Hex 1 0 2 Sync Char Hex 0x44 1 1 3 Sync Char Hex 0x13 1 2 4 Message Length Uchar Message length not including header or 1 3 5 Message ID Ushort Message ID number 2 4 6 Week Number Ushort GPS week number 2 6 7 Milliseconds Ulong Milliseconds from the beginning of the 4 8 GPS week SPAN CPT User Manual Rev 3 71 C 2 INS Specific Logs The receivers are capable of generating many NovAtel format output logs in either Abbreviated ASCII ASCII or binary format Please refer to the OEMV Family Firmware Reference Manual for a complete list of logs categorized by function and then detailed in alphabetical order INS specific commands and logs provide attitude data such as roll pitch and azimuth Logging Restriction Important Notice High rate data logging is regulated in SPAN to prevent logging of unusable data or overloading the system Please note these 3 rules when configuring your SPAN system 1 Only one high rate INS log can be configured
38. G Ensure that all windows other than the Console are closed in CDU and then use the SAVECONFIG command to save settings in NVM Otherwise unnecessary data logging occurs and may overload your system This orientation command serves to transform the incoming SPAN CPT signals in such a way that a 5 mapping is achieved see Table 8 on page 59 For example if the SPAN CPT is mounted with the X axis pointing UP and a mapping of 1 is specified then this transformation of the raw SPAN CPT data is done gt 7 Y gt X Z Y where the default is XX gt 7 gt 2 Notice that the X axis observations are transformed into the Z axis resulting in Z being aligned with gravity and a 5 mapping The SPAN frame is defined so that Z is always pointing up along the gravity vector If the IMU mapping is set to 1 the X axis of the IMU enclosure is mapped to the SPAN frame Z axis pointing up its Y axis to SPAN frame X and its Z axis to SPAN frame Y The X pitch Y roll and Z azimuth directions of the inertial enclosure frame are clearly marked on the SPAN CPT see the technical specifications starting on page 44 1 Azimuth is positive in a clockwise direction while yaw is positive in counter clockwise direction when looking down the axis centre 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 descripti
39. ING LOST PROFITS EVEN IF NovAtel HAS KNOWLEDGE OF THE POTENTIAL LOSS OR DAMAGE b NovAtel will not be liable for any loss or damage caused by delay in furnishing the Software or any other performance under this Agreement c NovAtel s entire liability and your exclusive remedies for our liability of any kind including lia bility for negligence for the Software covered by this Agreement and all other performance or non performance by NovAtel under or related to this Agreement are to the remedies specified by this Agreement 9 Governing Law This Agreement is governed by the laws of the Province of Alberta Canada Each of the parties hereto irrevocably attorns to the jurisdiction of the courts of the Province of Alberta 10 Customer Support For Software UPDATES and UPGRADES and regular customer support con tact the NovAtel GPS Hotline at 1 800 NOVATEL U S or Canada only or 403 295 4900 Fax 403 295 4901 e mail to support novatel ca website http www novatel com or write to NovAtel Inc Customer Service Dept 1120 68 Avenue NE Calgary Alberta Canada 2 855 SPAN CPT User Manual Rev 3 9 Terms and Conditions Standard Terms and Conditions of Sales 1 PRICES All prices are Firm Fixed Price FCA 1120 68th Avenue N E Calgary Alberta All prices include standard commercial packing for domestic shipment All transportation insurance special packing costs and expenses and all Federal provincial an
40. N automatically applies 64 SPAN CPT User Manual Rev 3 2 12 SETINSOFFSET Set INS Offset The SETINSOFFSET command is used to specify an offset from the SPAN CPT for the output position and velocity of the INS solution This command shifts the position and velocity in the INSPOS INSPOSS INSVEL INSVELS INSSPD INSSPDS INSPVA and INSPVAS logs by the amount specified in metres with respect to the SPAN CPT enclosure frame axis Abbreviated ASCII Syntax Message ID 676 SETINSOFFSET xoffset yoffset zoffset Field ASCII Binary Binary Binary Binary Description Format Bytes Offset Type Value Value 1 header This field contains the command H 0 name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 X offset 100 Offset along the IMU enclosure Double 8 H frame X axis m 3 Y offset 100 Offset along the IMU enclosure Double 8 H 8 frame Y axis m 4 Z offset 100 Offset along the IMU enclosure Double 8 H 16 frame Z axis m Abbreviated ASCII Example SETINSOFFSET 0 15 0 15 0 25 SPAN CPT User Manual Rev 3 65 2 13 SETMARK1OFFSET Set Mark1 Offset Set the offset to the Markl trigger event Abbreviated ASCII Syntax Message ID 1069 SETMARKIOFFSET xoffset yoffset zoffset aoffset Doffset yoffset Field ASCII Binary Type Value Value Binary Binary Binary Field Format Bytes Offset Description
41. PER Tage t dee Ede tee FE 22 2 2 3 Connect 22244 4 1 600000 6000 23 2 2 4 acd 24 3 SPAN CPT Operation 26 3 1 Definition of Reference Frames Within 26 3 1 1 The Local Level Frame 26 3 1 2 The SPAN Body Frame reete ener piden debe de 27 3 1 3 The Enclosure Frameries ean ataa eaa a a aE entente entere 28 3 1 4 The Vehicle Frame attri tired nde cede ireti ode 28 3 2 Communicating with the SPAN CPT System 29 3 2 1 SPAN CPT Configuration with CDU sse 30 3 2 2 INS Window in CDU 32 3 2 3 SPAN CPT Configuration using Command 32 3 3 Real Time esee 33 3 3 1 System Start Up and Alignment 35 3 3 2 Navigation Mode 4 2 11 dieran de seston onere ree dee efe odds 37 3 3 3 Vehicle to SPAN CPT Frame Angular Offsets Calibration Routine 37 3 3 4 SPAN CPT Wheel 404 442 2 2 00000 0 0 0 310000 000000000000000 nnn 38 3 4 Data Collection 1
42. SETIMUORIENTATION 57 SETIMUTOANTOFFSET 60 SETIMUTYPE 60 SETINSOFFSET 65 67 69 SETMARKIOFFSET 66 SETMARK2OFFSET 66 SETWHEELPARAMETERS 67 short binary header 70 71 SPAN frame 57 speed 78 90 status 73 77 support 15 synchronise INS with GPS 87 T technical specifications 44 48 time synchonised 87 track over ground 78 troubleshooting 107 true north 78 U undulation 73 up 92 93 update or upgrade firmware 15 using a command as a log 49 V vector values 93 vehicle to body rotation RVB 50 56 VEHICLEBODYROTATION 68 velocity 65 88 best 77 computation 93 INS 52 82 mark 95 W warranty 13 website 15 wheel sensor set 67 wheel size 102 WHEELSIZE 100 WHEELVELOCITY 69 SPAN CPT User Manual Rev 3 Index 7 Zero Velocity Update ZUPT 54 SPAN CPT User Manual Rev 3 111 amp NovZtel Recyclable Printed in Canada on recycled paper OM 200001 22 Rev 3 2008 08 10
43. Terminated Cable lt SPAN CPT cable also has a green ground line that is not shown in this drawing The green ground line is grounded to the SPAN CPT connector and enclosure Table 5 SPAN CPT KVH Connector Pin Out Descriptions B Female Male Function DB9to DB9to USB Comments Connectors 1 COM2 1 Power Return Black 2 9 18 VDC Power Input White 3 COMI RS422 TX RS232 TX 2 From OEMV 3 Module 4 COMI RS422 TX RS232 RTS 8 From OEMV 3 Module 5 COMI RS422 RX RS232 RX 3 TO OEMV 3 Module 6 COMI RS422 RX RS232 CTS 7 TO OEMV 3 Module 7 COMI RS42 Select In Tie together with pin number 8 to select RS422 Continued on the following page SPAN CPT User Manual Rev 3 45 Function Connectors Female Male DB9to DB9to USB Comments COM1 2 8 COMI RS422 Select Out Tie together with pin number 7 to select RS422 9 COMI SIGNAL GND 5 10 OEMV 3 USB D Black 3 11 3 USB D White 2 12 OEMV 3 USB SIGNAL GND 4 13 Odometer Power White 14 Odometer Power Return Black 15 ODOSIGA Black 16 ODO SIGA Inverted White 17 ODO SIGB Black 18 ODO SIGB Inverted White 19 COM2 RS232 TX FROM 3 OEMV 3 Module 20 COM2 RS232 RX TO OEMV 3 2 Module 21 2 RS232 RTS to OEMV 3 7 Module 22 COM2 RS232 CTS to OEMV 3 8 Module 23 COM2 RS232 DTR to O
44. Value Value 1 header This field contains the command H 0 name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 ticks 1 10 000 Number of ticks per revolution Ushort 48 H 3 circ 0 1 100 Wheel circumference m Double 8 H 4 default 1 96 m 4 spacing 0 001 1000 Spacing of ticks or resolution of Double 8 H 12 the wheel sensor m a In the binary log case an additional 2 bytes of padding are added to maintain 4 byte alignment Abbreviated ASCII Example SETWHEELPARAMETERS 58 1 96 0 025 lt Fields 2 3 and 4 do not have to add up Field 4 is used to weight the wheel sensor measurement Fields 2 and 3 are used with the estimated scale factor to determine the distance travelled SPAN CPT User Manual Rev 3 67 B 2 15 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 body frame direction that the SPAN CPT computational frame is pointing If you estimate the angular offsets using the RVBCALIBRATE command the VEHICLEBODYROTATION command values are used as the initial values The uncertainty values are optional defaults 0 0 Please see Section 3 3 3 Vehicle to SPAN CPT Frame Angular Offsets Calibration Routine starting on page 37 for more details RVBCALIBRATE command information is on page 56
45. a progress box is displayed Select Tools Logging Control Window from the CDU main menu to control the receiver s log ging to files and serial ports Refer to CDU s on line Help for more information Use the Console window to enter commands See also Section 3 4 Data Collection on page 41 If you have to power down your receiver ensure that all windows other than the Console window are closed in CDU and then use the SAVECONFIG command SPAN CPT Configuration with CDU Follow these steps to enable INS as part of the SPAN system using the NovAtel CDU software utility P4 30 The CDU screen shots in this manual are from CDU Version 3 3 0 3 and may differ from your CDU version SPAN CPT User Manual Rev 3 SPAN CPT Operation Chapter 3 CONFIG SPAN Alignment Wizard P Welcome to the NovAtel SPAN wizard This wizard will guide you through the alignment or calibration of your NovAtel SPAN system NovAtel SPAN is a powerfull Synchronized position attitude navigation system INS SPAN wizard 3 2 1 1 SPAN CPT basic configuration Select Tools SPAN CPT Alignment Wizard from the main menu of CDU This wizard takes you through the steps to complete a coarse or fast alignment select the type of IMU and configure the receiver port connected to the IMU to accept IMU data SPAN CPT User Manual Rev 3 31 Chapter 3 SPAN CPT Operation 3 2 2 INS Window CDU CDU is a 32 bit Windows application The applicat
46. age 35 and Section 3 3 1 2 on page 36 for details on fast and coarse alignment WARNING After the RVBCALIBRATE ENABLE command is entered there are no vehicle body rotation parameters present and a kinematic alignment is NOT possible Therefore this command should only be entered after the system has performed either a static or kinematic alignment and has a valid INS solution lt The solved rotation values are used only for a rough estimate of the angular offsets between the SPAN CPT and vehicle frames The offsets are used when aligning the system while in motion see Section 3 3 1 System Start Up and Alignment Techniques starting on page 35 The angular offset values are not applied to the attitude output unless the APPLYVEHICLEBODYROTATION command is enabled see page 50 3 34 SPAN CPT Wheel Sensor The SPAN CPT system supports wheel sensor inputs integrated via the SPAN CPT The SPAN CPT accepts TTL level input pulses from a wheel sensor through the multi pin connector See Appendix A on page 44 for specifications on the wheel sensor interface 3 3 4 1 Wheel Sensor Update Logic The wheel sensor information is sent to the SPAN CPT along with the raw IMU data The Corrsys Datron wheel pulse transducer is used as an example see Section A 1 1 on page 45 The SPAN CPT Kalman filter uses sequential TIMEDWHEELDATA logs to compute a distance traveled between update intervals 1Hz This information can be used to constrain free inert
47. age 76 Enum 4 H 3 Pos Type Position type see Table 11 Position or Velocity Type on Enum 4 4 74 4 Latitude Double 8 8 5 Longitude Double 8 16 6 Hgt Height above mean sea level Double 8 H 24 7 Undulation Undulation Float 4 32 8 Datum ID Datum ID refer to DATUM command in the OEMV Enum 4 H 36 Family Firmware Reference Manual 9 Lato Latitude standard deviation Float 4 H 40 10 Lono Longitude standard deviation Float 4 H 44 11 Hgt o Height standard deviation Float 4 H 48 12 Stn ID Base station ID Char 4 4 52 13 Diff age Differential age Float 4 56 14 Sol age Solution age in seconds Float 4 H 60 15 obs Number of observations tracked Uchar 1 H 64 16 GPSL1 Number of GPS L1 ranges used in computation Uchar 1 H 65 17 L1 Number of GPS L1 ranges above the RTK mask angle Uchar 1 H 66 18 L2 Number of GPS L2 ranges above the RTK mask angle Uchar 1 H 67 Continued on page 74 SPAN CPT User Manual Rev 3 73 Field Field type Data Description Format pus n 19 Reserved Uchar 1 68 20 Uchar 1 69 21 Uchar 1 70 22 Uchar 1 71 23 XXXX 32 bit CRC ASCII and Binary only Hex 4 72 24 CR LF Sentence terminator ASCII only 74 Recommended Input log bestgpsposa ontime 1 ASCII Example BESTGPSPOSA COM1 0 62 5 FINESTEERING 1036 484878 000 00000028 63e2 0 SOL COMPUTED SINGLE 51 1162989312
48. ate 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 The time status in the log headers will indicate FINESTEERING when this happens 4 Raw IMU measurements begin to be timed by the receiver and are available to the INS filter They are also available to you in the RAWIMUS log see page 96 The INS Status field reports INS INACTIVE 5 The inertial alignment routine starts and the INS Status field reports INS ALIGNING At this point there are three options for completing the alignment See the following sections for the options 6 Alignment is complete and the INS Status field changes to INS ALIGNMENT COMPLETE The system transitions to navigation mode The GPS INS solution is available at this point 7 solution is refined using updates from GPS Once the system is operating within specifications 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 SOLUTON NOTGOOD 3 3 1 1 D
49. been established as highly accurate positioning tools however GPS in general has some significant restrictions which limit its usefulness in some situations GPS positioning requires line of site view to at least four satellites simultaneously If these criteria are met differential GPS positioning can be accurate to within a few centimetres If however some or all of the satellite signals are blocked the accuracy of the position reported by GPS degrades substantially or may not be available at all An INS uses forces and rotations measured by an IMU to calculate position velocity and attitude This capability is embedded in the firmware of the SPAN CPT Forces are measured by accelerometers in three perpendicular axes within the IMU and the gyros measure angular rotation rates around those axes Over short periods of time inertial navigation gives very accurate acceleration velocity and attitude output The INS must have prior knowledge of its initial position initial velocity initial attitude Earth rotation rate and gravity field Since the IMU measures changes in orientation and acceleration the INS determines changes in position and attitude but initial values for these parameters must be provided from an external source Once these parameters are known an INS is capable of providing an autonomous solution with no external inputs However because of errors in the IMU measurements that accumulate over time an inertial only solution degrade
50. ch standard deviation in decimal 0 185 degrees 10 Heading Accuracy Heading standard deviation in decimal hh hhh 4 986 degrees 11 GPS Update ne poata 2 1 1 non 1xed integer positions Quality Flag 2 RTK fixed integer position 12 Checksum Checksum XX 2B 13 CR LF Sentence terminator CR LF Recommended Input log pashr Example SPASHR 0 68 SPASHR 195124 00 305 empty 30 0 05 0 13 0 180 0 185 4 986 1 2 SPAN CPT User Manual Rev 3 C 2 20 RAWIMUS Short 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 This log contains the short header version to reduce the amount of data Structure Message ID 325 Log Type Asynch Binary Binary Field Field Type Data Description Format Bytes Offset 1 Log Header Log header H 0 2 Week GPS Week Ulong 4 H 3 Seconds into Week Seconds from week start Double 8 4 4 IMU Status The status of the IMU This field is givenina Long 4 12 fixed length n array of bytes in binary but in ASCII or Abbreviated ASCII is converted into 2 character hexadecimal pairs For more information Table 14 SPAN CPT Status on page 98 5 Z Accel Output Change in velocity count along z axis Long 4 H 16 6 Y Accel Output Change in velocity count along y axis Long 4 20
51. connected to the receiver s COMI serial port and that a rover terminal is connected to the receiver s 2 serial port Example 1 Open Notepad and type in the following command text setnav 51 111 114 039 51 555 114 666 0 start stop magvar 21 log coml bestposa ontime 15 log coml psrvela ontime 15 log coml navigatea ontime 15 log com2 gpvtg ontime 15 5 1 it log com2 gprmb ontime 15 5 2 2 log com2 rxconfiga ontime 600 2 Save this with a convenient file name e g C GPS BOOTNAV1 TXT and exit Notepad 3 Ensure that the HyperTerminal settings are correctly set up to agree with the receiver communications protocol these settings can be saved e g C GPS OEMSETUP HT for use in future sessions You may wish to use XON XOFF handshaking to prevent loss of data 4 Select Transfer Send Text File to locate the file that is to be sent to the receiver Once you double click on the file or select Open HyperTerminal sends the file to the receiver The above example initializes the SPAN system with origin and destination waypoint coordinates and sets the magnetic variation correction to 21 degrees The BESTPOSA PSRVELA and NAVIGATEA logs have been set to output from the receiver s COMI serial port at intervals of once every 15 seconds whereas the GPRMB and GPVTG NMEA logs have been set to be logged out of the receiver s serial port at intervals of 15 seconds and offset by five seconds The RXCONFIGA log has bee
52. d 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 Reserved 13 INTEGRITY WARNING Large residuals make position unreliable 14 INS INACTIVE INS has not started yet 15 INS ALIGNING INS doing its coarse alignment 16 INS BAD INS position is bad 17 IMU UNPLUGGED No IMU detected 18 PENDING When a FIX POSITION command is entered the receiver computes its own position and determines if the fixed position is valid 19 INVALID FIX The fixed position entered using the FIX POSITION command is not valid a PENDING implies there are not enough satellites being tracked to verify if the FIX POSITION entered into the receiver is valid The receiver needs to be tracking two or more GPS satellites to perform this check Under normal conditions you should only see PENDING for a few seconds on power up before the GPS receiver has locked onto its first few satellites If your antenna is obstructed or not plugged in and you have entered FIX POSITION command then you may see PENDING indefinitely SPAN CPT User Manual Rev 3 C 2 2 BESTGPSVEL Best Available GPS Velocity Data This log contains the best available GPS velocity informatio
53. d local excise duties sales and other similar taxes are the responsibility of the Purchaser 2 PAYMENT Terms are prepayment unless otherwise agreed in writing Interest shall be charged on overdue accounts at the rate of 18 per annum 1 5 per month from due date To expedite payment by wire transfer to NovAtel Inc Bank HSBC Bank of Canada Bank HSBC Bank of Canada US Account 788889 002 407 8 Avenue S W CDN Account 788889 001 Calgary AB Canada T2P 1E5 EURO Account 788889 270 Transit 10029 016 Swift HKBCCATTCAL 3 DELIVERY Purchaser shall supply shipping instructions with each order Ship to and bill to address NovAtel Quotation Preferred carrier and account Custom broker freight forwarder including name and contact In the absence of specific instructions NovAtel may select a carrier and insure Products in transit and charge Purchaser accordingly NovAtel shall not be responsible for any failure to perform due to unforeseen circumstances or causes beyond its ability to reasonably control Risk of loss damage or destruction shall pass to Purchaser upon delivery to carrier Goods are provided solely for incorporation into the Purchaser s end product and shall not be onward delivered except as incorporated in the Purchaser s end product 4 COPYRIGHT AND CONFIDENTIALITY Copyright in any specification drawing computer software technical description and other document supplied by NovAtel under or in conn
54. des are firmware releases which increase basic functionality of the receiver from one model to a higher level model type When available upgrades may be purchased at a price which is the difference between the two model types on the current NovAtel GPS Price List plus a nominal service charge Please refer to the PC Software and Firmware chapter in the OEMV Installation and Operation User Manual Contact Information Firmware upgrades are accomplished through NovAtel authorized dealers Contact your local NovAtel dealer first for more information To locate a dealer in your area or if the problem is not resolved contact NovAtel Inc directly using one of the following methods Call the NovAtel GPS Hotline at 1 800 NOVATEL North America or 403 295 4900 international Fax 403 295 4901 E mail support novatel ca Website http www novatel com Write NovAtel Inc Customer Service Dept 1120 68 Avenue NE Calgary AB Canada T2E 8S5 lt Before contacting NovAtel Customer Service regarding software concerns please do the following 1 Establish communication with the receiver 2 Logthe following data to a file on your PC for 30 minutes RXSTATUSB once RAWEPHEMB onchanged RANGEB ontime 1 BESTPOSB ontime 1 RXCONFIGA once VERSIONB once RAWIMUSB onnew INSPVASB ontime 0 1 INSCOVSB onchanged INSUPDATEB onchanged BESTGPSPOSB ontime 1 3 Send the file containing the logs to NovAtel Customer Service using the support no
55. e Structure Message ID 642 Log Type Asynch Recommended Input log vehiclebodyrotationa onchanged ASCII Example VEHICLEBODYROTATIONA COM1 0 36 5 FINESTEERING 1264 144170 094 00000000 bc 2 1541 1 5869999997474209 2 6639999995760122 71 649999876392343 2 0000000000000000 2 0000000000000000 5 0000000000000000 25 886cc SPAN CPT User Manual Rev 3 101 C 2 23 WHEELSIZE Wheel Size This log contains wheel sensor information The inertial Kalman filter models the size of the wheel to compensate for changes in wheel circumference due to hardware or environmental changes The default wheel size is 1 96 m A scale factor to this default size is modeled in the filter and this log contains the current estimate of the wheel size Structure Message ID 646 Log Type Asynch Field Field Type Data Description Format Bye Binary 1 Log Header Log header H 0 2 Scale Wheel sensor scale factor Double 8 H 3 Circum Wheel circumference m Double 8 8 4 Var Variance of circumference m Double 8 H 16 5 XXXX 32 bit CRC ASCII Binary and Short Hex 4 H 24 Binary only 6 CR LF Sentence terminator ASCII only 102 Recommended Input log wheelsizea onnew ASCII Example WHEELSIZEA COM3 0 44 0 EXACT 0 0 000 00000000 85 8 33738 1 025108123 2 009211922 0 000453791 157 d50b SPAN CPT User Manual Rev 3 10 Command Prompt Interface When the SPAN system t
56. e O NovAtel SPAN CPT USER MANUAL OM 20000122 Rev 3 Proprietary Notice SPAN CPT Receiver User Manual Publication Number OM 20000122 Revision Level Rev 3 Revision Date 2009 08 10 This manual reflects SPAN CPT Firmware Version CPT3 620 Proprietary Notice Information in this document is subject to change without notice and does not represent a commitment on the part of NovAtel Inc The software described in this document is furnished under a licence agreement or non disclosure agreement The software may be used or copied only in accordance with the terms of the agreement It is against the law to copy the software on any medium except as specifically allowed in the license or non disclosure agreement No part of this manual may be reproduced or transmitted in any form or by any means electronic or mechanical including photocopying and recording for any purpose without the express written permission of a duly authorized representative of NovAtel Inc The information contained within this manual is believed to be true and correct at the time of publication NovAtel OEMV ProPak RT 20 and are registered trademarks of NovAtel Inc SPAN CDU RT 2 and PAC are trademarks of NovAtel Inc All other product or brand names are trademarks of their respective holders Manufactured and protected under U S Patent Narrow Correlator 5 101 416 5 390 207 5 495 499 5 809 064 PAC Correlator 6 243 409 B1 5 414 729
57. e complex rotation is about 2 or 3 axis then the calibration routine may provide a more accurate estimation of the values The steps for the calibration routine are 1 Apply power to the SPAN CPT see the SPAN CPT technical specifications starting on page 44 2 Configure the SPAN CPT see SPAN CPT Configuration with CDU on page 30 3 Ensure that an accurate lever arm has been entered into the system 4 Allow the system to complete a coarse alignment using the SETINITAZIMUTH command See Coarse Alignment on page 36 for procedures 5 Enable the vehicle to body calibration using the RVBCALIBRATE ENABLE command see page 56 6 Start to move the system under good GPS conditions Movement of the system under good GPS conditions is required for the observation of the angular offsets Vehicle speed must be greater than 5 m s 18 km hour for the calibration to complete Drive straight on a level surface if possible SPAN CPT User Manual Rev 3 37 Chapter 3 SPAN CPT Operation 7 When the solved angles are verified after approximately 30 seconds the calibration stops and the VEHICLEBODYROTATION log will provide the solved values see Page 66 Log VEHICLEBODYROTATION using the ONNEW trigger to monitor the progress of the calibration The rotation parameters are saved in NVM for use on start up in case a fast alignment is required Each time the SPAN CPT is re mounted this calibration should be performed again See Section 3 3 1 1 on p
58. e that you should request GPS logs RANGE BESTPOS RTKPOS PSRPOS and so on while in INS operation is 5 Hz If the receiver 1s not running INS GPS logs can be requested at rates up to 20 Hz depending on the software model WARNING Ensure that all windows other than the Console are closed in CDU and then use the SAVECONFIG command to save settings in NVM Otherwise unnecessary data logging occurs and may overload your system B 2 INS Specific Commands Please refer to the OEMV Family Firmware Reference Manual for a complete list of commands categorized by function and then detailed in alphabetical order SPAN CPT User Manual Rev 3 49 B 2 1 APPLYVEHICLEBODYROTATION Enable Vehicle to Body Rotation This command allows you to apply the vehicle to body rotation to the output attitude that was entered from the VEHICLOBODYROTATION command see page 66 This rotates the SPAN body frame output in the INSPVA INSPVAS and INSATT logs to the vehicle frame APPLYVEHICLEBODYROTATION is disabled by default Abbreviated ASCII Syntax Message ID 1071 APPLYVEHICLEBODYROTATION switch Field ASCII Binary Binary Binary Binary Field Type Value Value Description Format Bytes Offset 1 header This field contains the H 0 command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 switch Disable 0 Enable disable vehicle body Enum 4 H E
59. ection with the Order and all intellectual property rights in the design of any part of the Equipment or provision of services whether such design be registered or not shall vest in NovAtel absolutely The Buyer shall keep confidential any information expressed or confirmed by NovAtel in writing to be confidential and shall not disclose it without NovAtel s prior consent in SPAN CPT User Manual Rev 3 10 Terms and Conditions writing to any third party or use it other than for the operation and maintenance of any Equipment provided 5 GENERAL PROVISIONS All Purchase Orders are subject to approval and acceptance by NovAtel Any Purchase Order or other form from the Purchaser which purports to expand alter or amend these terms and conditions is expressly rejected and is and shall not become a part of any agreement between NovAtel and the Purchaser This agreement shall be interpreted under the laws of the Province of Alberta 6 LIMITED WARRANTY AND LIABILITY Warranty Period Products 1 year Accessories 90 days in each case from the date of invoice NovAtel warrants that during the Warranty Period that a the Product will be free from defects in material and workmanship and conform to NovAtel specifications b the software will be free from error which materially affect performance and c if applicable as defined in the User s Manual be eligible for access to post contract support and software updates when available THESE W
60. ed raw GPS phase measurements are used to control errors in the inertial filter In a typical INS GPS integration GPS positions are used to control inertial drifts Some features of phase updates include updates can be performed even when too few satellites are available to compute a GPS solution e as few as 2 satellites must be in view to perform a precise update e system performance is significantly improved in conditions challenging to GPS such as urban canyons and foliage Abbreviated ASCII Syntax Message ID 639 INSPHASEUPDATE switch Field ASCII Binary Binary Binary Binary Field Type Value Value Description Format Bytes Offset 1 header This field contains the H 0 command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 switch DISABLE 0 Disable INS delta phase Enum 4 H updates ENABLE 1 Enable INS delta phase updates default Abbreviated ASCII Example INSPHASEUPDATE ENABLE SPAN CPT User Manual Rev 3 53 B 2 5 INSZUPT Request Zero Velocity Update This command allows you to manually perform a Zero Velocity Update ZUPT that is to update the receiver when the system has stopped NovAtel s SPAN Technology System does ZUPTS automatically It is not necessary to use this command under normal circumstances WARNING This command should only used by advanced users of GPS INS Abbre
61. ed ASCII Example SETIMUTOANTOFFSET 0 54 0 32 1 20 0 03 0 03 0 05 SPAN CPT User Manual Rev 3 2 10 SETINITATTITUDE Set Initial Attitude of SPAN in Degrees This command allows you to input a known attitude to start SPAN operation rather than the usual coarse alignment process The caveats and special conditions of this command are listed below 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 lean on the side of a larger standard deviation e Sending SETINITATTITUDE resets the SPAN filter The alignment is instantaneous but some time and vehicle dynamics are required for the SPAN filter to converge Bridging performance is poor before filter convergence e Theroll about the y axis pitch about the x axis and azimuth about the z axis are with respect to the SPAN frame If the SPAN CPT enclosure is mounted with the z axis pointing upwards the SPAN frame is the same as the markings on the enclosure If the SPAN CPT is mounted in another way SPAN transforms the SPAN frame axes such that z points up for SPAN computations You must enter the angles in SETINITATTITUDE with respect to the transformed axis See SETIMUORIENTATION for a description of the axes mapping that occurs when the IMU is mounted differently from z up D4 1 Azimu
62. efault Kinematic Alignment The Fast or Kinematic alignment is the default alignment routine for SPAN CPT If the system is mounted as recommended with the Z axis pointing up and the Y axis aligned with the forward direction of the vehicle then no additional configuration is required to complete a moving alignment Once the INS status reaches INS ALIGNING the moving alignment will happen once the vehicle velocity reaches 1 15m s 4km h and the INS status will change to INS ALIGNMENT COMPLETE The moving alignment transfers the GPS course over ground pitch and azimuth to the attitude of the IMU This alignment routine is best suited for ground vehicles where the direction of travel is coincident with the forward axis of the vehicle and the roll of the vehicle 18 close to zero The fast alignment routine may not be suitable for some marine or airborne where the direction of travel may be different from the forward axis of the vehicle because of factors like a crab angle If SPAN CPT is installed with the IMU axes NOT aligned with the vehicle then additional configuration is needed to complete the moving alignment These settings can be set graphically using the INS configuration wizard in the CDU interface program or through the command interface by issuing the following commands 1 Specify which IMU axis is most closely aligned with gravity using the SETIMUORIENTATION command See page 57 for a description of this command and table with
63. elocity Up in m s Double 8 H 28 7 Status INS status see Table 1 on page 34 Enum 4 H 36 8 XXXX 32 bit CRC ASCII Binary and Short Hex 4 H 40 Binary only 9 CR LF Sentence terminator ASCII only Recommended Input log insvela ontime 1 ASCII Example INSVELA COM3 0 0 0 EXACT 1105 425385 000 00040000 7d4a 0 1105 425384 996167250 0 014277009 0 013675287 0 024795257 INSSolutionGood 2f3fe011 SPAN CPT User Manual Rev 3 93 C 2 17 INSVELS Short INS Velocity This is a short header version of the VSVEL log on Page 93 Structure Message ID 324 Log Type Synch Binary Binary Field Field Type Data Description Format Bytes Offset 1 Log Header Log header H 0 2 Week GPS Week Ulong 4 H 3 Seconds into Week Seconds from week start Double 8 H 4 4 North Velocity Velocity North m s Double 8 H 12 5 East Velocity Velocity East m s Double 8 H 20 6 Up Velocity Velocity Up m s Double 8 H 28 7 Status INS status see Table 1 on page 34 Enum 4 H 36 8 XXXX 32 bit CRC ASCII Binary and Short Hex 4 H 40 Binary only 9 CR LF Sentence terminator ASCII only Recommended Input log insvelsa ontime 1 ASCII Example INSVELSA 1105 425385 000 1105 425384 996167250 0 014277009 0 013675287 0 024795257 INSSolutionGood 2f3fe011 94 SPAN CPT User Manual Rev 3 C 2 18 MARK1PVA Position Velocity and Attitude at Mark1 This log outpu
64. er 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 54 INS PSRDIFF INS pseudorange differential solution p 55 INS RTKFLOAT INS RTK floating point ambiguities solution b 56 INS_RTKFIXED INS RTK fixed ambiguities solution n 57 INS OMNISTAR INS OmniSTAR VBS position L1 sub meter ab 58 INS OMNISTAR HP INS OmniSTAR high precision solution an 59 INS OMNISTAR XP INS OmniSTAR extra precision solution ab 64 OMNISTAR HP OmniSTAR high precision 65 OMNISTAR_XP OmniSTAR extra precision 66 CDGPS Position solution using CDGPS corrections a In addition to a NovAtel receiver with L band capability a subscription to the OmniSTAR or use of the free CDGPS service is required Contact NovAtel for details b These types appear in position logs such as BESTPOS Please refer to your OEMV Family Firmware Reference Manual SPAN CPT User Manual Rev 3 75 76 Table 12 Solution Status 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 exceede
65. est GPS logs RANGE BESTPOS RTKPOS PSRPOS and so on while in INS operation is 5 Hz If the receiver is not running INS GPS logs can be requested at rates up to 20 Hz depending on the software model 72 SPAN CPT User Manual Rev 3 C 2 1 5 5 5 Best GPS Position This log contains the best available GPS position without INS computed by the receiver In addition it reports several status indicators including differential age which is useful in predicting anomalous behavior brought about by outages in differential corrections A differential age of 0 indicates that no differential correction was used With the system operating in an RTK mode this log reflects the latest low latency solution for up to 60 seconds after reception of the last base station observations After this 60 second period the position reverts to the best solution available the degradation in accuracy is reflected in the standard deviation fields If the system is not operating in an RTK mode pseudorange differential solutions continue for 300 seconds after loss of the data link though a different value can be set using the DGPSTIMEOUT command refer to the OEMV Family Firmware Reference Manual Structure Message ID 423 Log Type Synch Binary Binary Field Field type Data Description Format Bytes Offset 1 header Log header H 0 2 Sol Status Solution status see Table 12 Solution Status on p
66. etails WARNING Ensure the Control Panels Power Settings on your PC are not set to go into Hibernate or Standby modes Data will be lost if one of these modes occurs during a logging session 3 1 Definition of Reference Frames Within SPAN The reference frames that are most frequently used throughout this manual are the following The Local Level Frame The SPAN Body 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 SPAN CPT User Manual Rev 3 26 SPAN CPT Operation Chapter 3 Zecer North N East E Figure 7 Local Level Frame ENU 3 1 2 The SPAN Body Frame The definition of the SPAN body frame is as follows z axis pointing up aligned 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 Zable 8 on page 59 This frame is also known as the computation frame and is the frame where all the mechanization equations are computed SPAN CPT User Manual Rev 3 27 Chapter 3 SPAN CPT Operation 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 e
67. etters patent registered design or like instrument of privilege by reason of the use or application of the Software by the Licensee or any other information supplied or to be supplied to the Licensee pursuant to the terms of this Agreement NovAtel shall not be bound to take legal proceedings against any third party in respect of any infringement of letters patent registered design or like instrument of privilege which may now or at any future time be owned by it However should NovAtel elect to take such legal proceedings at NovAtel s request Licensee shall co operate reasonably with NovAtel in all legal actions concerning this license of the Software under this Agreement taken against any third party by NovAtel to protect its rights in the Software NovAtel shall bear all reasonable costs and expenses incurred by Licensee in the course of co operating with NovAtel in such legal action 4 Restrictions You may not a copy other than as provided for in paragraph 2 distribute transfer rent lease lend sell or sublicense all or any portion of the Software except in the case of sale of the hardware to a third party b modify or prepare derivative works of the Software c use the Software in connection with computer based services business or publicly display visual output of the Software d transmit the Software over a network by telephone or electronically using any means except when downloading a purchased up grade from the NovAte
68. f you have a post processing application requiring 100 Hz IMU data We also recommend you use CDU to collect the data 2 1 1 SPAN CPT Hardware The SPAN CPT receiver contains the OEMV 3 GPS receiver and an IMU containing 3 accelerometers 3 gyroscopes Communication is done using either the com ports or USB through the multi I O connector Figure 3 SPAN CPT Enclosure 2 2 Hardware Set Up Review this section s hardware set up subsections and follow the numbered steps in bold to install your SPAN system 2 231 Mount Antenna For maximum positioning precision and accuracy as well as to minimize the risk of damage ensure that the antenna is securely mounted on a stable structure that will not sway or topple Where possible select a location with a clear view of the sky to the horizon so that each satellite above the horizon can be tracked without obstruction The location should also be one that minimizes the effect of multipath interference 2 2 2 Mount SPAN CPT 22 Mount the SPAN CPT in a fixed location where the distance from the SPAN CPT to the GPS antenna phase center is constant Ensure that the SPAN CPT orientation with respect to the vehicle and antenna is also constant For greatest ease of use the SPAN CPT should be mounted such that the positive Z axis marked on the SPAN CPT enclosure points up and the Y axis points forward through the front of the vehicle in the direction of track SPAN CPT User Manual
69. for output at a time Once log is selected for output at a rate of 100 Hz all other log requests are limited to a maximum rate of 50 Hz Below are examples of acceptable logging requests LOG RAWIMUSB ONNEW 100 Hz LOG INSPVASB ONTIME 0 02 acceptable 50 Hz logging The following is rejected because RAWIMU has already been requested at 100 Hz LOG INSPOSSB ONTIME 0 01 100 Hz request Below is another example set of acceptable logging requests LOGINSPOSSB ONTIME 0 01 100 Hz request LOGINSVELSB ONTIME 0 02 50 Hz request The following are rejected in this case because INSPOSSB has already been requested at a high rate LOG RAWIMUSB ONNEW 100 Hz request LOGINSATTSB ONTIME 0 01 100 Hz request 2 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 96 3 In order to collect wheel sensor information useful in post processing the TIMEDWHEELDATA log should only be used with the ONNEW trigger See also page 100 for details on this log lt The periods available when you use the ONTIME trigger 0 01 100 Hz 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 The highest rate that you should requ
70. ge 60 these values are reflected in this log The default X pitch Y roll and Z azimuth directions of the inertial frame are clearly marked on the IMU see Figure 11 on page 44 Structure Message ID 674 Log Type Asynch Binary Binary Field Field Type Description Format Bytes Offset 1 Log Header Log Header H 0 2 X Offset IMU Enclosure Frame m Double 8 H 3 Y Offset IMU Enclosure Frame m Double 8 H 8 4 Z Offset 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 8 Full Mapping Integer 4 H 48 Definitions on page 59 9 XXXX 32 bit CRC Hex 4 H 52 10 CR LF Sentence Terminator ASCII only Recommended Input log bestleverarma onchanged ASCII Example BESTLEVERARMA COM1 0 83 5 UNKNOWN 0 2 983 00000008 39e4 35484 0 3934000000000000 1 2995000000000001 0 0105500000000000 0 0300000000000000 0 0300000000000000 0 0300000000000000 4 876c47ad SPAN CPT User Manual Rev 3 79 C 2 4 INSATT 5 Attitude This log and the INSATTS log contains the most recent attitude measurements corresponding to the SPAN frame axis according to the installation instructions provided in Section 2 2 Hardware Set Up starting on page 22 and INS Window in CDU on page 32 of this manual The attitude measureme
71. gular offset values are not applied to the attitude output unless the APPLYVEHICLEBODYROTATION command is enabled Abbreviated ASCII Syntax Message ID 641 RVBCALIBRATE reset Field ASCII Binary Binary Binary Field Type Value Description Format Bytes Offset 1 Log This field contains the H 0 Header command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 Switch RESET Control the vehicle ENUM 4 H body rotation DISABLE computation ENABLE 56 Abbreviated ASCII Example RVBCALIBRATE reset SPAN CPT User Manual Rev 3 B 2 8 SETIMUORIENTATION Set IMU Orientation The SETIMUORIENTATION command is used to specify which of the SPAN CPT axis is aligned with gravity The SPAN CPT orientation can be saved using the SAVECONFIG command so that on start up the SPAN CPT system does not have to detect the orientation of the SPAN CPT with respect to gravity This is particularly useful for situations where the receiver 1s powered while in motion D4 1 The default SPAN CPT axis definitions Y forward Z up X out the right hand side It is strongly recommended that you mount your SPAN CPT in this way with respect to the vehicle 2 You only need to use this command if the system 15 to be aligned while in motion using the fast alignment routine see Section 3 3 1 1 Default Kinematic Alignment on page 35 WARNIN
72. ial drift during times of poor GPS visibility The filter also contains a state for modeling the circumference of the wheel as it may change due to hardware changes or environmental conditions The modeled wheel circumference is available in the WHEELSIZE log see page 102 Information on how the wheel sensor updates are being used is available in the INSUPDATE log see page 92 3 3 4 2 Odometer Requirements SPAN CPT is compatible with any wheel sensor meeting the following requirements nput range less than or equal to 45 KHz Input duty cycle is symmetric 4096 6096 Active input voltage is greater than or equal to 2 5 VDC with a max input voltage of 50 VDC 38 SPAN CPT User Manual Rev 3 SPAN CPT Operation Chapter 3 nactive voltage is less than or equal to 1 VDC Input current is approximately 3 5 mA at 5 VDC with a maximum of 5 mA at 50 VDC Ensure input current does not exceed 5 mA There is a current limiting diode that can dissipate 800 mW on the input opto isolator Quadrature pulse and direction type odometers are compatible An example of a SPAN CPT compatible odometer is the WPT Wheel Pulse Transducer from Corrsys Datron www corrsys datron com A transducer traditionally fits to the outside of a non drive wheel A pulse 1s then generated from the transducer which is fed directly to the ODO connector on the IMU cable Figure 10 Corrsys Datron WPT The WPT mounts to the wheel lug nuts via adjustable moun
73. iguration non volatile memory 51 copyright 3 D datum 73 dealer 15 differential 73 distance exceeded 76 E east 92 93 e mail 15 F firmware updates or upgrades 15 SPAN CPT User Manual Rev 3 frame see axes vehicle 56 68 frequently asked questions 107 FRESET 51 G GPSAntenna 13 graphical user interface 32 H hardware setup 21 headers 70 71 height 73 velocity limit 76 help 29 I inertial navigation system INS 52 information most recent 92 INSATT 80 87 INSATTS 81 INSCOMMAND 52 INSCOV 82 INSCOVS 84 INSPHASEUPDATE 53 INSPOS 85 INSPOSS 86 INSPOSSYNC 87 INSPVA 88 INSSPD 90 INSSPDS 91 NSUPDATE 92 NSVEL 93 INSVELS 94 INSZUPT 54 INTERFACEMODE 53 introduction 19 I I L latency 73 109 Index latitude longitude 73 lever arm 79 link loss of 73 logging 49 70 M Markl trigger 66 MARKIPVA 95 MARK2PVA 95 mean sea level 73 memory non volatile 51 mode RTK 73 N NMEA satellite type 55 non volatile memory NVM 51 north 92 93 offset 60 65 orientation 57 P pitch 57 60 79 80 port 24 position 65 88 best 73 INS 52 mark 95 measurements 82 85 synchronised 87 power 24 pseudorange solutions 73 R RAWIMUS 96 real time kinematic RTK 73 replacement parts 106 reset hardware 51 revision manual 2 112 roll 57 60 79 80 rotation 50 56 RVB see vehicle to body rotation RVBCALIBRATE 56 110 5 set up hardware 21
74. ion provides a graphical user interface to set up and monitor the operation of the SPAN system by providing a series of windows The INS Window in CDU is described below Please refer to the OEMV Family Installation and Operation User Manual for more details on CDU and other OEMV Family PC software programs a INS Window The Position Velocity and Attitude roll pitch and azimuth sections display data from the INSPVA log along with standard deviations calculated from the INSCOV log Information in the ZUPT Zero Velocity Update section reflects the current INSZUPT command setting The receiver uses the X Y and Z Offset fields to specify an offset from the IMU for the output position and velocity of the INS solution as specified by the SETINSOFFSET command or CDU s SPAN CPT wizard The NS Configuration Status section displays the IMU type IMU Status and local date time information The dial is a graphical display of the Roll Pitch and Azimuth values indicated by an arrow on each axis Latitude 51 057220181 0 610m Longitude 114 054232445 0 885m Hgt Msl 1077 501 0 838m Velocity 13 5697m s 0 075 North 12 9866 5 0 047 East 3 7598m s 0 055 Up 1 1617m s 0 022 x Offset 0 000m Y Offset 0 000m Z Offset 0 000m ZUPT Off N gt LI og d X p Roll Pitch Azimuth 1 7288 6 0771 344 95 INS_SOLUTION_GOOD Ready to use 0 01 0 01 0 09 Fri Apr 21 11 57 09 2006 Local
75. l web site or e reverse engineer decompiler 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 CPT User Manual Rev 3 8 Software License 5 Term and Termination This Agreement and the rights and licences hereby granted shall continue in force in perpetuity unless terminated by NovAtel or Licensee in accordance herewith In the event that the Licensee shall at any time during the term of this Agreement i be in breach of its obligations hereunder where such breach is irremediable or if capable of remedy is not remedied within 30 days of notice from NovAtel requiring its remedy then and in any event NovAtel may forthwith by notice in writ ing terminate this Agreement together with the rights and licences hereby granted by NovAtel Licensee may terminate this Agreement by providing written notice to NovAtel Upon termination for any reasons the Licensee shall promptly on NovAtel s request return to NovAtel or at the election of NovAtel destroy all copies of any documents and extracts comprising or containing the Software The Licensee shall also erase any copies of the Software residing on Licensee s computer equipment Ter mination shall be without prejudice to the accrued rights of either party including payments due to NovAtel This provision shall survive termination of this Agreement howsoever arising 6
76. les 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 15 psrdopa ontime 15 2 Save this with a convenient file name e g C GPS BOOT1 TXT and exit the text editor 3 Use the DOS copy command to direct the contents of the BOOT1 TXT file to the PC s COM1 serial port C GPS gt copy bootl txt comi 1 files s copied C NGPS 4 The SPAN system is now initialized with the contents ofthe BOOTI TXT command file and logging is directed from the receiver s 2 serial port to the rover terminal SPAN CPT User Manual Rev 3 D 2 WINDOWS As any text editor or communications program can be used for these purposes the use of Windows 98 is described only as an illustration The following example shows how Windows 98 accessory programs Notepad and HyperTerminal can be used to create a hypothetical waypoint navigation file on a laptop computer and send it to the receiver It is assumed that the laptop computer s COMI serial port is
77. losure frame Structure Message ID 507 Log Type Synch Field Field Type Description Format Bytes 1 Log header H 0 2 Week GPS Week Ulong H 3 Seconds Seconds from week start Double 8 H 4 4 Latitude Latitude WGS84 Double 8 H 12 Longitude Longitude WGS84 Double 8 20 6 Height Ellipsoidal Height WGS84 Double 8 28 7 North Velocity Velocity ina northerly direction a ve Double 8 36 value implies a southerly direction 8 East Velocity Velocity in an easterly direction a ve Double 8 44 value implies westerly direction 9 Up Velocity Velocity in an up direction Double 8 52 10 Roll Right handed rotation from local level Double 8 H 60 around y axis in degrees 11 Pitch Right handed rotation from local level Double 8 H 68 around x axis in degrees 12 Azimuth Left handed rotation around z axis Double 8 76 Degrees clockwise from North 13 Status INS Status see Table 1 on page 34 Enum 4 84 14 32 bit 4 88 15 CR LF Sentence Terminator ASCII only Recommended Input log inspvaa ontime 1 ASCII Example 5 1 0 31 0 1264 144088 000 00040000 5615 1541 88 1264 144088 002284950 51 116827527 114 037738908 401 191547167 354 846489850 108 429407241 10 837482850 1 116219952 3 476059035 7 372686190 1 5 ALIGNMENT COMPLET
78. mple a 10 cm error recording this offset will result in at least a 10 cm error in the output CDU can also be used to configure the SPAN CPT See Section 3 2 1 SPAN CPT Configuration with CDU on page 30 3 3 Real Time Operation SPAN CPT operates through the OEMV command and log interface Commands and logs specifically related to SPAN CPT operation are documented in Appendices B and C of this manual respectively Real time operation notes nertial data does not start until FINESTEERING time status is reached and therefore the SPAN CPT system does not function unless a GPS antenna is connected with a clear view of the sky The Inertial solution is computed separately from the GPS solution The GPS solution is available from the SPAN CPT system through the GPS specific logs even without SPAN running The integrated INS GPS solution is available through special INS logs documented in Appendix C of this manual The IMU solution is available at the maximum rate of output of the SPAN CPT 100 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 on the COM port SPAN CPT User Manual Rev 3 33 Chapter 3 SPAN CPT Operation Status of the inertial solution can be monitored using the inertial status field in the INS logs Table 1 below Table
79. n without INS computed by the receiver In addition it reports a velocity status indicator which is useful in indicating whether or not the corresponding data is valid The velocity measurements sometimes have a latency associated with them The time of validity is the time tag in the log minus the latency value The velocity is typically computed from the average change in pseudorange over the time interval or the RTK Low Latency filter As such it is an average velocity based on the time difference between successive position computations and not an instantaneous velocity at the BESTGPSVEL time tag The velocity latency to be subtracted from the time tag is normally 1 2 the time between filter updates Under default operation the positioning filters are updated at a rate of 2 Hz This translates into a velocity latency of 0 25 second The latency can be reduced by increasing the update rate of the positioning filter being used by requesting the BESTGPSVEL or BESTGPSPOS messages at a rate higher than 2 Hz For example a logging rate of 10 Hz would reduce the velocity latency to 0 005 seconds For integration purposes the velocity latency should be applied to the record time tag A valid solution with a latency of 0 0 indicates that the instantaneous Doppler measurement was used to calculate velocity Structure Message ID 506 Log Type Synch SPAN CPT User Manual Rev 3 77 Binary Binary Field Field type Data Description Format
80. n in Table 3 on page 41 Table 3 Solution Parameters Parameter Log Position INSPOS or INSPOSS INSPVA or INSPVAS Velocity INSVEL or INSVELS INSSPD or INSSPDS INSPVA or INSPVAS Attitude INSATT or INSATTS INSPVA or INSPVAS Solution Uncertainty INSCOV or INSCOVS Note that the position velocity and attitude are available together in the INSPVA and INSPVAS logs The inertial solution is available up to the rate of 100 Hz Data can be requested at a specific rate up to the maximum IMU output rate or can be triggered by the mark input trigger at rates up to 20 Hz The GPS only solution is still available through the GPS only logs such as RTKPOS PSRPOS and OMNIHPPOS When running SPAN CPT rates of non INS logs should be limited to a maximum rate of 5 Hz Refer to the OEMV Family Firmware Reference Manual for more details on these logs INS only data logging and output can be at rates of up to the rate of the IMU data 4 The highest rate that you should request GPS logs RANGE BESTPOS RTKPOS PSRPOS and so on while in INS operation is 5 Hz If the receiver is not running INS GPS logs can be requested at rates up to 20 Hz WARNING Ensure that all windows other than the Console are closed in CDU and then use the SAVECONFIG command to save settings in NVM Otherwise unnecessary data logging occurs and may overload your system Specific logs need to be collected for post processing See Section 3 4 on page
81. n set to output every 60 seconds from its 2 serial port SPAN CPT User Manual Rev 3 105 Nela a 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 E 1 SPAN CPT System Part Description NovAtel Part KVH Enclosure 80023524 KVH Standard Unterminated Cable 60723107 KVH Development Terminated Cable 60723108 SPAN CPT Quickstart Guide GM 14915081 OEMV CDU and Convert disk refer to Page 29 of this manual and to the OEMV Family 01017827 Installation and Operation User Manual SPAN CPT User Manual OM 20000122 OEMV Family Installation and Operation User Manual OM 20000093 Family Firmware Reference Manual OM 20000094 E 2 Accessories and Options Part Description NovAtel Part Optional NovAtel GPSAntennas Model 532 for aerodynamic applications GPS 532 Model 702 for high accuracy applications GPS 702 Model 702L for L band applications GPS 702L Model 533 for high performance base station applications GPS 533 Optional RF Antenna Cable 5 meters C006 15 meters C016 SPAN CPT User Manual Rev 3 106 Yee D d Frequently Asked Questions 1 107 Why don t hear any sound from my SPAN CPT a The SPAN CPT does not make noise Check that the multi purpose I O cable is connected properly b Check the input
82. nable 1 rotation using values entered in the vehiclebodyrotation command default disable Input Example applyvehiclebodyrotation enable 50 SPAN CPT User Manual Rev 3 B 2 2 FRESET Factory Reset This command clears data which is stored in non volatile memory Such data includes the almanac ephemeris and any user specific configurations The receiver 1s forced to hardware reset Abbreviated ASCII Syntax Message ID 20 FRESET target Field ASCII Binary Binary Binary Binary Format Bytes Offset 1 header This field contains the H 0 command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively Field Description Type Value Value 2 target See Table 6 What data is to be reset by the Enum 4 H receiver Input Example FRESET COMMAND Table 6 FRESET Target Binary ASCII Description 0 STANDARD Resets commands ephemeris and almanac default Also resets all OmniSTAR related data except for the subscription information 1 COMMAND Resets the stored commands saved configuration 2 GPSALMANAC Resets the stored almanac 3 GPSEPHEM Resets stored ephemeris 5 MODEL Resets the currently selected model 11 CLKCALIBRATION Resets the parameters entered using the CLOCKCALIBRATE command 20 SBASALMANAC Resets the stored SBAS almanac 21 LAST_POSITION Resets the position using the last stored positi
83. nclosure pointing up the IMU enclosure frame is the same as the SPAN frame This origin of this frame is not the enclosure center but the Center of Navigation sensor center Figure 8 The Enclosure Frame 3 1 4 The Vehicle Frame The definition of the vehicle frame is as follows 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 91 for information on entering the rotation into the system and see the RVBCALIBRATE command on page 76 for information on calculating this rotation 2 Figure 9 Vehicle Frame 28 SPAN CPT User Manual Rev 3 SPAN CPT Operation Chapter 3 3 2 Communicating with the SPAN CPT System Once the receiver is connected to the PC antenna and power supply install NovAtel s OEMV PC Utilities CDU and Convert You can find installation instructions in your receiver s Quick Start Guide Alternatively you can use a terminal emulator program such as HyperTerminal to communicate with the receiver Refer also to the CDU Help file for more details on CDU The Help file is accessed by choosing Help from the main menu in CDU Start CDU on your PC to enable communication 1 Launch CDU from the Start menu folder specified during the installation process The default
84. nd the GPS antenna The measurement should be done as accurately as possible preferably to within millimeters especially for RTK operation The x y and z fields represent the vector from the SPAN CPT to the antenna phase center in the IMU enclosure frame The a b and c fields allow you to enter any possible errors in your measurements If you think that your x offset measurement is out by a centimeter for example enter 0 01 in the a field The X pitch Y roll and Z azimuth directions of the inertial frame are clearly marked on the SPAN CPT This command must be entered before the INS alignment mode not after Abbreviated ASCII Syntax Message ID 383 SETIMUTOANTOFFSET x y z a b c ASCII Binary Binary Binary Binary Description Format Bytes Offset Value Value 1 header This field contains the H 0 command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 X 20 x offset m Double 8 H 3 y 20 y offset m Double 8 H 8 4 Z 20 z offset m Double 8 H 16 5 a 0 to 1 Uncertainty in x m Double 8 H 24 Defaults to 10 of the x offset to a minimum of 0 01 m 6 b 0 to 1 Uncertainty in y m Double 8 H 32 Defaults to 10 of the y offset to a minimum of 0 01 m 7 c 0 to 1 Uncertainty in z m Double 8 H 40 Defaults to 10 of the z offset to a minimum of 0 01 m Abbreviat
85. nts may not correspond to other definitions of the terms pitch roll and azimuth If your SPAN CPT s z axis as marked on the enclosure is not pointing up the output attitude will be with respect to the SPAN computational frame and not the frame marked on the enclosure See the SETIMUORIENTATION command to determine what the SPAN computation frame will be given how your IMU is mounted Structure Message ID 263 Log Type Synch Binary Binary Field Field Type Data Description Format Bytes Offset 1 Log Header Log header H 0 2 Week GPS Week Ulong 4 H 3 Seconds into Week Seconds from week start Double 8 H 4 4 Roll Right handed rotation from local level Double 8 H 12 around y axis in degrees 5 Pitch Right handed rotation from local level Double 8 H 20 around x axis in degrees 6 Azimuth Left handed rotation around z axis Double 8 H 28 Degrees clockwise from North 7 Status INS status see Table 1 on page 34 Enum 4 H 36 8 XXXX 32 bit CRC ASCII Binary and Short Hex 4 H 40 Binary only 9 CR LF Sentence terminator ASCII only Recommended Input log insatta ontime 1 ASCII Example 5 3 0 0 0 1105 425385 000 00040000 0638 0 1105 425384 996167250 4 822147742 0 035766158 123 262113519 INSSolutionGood 3563a760 lt The structure of the INSATT log is different in this firmware version 1 3 than in any earlier beta versions
86. on 22 VEHICLE BODY R Resets stored vehicle to body rotations 24 INS LEVER ARM Resets the GPS antenna to IMU lever arm SPAN CPT User Manual Rev 3 51 2 3 INSCOMMAND INS Control Command 52 This command allows you to enable or disable INS positioning When INS positioning is disabled no INS position velocity or attitude 1s output Also INS aiding of RTK initialization and tracking reacquisition is disabled If the command is used to disable INS and then re enable it the INS system has to go through its alignment procedure equivalent to issuing a RESET command See also Section 3 3 1 System Start Up and Alignment Techniques starting on page 35 Abbreviated ASCII Syntax Message ID 379 INSCOMMAND action Field ASCII Binary Binary Binary Field Description Type Value Format Bytes Offset 1 header This field contains the H 0 command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 action RESET 0 Resets the GPS INS Enum 4 H alignment and restarts the alignment initialization DISABLE 1 Disables INS positioning ENABLE 2 Enables INS positioning where alignment initialization starts again default Abbreviated ASCII Example INSCOMMAND ENABLE SPAN CPT User Manual Rev 3 B 2 4 INSPHASEUPDATE INS Phase Update Control This command allows you to control the INS phase updates When enabl
87. on form the SPAN CPT enclosure frame as marked on the enclosure SPAN CPT User Manual Rev 3 57 Abbreviated ASCII Syntax Message ID 567 SETIMUORIENTATION switch Field ASCII Binary Binary Binary Binary Description Format Bytes Offset Type Value Value 1 This field contains the H 0 Header command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 Switch 0 0 IMU determines axis ENUM 4 H orientation automatically during coarse alignment default 1 1 IMU X axis is pointing UP 2 2 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 Abbreviated ASCII Example SETIMUORIENTATION 1 58 SPAN CPT User Manual Rev 3 Table 8 Full Mapping Definitions SP A closur Mapping SPAN Frame SPAN Frame IMU Enclosure Axes Frame Axes IMU Enclosure Frame X Y Z Y Z Y Z Y Z Y Z Z 3 default ds f zu Z Y X Z Y X Z Y X Z Y X Z Y X Z Y X SPAN CPT User Manual Rev 3 59 B 2 9 SETIMUTOANTOFFSET Set to Antenna Offset 60 It is recommended that you mount the SPAN CPT as close as possible to the GPS antenna particularly in the horizontal plane This command 15 used to enter the offset between the SPAN CPT a
88. on of 5 degrees for both This means that the SPAN CPT system 15 very close to level with respect to the local gravity field The azimuth is 90 degrees see the SETINITAZIMUTH example on page 63 also with a 5 degrees standard deviation 62 SPAN CPT User Manual Rev 3 B 2 11 SETINITAZIMUTH Set Initial Azimuth and Standard Deviation This command allows you to start SPAN operation with a previously known azimuth Azimuth is the weakest component of a coarse alignment and is also the easiest to know from an external source i e like the azimuth of roadway This command is needed to perform a coarse alignment Roll and pitch will be determined using averaged gyro and accelerometer measurements This command is needed to perform a coarse alignment Input azimuth values must be accurate for good system performance 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 The azimuth angle is with respect to the SPAN frame If the SPAN CPT enclosure is mounted with the z axis pointing upwards the SPAN frame is the same as what is marked on the enclosure If the SPAN CPT 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
89. ormal OEMV Family logs They are available in ASCII or binary formats and are defined as being either synchronous or asynchronous All the logs in this chapter can be used only with the SPAN system For information on other available logs and output logging please refer to the OEMV Family Firmware Reference Manual One difference from the standard OEMV Family logs is that there are two possible headers for the ASCII and binary versions of the logs Which header is used for a given log is described in the log definitions in this chapter The reason for having the alternate short headers is that the normal OEMV 3 binary header is quite long at 28 bytes This is nearly as long as the data portion of many of the INS logs and creates excess storage and baud rate requirements Note that the INS related logs contain a time tag within the data block in addition to the time tag in the header The time tag in the data block should be considered the exact time of applicability of the data All the described INS logs except the INSCOV INSPOSSYNC and INSUPDATE logs can be obtained at rates up to 100 Hz subject to the limits of the output baud rate The covariance log is available once per second lt 1 Each log ends with a hexadecimal number preceded by an asterisk and followed by a line termination using the carriage return and line feed characters for example 1234ABCD CR LF This value is a 32 bit CRC of all bytes in the log excluding the or
90. ort pin definitions 3 Connect the USB port of the SPAN CPT to a computer USB port Alternatively connect the COM 1 port of the SPAN CPT to the computer COM port via a null modem cable 4 Connect the antenna to the antenna port on the enclosure using an appropriate coaxial cable SPAN CPT User Manual Rev 3 23 Chapter 2 SPAN CPT Installation Figure 5 Connect the antenna to the antenna port 2 2 4 Connect Power 24 The SPAN CPT system receiver requires an input supply voltage between 9 VD C and 18 VD C The receiver has an internal power module that does the following filters and regulates the supply voltage e protects against over voltage over current and high temperature conditions provides automatic reset circuit protection lt The power supply used to power the SPAN CPT must be monotonic during power on to ensure internal logic blocks are initialized appropriately and proceed to valid operating states If the power supply is not monotonic during power on the accelometer status in the IMU status may show a failure and the accelerometer measurements the RAWIMUS log see the RAWIMUS log description starting on page 122 will be zero Power cycling with a monotonic power up clears this error state Power input pins are located on the multi purpose I O connector Be sure to connect the power with the correct polarity and ensure the power source is within specifications See Appendix A Technical Specifications fo
91. r power input requirements 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 CPT 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 CPT 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 5 Apply power to the SPAN CPT See Figure 6 on the following page lt It is recommended that you place a back up battery between SPAN CPT and its voltage supply as a power buffer if installed in a vehicle When a vehicle engine is started power can dip to 9 6 V DC or cut out to ancillary equipment SPAN CPT User Manual Rev 3 SPAN CPT Installation Chapter 2 Figure 6 Apply Power to the SPAN CPT SPAN CPT User Manual Rev 3 25 Chapter 3 SPAN CPT Operation Before operating your SPAN CPT system ensure that you have followed the installation and setup instructions in Chapter 2 SPAN CPT Installation starting on page 21 You can use NovAtel s CDU software to configure receiver settings and to monitor data in real time between a rover SPAN CPT system and base station SPAN CPT system output is compatible with post processing software from NovAtel s Waypoint Products Group Visit our website at http www novatel com products waypoint_pps htm for d
92. rations for the different parts of the SPAN CPT system To run the SPAN CPT system software your personal computer must meet or exceed this minimum configuration e Microsoft Windows user interface Windows 2000 or higher e Pentium Microprocessor recommended e VGA Display e Windows compatible mouse or pointing device Although previous experience with Windows is not necessary to use the SPAN CPT 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 CPT User Manual Rev 3 Chapter 1 Introduction 19 Figure 1 SPAN CPT System NovAtel s SPAN CPT technology brings together two very different but complementary positioning and navigation systems namely GPS and an Inertial Navigation System INS By combining the best aspects of GPS and INS into one system SPAN technology is able to offer a solution that is more accurate and reliable than either GPS or INS could provide alone The combined GPS INS solution has the advantage of the absolute accuracy available from GPS and the continuity of INS through traditionally difficult GPS conditions GPS positioning observes range measurements from orbiting Global Positioning System Satellites From these observations the receiver can compute position and velocity with high accuracy NovAtel GPS positioning systems have
93. s 7 2 7 2 72 7 XXXX 32 bit CRC ASCII Binary and Short Hex 4 228 Binary only 8 CR LF Sentence terminator ASCII only Recommended Input log inscovsa onchanged ASCII Example INSCOVSA 1105 425385 020 1105 425385 000000000 0 0997319969301073 0 0240959791179416 0 0133921499963209 0 0240959791179416 0 1538605784734939 0 0440068023663888 0 0133921499963210 0 0440068023663887 0 4392033415009359 0 0034190251365443 0 0000759398593357 0 1362852812808768 0 0000759398593363 0 0032413999569636 0 0468473344270137 0 1362852812808786 0 0468473344270131 117 5206493841025100 0 0004024901765302 0 0000194916086028 0 0000036582459112 0 0000194916086028 0 0004518869575566 0 0000204616202028 0 0000036582459112 0 0000204616202028 0 0005095575483948 1 c92787 84 SPAN CPT User Manual Rev 3 C 2 8 INSPOS INS Position This log contains the most recent position measurements in WGS84 coordinates and includes an INS status indicator The log reports the position at the IMU centre unless you issue the SETINSOFFSET command see page 65 Structure Message ID 265 Log Type Synch Binary Binary Field Field Type Data Description Format Bytes Offset 1 Log Header Log header H 0 2 Week GPS Week Ulong 4 H 3 Seconds into Week Seconds from week start Double 8 H 4 4 Latitude Latitude WGS84 Double 8 H 12 5 Longitude Longitude WGS84 Double
94. s higher than 5 Hz when running SPAN SPAN CPT User Manual Rev 3 5 What will happen to the INS solution when I lose GPS satellite visibility When GPS tracking is interrupted the INS GPS solution bridges through the gaps with what 15 referred to as free inertial navigation The IMU measurements are used to propagate the solution Errors in the IMU measurements accumulate over time to degrade the solution accuracy For example after one minute of GPS outage the horizontal position accuracy is approximately 8 4 m The SPAN solution continues to be computed for as long as the GPS outage lasts but the solution uncertainty increases with time This uncertainty can be monitored using the INSCOV log see page 82 6 the accels measurements my RAWIMUS logs are zero and the IMU status shows one or all accels are failing What is wrong Ensure a monotonic power supply on power up of your SPAN CPT unit See Connect Power on page 24 for more information 108 SPAN CPT User Manual Rev 3 A accelerometers 70 accuracy 60 73 age solution 73 alignment 52 60 almanac 51 antenna 60 106 APPLYVEHICLEBODYROTATION 50 attitude 52 80 82 88 95 axes enclosure frame 57 60 65 79 local level frame 82 84 93 SPAN frame 57 58 60 64 68 80 84 88 azimuth 57 60 79 80 BESTGPSPOS 73 BESTGPSVEL 77 BESTLEVERARM 79 cables 106 power 24 warranty 13 calibration 56 command prompt interface 103 105 conf
95. s such you can only use them for navigation if they are logged at their full rate See details of these log starting on page 96 In order to collect wheel sensor information useful in post processing the TIMEDWHEELDATA log should only be used with the ONNEW trigger SPAN CPT User Manual Rev 3 SPAN CPT Operation Chapter 3 3 5 Data Collection for Post Processing Some operations such as aerial measurement systems do not require real time information from SPAN CPT 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 e RANGECMPB ONTIME 1 e RAWEPHEMB ONCHANGED From a rover e RANGECMPB ONTIME 1 e RAWEPHEMB ONCHANGED e RAWIMUSB ONNEW BESTLEVERARMB ONNEW Post processing is performed through the Waypoint Inertial Explorer software package available from from NovAtel s Waypoint Products Group Visit our website at http www novatel com products waypoint inertial htm for details lt The highest rate that you should request GPS logs RANGE BESTPOS RTKPOS PSRPOS and so on while in INS operation is 5 Hz If the receiver is not running INS GPS logs be reque
96. s with time unless external updates such as position velocity or attitude are supplied The SPAN CPT system s combined GPS INS solution integrates the raw inertial measurements with all available GPS information to provide the optimum solution possible in any situation By using the SPAN CPT User Manual Rev 3 Chapter 1 1 1 20 Introduction high accuracy GPS solution the IMU errors can be modeled and mitigated Conversely the continuity and relative accuracy of the INS solution enables faster GPS signal reacquisition and RTK solution convergence The advantages of using SPAN CPT technology are its ability to Provide a full attitude solution roll pitch and azimuth Provide continuous solution output in situations when a GPS only solution is impossible Provide faster signal reacquisition and RTK solution resolution over stand alone GPS because of the tightly integrated GPS and INS filters Output high rate up to 100 Hz position velocity and attitude solutions for high dynamic applications see also Logging Restriction Important Notice on page 72 Use raw phase observation data to constrain INS solution drift even when too few satellites are available for a full GPS solution System Components The SPAN CPT system consists of the following components SPAN CPT Integrated INS GPS unit This unit has 3 accelerometers 3 gyroscopes gyros and a NovAtel OEMV3 Receiver Excellent acquisition and re acquisition times allow
97. sition and attitude output The tight coupling of inertial technology with GPS also provides the benefits of faster satellite reacquisition and faster RTK initialization after outages NovAtel s OEMV 3 receiver is the processing engine of SPAN CPT and the IMU components are manufactured by KVH Industries Scope 17 This manual contains sufficient information on the installation and operation of the SPAN CPT system It is beyond the scope of this manual to provide details on service or repair Contact your local NovAtel dealer for any customer service related inquiries see Customer Service on page 15 After the addition of accessories an antenna and a power supply the SPAN CPT system 15 ready to go The OEMV 3 in the receiver utilizes a comprehensive user interface command structure which requires communications through its communications COM ports This manual describes the INS specific commands and logs Other supplementary manuals are available to aid you in using the other commands and logs available with OEMV family products It is recommended that these documents be kept together for easy reference SPAN system output is compatible with post processing software from NovAtel s Waypoint Products Group Visit our website at www novatel com for details SPAN CPT User Manual Rev 3 Prerequisites Prerequisites 18 The installation chapters of this document provide information concerning the installation requirements and conside
98. sted at rates up to 20 Hz SPAN CPT User Manual Rev 3 43 Technical Specifications This appendix details the technical specifications of the SPAN CPT 1 SPAN CPT Technical Specifications Table 4 Technical HW Specs for SPAN CPT PHYSICAL SPAN CPT Enclosure Size 127 0 mm L X 105 41 mm W X 88 9 mm H SPAN CPT Weight 1 81 kg op 5 01 127 3 88 9 1 22 30 9 4 55 115 5 A 6 66 127 002 1169 3 E 4X MOUNTING SURFACE AX 12581 75 19 1 amp 4X 277 7 0 01509 8 510 ALIGNMENT HOLES FOR 125 DOWEL PINS 6 104 155 SPAN CPT User Manual Rev 3 44 A 1 1 SPAN CPT Cable The NovAtel part numbers for the SPAN CPT cable are KVH Standard Unterminated Cable 60723107 KVH Development Terminated Cable 60723108 140 cm La 50 96 Connector type MIL DTL 38999 Series on SPAN CPT Part D38999 24FD35PA Mating Connector Part D38999 26FD35SA Figure 12 SPAN CPT KVH Development
99. t Power 9 18 VDC Power consumption 15 W MAX Start Up Time Valid Data 5 secs ENVIRONMENTAL Temperature operational 40 C to 65 C Temperature non operational 50 C to 80 C Vibration operational 6 grms 20 Hz 2 KHz Vibration non operational 8 grms 20 Hz 2 KHz Shock operational 7g 6 10 msec 1 2 sine Shock 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 48 SPAN CPT User Manual Rev 3 The INS specific commands are described further in this chapter For information on other available commands refer to the OEMV Family Firmware Reference Manual B 1 Using a Command as a Log NovAtel commands may be used for data input as normal or used to request data output a unique OEMV Family feature INS specific commands may be in Abbreviated ASCII ASCII or Binary format Consider the lockout command refer to the OEMV Family Firmware Reference Manual with the syntax lockout prn You can put this command into the receiver to de weight an undesirable satellite in the solution or you can use the lockout command as a log to see if there is a satellite PRN that has already been locked out In ASCII this might be log com1 lockouta once Notice the after lockout to signify you are looking for ASCII output lt The highest rat
100. th 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 57 unless you have your SPAN CPT mounted with the z axis not pointing up Then use the tables in the SETIMURIENTATION command on Pages 56 59 to determine the azimuth axis that SPAN is using Abbreviated ASCII Syntax Message ID 862 SETINITATTITUDE pitch roll azimuth pitchSTD rollSTD azSTD SPAN CPT User Manual Rev 3 61 ASCII Binary Binary Binary Description Format Bytes Offset Value Value 1 header This field contains the H 0 command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively Input pitch angle about the x 2 pitch 360 to 360 vie Double 8 H axis in degrees 3 roll 360 to 360 ye Double 8 H48 axis in degrees 4 azimuth 360 to 360 Input azimuth angle about the Bible 8 H 16 z axis in degrees Input pitch standard deviation 5 pitchSTD STD angle in degrees Double 8 H 24 0 000278 to 180 6 rollSTD default 1 Input roll STD angle in degrees Double 8 32 7 azSTD Input azimuth STD angle in Double 8 H440 degrees Abbreviated ASCII Example SETINITATTITUDE 0090555 In this example the initial roll and pitch has been set to zero degrees with a standard deviati
101. the Purchaser without prior written consent from NovAtel vii Products designated by NovAtel as beta site test samples SPAN CPT User Manual Rev 3 11 12 Terms and Conditions experimental developmental preproduction sample incomplete or out of specification Products viii returned Products if the original identification marks have been removed or altered or ix Services or research activities 7 EXCLUSION OF LIABILITY If a Party would but for this paragraph 7 have concurrent claims in contract and tort including negligence such claims in tort including negligence shall to the extent permitted by law be wholly barred unenforceable and excluded NovAtel shall not be liable to the Buyer by way of indemnity or by reason of any breach of the Order or of statutory duty or by reason of tort including but not limited to negligence for any loss of profit loss of use loss of production loss of contracts or for any financing costs or for any indirect or consequential damage whatsoever that may be suffered by the Buyer In the event and to the extent that NovAtel shall have any liability to Buyer pursuant to the terms of the Order NovAtel 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
102. the number SPAN CPT User Manual Rev 3 35 Chapter 3 SPAN CPT Operation 36 corresponding to each orientation For example if the Z axis of your SPAN CPT is pointing up you would send this command SETIMUORIENTATION 5 2 Specify the angular offset from the vehicle frame to the SPAN body frame known as the vehicle body rotation or RVB using the VEHICLEBODYROTATION command see page 68 Follow ing the example started above if the IMU is installed rotated so that the Y axis points out the right hand side of the vehicle instead of forward then you would then enter this command VEHICLEBODYROTATION 0 0 90 lt Note these angular rotations are difficult to visualize so if you have complex rotations or some other axis that 7 pointing up use the CDU SPAN wizard for assistance with these settings The accuracy of the initial attitude will depend on the dynamics of the vehicle and the accuracy of the angles input in the VEHICLEBODYROTATION command The alignment is only an estimate of the attitude of the vehicle and as the vehicle experiences dynamics the accuracy of the attitude solution will improve Once the attitude accuracy has converged the INS status will change to INS SOLUTION GOOD 3 3 1 2 Coarse Alignment A coarse alignment uses an average reading of the accelerometers and gyroscopes to estimate the attitude of the IMU Coarse alignment begins once the INS status changes to INS ALIGNING and requires the vehicle
103. this receiver to operate in environments where very high dynamics and frequent interruption of signals can be expected PC software Real time data collection status monitoring and receiver configuration 18 possible through NovAtel s Control and Display Unit CDU software utility see SPAN CPT Configuration with CDU on page 30 SPAN CPT User Manual Rev 3 Chapter 2 SPAN CPT Installation 2 4 Hardware Description The hardware setup consists of a SPAN CPT enclosure containing the GPS and IMU components see Figure 1 on page 19 a GPS antenna power and a radio link if your application requires real time differential operation Figure 2 shows a typical hardware set up Base Optional for RTK operation Rover 2 1 N Reference Description 1 A SPAN CPT receiver connected to a laptop for data storage 2 User supplied NovAtel GPS antenna 3 User supplied power supply 9 to 18 V DC 4 User supplied radio device to COM2 5 User supplied base station OEMV Family receiver 6 User supplied PC for setting up and monitoring to COM1 or USB Figure 2 Basic Set Up The sections that follows outline how to set up the system s parts and cables See Appendix A Technical Specifications starting on page 44 21 SPAN CPT User Manual Rev 3 Chapter 2 SPAN CPT Installation lt Use a USB cable to log raw data Serial communication is fine for configuring and monitoring the SPAN through Hyperterminal or CDU USB is required i
104. time of validity for the wheel data not the time the TIMEDWHEELDATA log was output See also SPAN CPT Wheel Sensor on page 38 Structure Message ID 622 Log Type Asynch Binary Binary Field Field Type Data Description Format Bytes Offset 1 Log Header Log header H 0 2 Ticks Per Rev Number of ticks per revolution Ushort 2 H 3 Wheel Vel Wheel velocity in counts s Ushort 2 H 2 4 fWheel Vel Float wheel velocity in counts s Float 4 H 4 2 Reserved Ulong 4 8 6 Ulong 4 12 7 Ticks Per Second Cumulative number of ticks per second long 4 H 16 8 XXXX 32 bit CRC ASCII Binary and Short Hex 4 H 20 Binary only 9 CR LF Sentance terminator ASCII only Recommended Input log timedwheeldataa innew ASCII Example TIMEDWHEELDATAA 1393 411345 001 0 215 814910889 0 0 1942255 3b5fa236 100 SPAN CPT User Manual Rev 3 C 2 22 VEHICLEBODYROTATION Vehicle to SPAN frame Rotation The VEHICLEBOD YROTATION log reports the angular offset from the vehicle frame to the SPAN frame The SPAN frame is defined by the transformed IMU axis with Z pointing up see the SETIMUORIENTATION on page 57 The VEHICLEBODYROTATION command see page 68 sets the initial estimates for the angular offset The uncertainty values are optional lt If your SPAN CPT is mounted with the Z axis as marked on the IMU enclosure pointing up IMU enclosure frame is the same as the SPAN fram
105. ting 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 SPAN CPT will power the odometer See Appendix A on page 44 for the pin outs of the SPAN CPT cable Connect the appropriate pins to your chosen odometer If you chose the Corrsys Datron WPT first modify the cable at the WPT end The cable modification is shown in Table 2 on page 40 SPAN CPT User Manual Rev 3 39 Chapter 3 SPAN CPT Operation Table 2 Cable Modification for Corrsys Datron WPT 8 pin M12 connector on Female DB9 the Corrsys Datron cable connector Pin 1 GND White No change Pin 2 Ug Input Power Brown Pin 3 Signal A Green 6 Pin 4 Signal A inverted Yellow 7 Pin 5 Signal B Grey 3 Pin 6 Signal B inverted Pink 1 Pin 7 Reserved No change Pin 8 a Pin 2 is wired to a red banana plug Power in and Pin 1 is wired to a black banana plug Power return so the WPT needs power to operate 10 to 30 V Solder the shield on the WPT cable to the female DB9 housing b This modification is for the Corrsys Datron WPT 8 pin M12 plug cable number 14865 40 SPAN CPT User Manual Rev 3 SPAN CPT Operation Chapter 3 3 4 Data Collection The INS solution is available in the INS specific logs with either a standard or short header Other parameters are available in the logs show
106. tion This log contains the time synchonised INS position It is synchronised with GPS each second Structure Message ID 322 Log Type Asynch Binary Binary Field Field Type Data Description Format Bytes Offset 1 Log Header Log header H 0 2 Sec Age of synchronised INS solution s Double 8 H 3 X ECEF X coordinate Double 8 H 8 4 ECEF Y coordinate Double 8 H 16 5 Z ECEF Z coordinate Double 8 H 24 6 Cov ECEF covariance matrix a 3 x 3 Double 9 72 H 32 array of length 9 Refer also to the CLOCK MODEL log in the OEMV Family Firmware Reference Manual 7 XXXX 32 bit CRC ASCII Binary and Short Hex 4 H 104 Binary only 8 CR LF Sentence terminator ASCII only Recommended Input log inspossynca onchanged ASCII Example INSPOSSYNCA COM1 0 47 5 FINESTEERING 1332 484154 042 00000000 c98c 34492 484154 000000000 1634523 2463 3664620 7609 4942494 6795 1 8091616236414247 0 0452272887760925 0 7438098675219428 0 0452272887760925 2 9022554471257266 1 5254793710104819 0 7438098675219428 1 5254793710104819 4 3572293495804546 9 1 SPAN CPT User Manual Rev 3 87 C 2 11 INSPVA INS Position Velocity and Attitude This log allows INS position velocity and attitude with respect to the SPAN frame to be collected in one log instead of using three separate logs See the INSATT log on page 80 for an explanation of how the SPAN frame may differ from the IMU enc
107. to remain stationary for approximately 60 seconds The minimum amount of time the vehicle must remain stationary is 5 seconds but the quality of a coarse alignment computed over a period this short will be very poor In order for SPAN CPT to execute a coarse alignment an initial estimate of the heading of the vehicle must be entered using the SETINITAZIMUTH command If the IMU Y axis is facing east to within 10 degrees standard deviation then the command would be SETINITAZIMUTH 90 10 The accuracy of the initial attitude will depend on the duration of the stationary period for roll and pitch and the standard deviation entered in the SETINITAZIMUTH command for the azimuth The input azimuth standard deviation must match the actual quality of the input azimuth for your SPAN CPT to perform optimally If you are unsure of the input azimuth quality it is best to use a larger standard deviation rather than a smaller one The alignment is only an estimate of the attitude of the vehicle and as the vehicle experiences dynamics the accuracy of the attitude solution will improve Once the attitude accuracy has converged the INS status will change to INS SOLUTION GOOD SPAN CPT User Manual Rev 3 SPAN CPT Operation Chapter 3 3 3 1 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 Details of this command start on page 61 3 3
108. ts position velocity and attitude information of the system with respect to the SPAN frame when an event was received on the Mark 1 input Structure Message ID 1067 Log Type Synch Binary Binary Field Field Type Description Format Bytes Offset 1 Log Header Log header H 0 2 Week GPS Week at Mark1 request Ulong 4 H 3 Seconds Seconds from week at Markl Double 8 H 4 4 Latitude Latitude WGS84 at Mark1 Double 8 H 12 5 Longitude Longitude WGS84 at Mark1 Double 8 H 20 6 Height Height WGS84 at Mark1 Double 8 H 28 7 North Velocity Velocity in a northerly direction a ve value Double 8 36 implies a southerly direction at Mark1 8 East Velocity Velocity in an easterly direction a ve value Double 8 H 44 implies a westerly direction at Mark1 9 Up Velocity Velocity in an up direction at Mark1 Double 8 H 52 10 Roll Right handed rotation from local level around Double 8 H 60 y axis in degrees at Mark1 11 Pitch Right handed rotation from local level around Double 8 H 68 x axis in degrees at Mark1 12 Azimuth Left handed rotation around z axis Degrees Double 8 H 76 clockwise from North at Mark1 13 Status INS Status see Table 1 on page 34 at Markl Enum 4 84 14 32 bit 4 88 15 CR LF Sentence Terminator ASCII only Recommended Input log marklpva onnew Abbreviated ASCII Example MARK1PVA USB1 0 51 5 EXACT
109. urns on no activity information 15 transmitted from the serial ports except for the port prompt A terminal connected to the receiver display a messages on its monitor For example Com1 gt if connected to COMI port The COM port be COMI 2 COMG USBI USB2 USB3 or AUX Commands are typed at the interfacing terminal s keyboard and sent after pressing the terminal s lt gt or Enter key lt Most valid commands do produce a visible response on the screen The indication that they have been accepted is a return of the port prompt from the receiver Example An example of no echo response to an input command is the SETIMUTOANTOFFSET command It can be entered as follows COM2 gt setimutoantoffset 0 1 0 1 0 1 Return COM2 The above example illustrates command input to the receiver 2 serial port which sets the antenna to IMU offset However your only confirmation that the command was actually accepted is the return of the 2 gt prompt If a command is incorrectly entered the receiver responds with Invalid Command Name or a more detailed error message followed by the port prompt 103 SPAN CPT User Manual Rev 3 D 1 104 DOS One way to initiate multiple commands and logging from the receiver is to create DOS command files relating to specific functions This minimizes the time required to set up duplicate test situations Any convenient text editor can be used to create command text fi
110. vatel com e mail address 15 SPAN CPT User Manual Rev 3 A CAUTION 1 This device incorporates circuitry to absorb most static discharges However severe static shock may cause inaccurate operation of the unit Use anti static precautions where possible 2 This device is a precision instrument It performs best when handled with care SPAN CPT User Manual Rev 3 16 Foreword Congratulations Congratulations on purchasing your SPAN CPT GPS INS receiver SPAN Synchronized Position Attitude Navigation Technology features tight integration of a NovAtel GPS receiver and an Inertial Measurement Unit IMU SPAN provides continuous navigation information using an Inertial Navigation System INS to bridge short Global Position System GPS outages Designed for dynamic applications SPAN provides precise position velocity and attitude information SPAN CPT Compact Portable and Tightly Coupled combines the GPS and IMU hardware inside one enclosure for simple installation and operation Commercial components have been chosen for integration into SPAN CPT in order to offer the same benefits of other SPAN products but with fewer export restrictions By complementing GPS with inertial measurements SPAN CPT Technology provides robust positioning in challenging conditions where GPS alone is less reliable During short periods of GPS outage or when less than four satellites are received SPAN CPT Technology offers uninterrupted po
111. viated ASCII Syntax Message ID 382 INSZUPT 54 SPAN CPT User Manual Rev 3 B 2 6 NMEATALKER Set the NMEA talker ID V123 This command allows you to alter the behavior of the NMEA talker ID The talker is the first 2 characters after the sign in the log header of the GPGLL GPGST GPRMB GPRMC and GPVTG log outputs Other NMEA logs are not affected by the NMEATALKER command The default GPS NMEA message nmeatalker GP outputs GPas the talker ID regardless of the position type given in position logs such as BESTPOS The nmeatalker auto command switches the talker ID between GP and IN according to the position type given in position logs Abbreviated ASCII Syntax Message ID 861 NMEATALKER ID Factory Default nmeatalker gp ASCII Example nmeatalker auto lt This command only affects NMEA logs that are capable of a GPS position output For example GPGSV is for information on GPS satellites and its output always uses the GP ID Table 7 shows the NMEA logs and whether they use GP or GP IN IDs with nmeatalker auto Table 7 NMEA Talkers GPGLL GPGST GPRMB GPRMC GPVTG Log Talker IDs GP IN GP IN GP IN GP IN GP IN _ Field ASCII Binary es Binary Binary Binary Field Type Value Value Description Format Bytes Offset 1 NMEA This field contains the command H 0 TALKER name or the message header header depending on whether the command is abbreviated ASCII ASCII or binary respectively

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