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SPAN on OEM6 User Manual

1. 133 35 7 00 0 25 La 132 0 FI x4 n Te a aa D fff WO D X 125 0 137 0 4 OI Y x2 i i 66 5 x2 V I ez TUE s C ll Y e 71x2 Bus E e x2 e Hole 140 0 x2 wi La 152 0 e 3 43 5 50 5 REF m CH Dimensions are in millimetres The center of navigation is at the location marked by the axis labels on the enclosure and indicated on the drawing above It is not at the depression in the enclosure cover SPAN on OEM6 User Manual Rev 10 129 Appendix A A 8 3 130 IMU IGM Ports Pin Label Technical Specifications Table 65 IMU IGM Main Port Pinout Description MIC_TX MIC_TX MODE2 high or open MIC port transmit RS 232 MODE2 low MIC port transmit positive RS 422 2 MIC_TX MODE2 high or open No connection MODE2 low MIC port transmit negative RS 422 3 DGND Digital ground 4 V IMU IGM power supply input positive 5 V IMU IGM power supply input negative 6 MIC_RX MODE2 high or open MIC port receiver RS 232 MIC_RX MODE low
2. 14 9 amp 2 95 6 35 TD 0 250 dd CLEARANCE FOR r PIN I PIN FASTENERS 4X BOTH SIDES y J n 34 29 rmi rmn Sei PIN I 1 350 ea d dj S eA i E ei TRH uj TES ei MIS d 5 At t 1 80 PIN I K PLE a LED y Zi Dect oo SK y 0 00 0 0001 idis 0 062 ag mip 0 128 E EN 4X 8 25 a oo 0 325 1 85 0 308 UUUUUVUUUUU og m Dimensions in mm inches SPAN on OEM6 User Manual Rev 10 147 Appendix A Technical Specifications Figure 76 MIC Keep Out Zone 43 18 z m 1 700 n d x2 E o 38 11 ree Ee 1 503 3 T D D E 36 83 I O 1 450 31 21 yo 31 95 1 258 Ic 1 229 1 E 13 75 pe 14 56 sg 0541 6 0 573 0 350 5 54 __ E 0 100 _ EEN d ge ao ee 0 00 pues ox y
3. J2 Pinout Function Connector Pin Color 1 Vin P2 BLK 22 Vin Not used 3 Vin P1 RED 21 Vin 4 Not used 5 Not used 6 Not used 7 DAS J1 1 8 Not used 9 DAS GND J1 5 10 Not used 11 OEM CTS Rx J1 12 OEM_Rx Rx J1 13 Not used 14 DGND J1 5 15 DGND J1 5 16 Not used 17 Not used 18 Not used 19 OEM_Tx Tx J1 3 20 OEM RTS Tx J1 7 Shield P3 GRN SPAN on OEM6 User Manual Rev 10 91 Appendix A Technical Specifications A 2 HG1700 IMU single connector enclosure Table 29 HG1700 IMU Physical Specifications PHYSICAL IMU Enclosure Size 193 mm x 167 mm x 100 mm 7 6 x 6 6 x 3 9 IMU Size 160 mm x 160 mm x 100 mm 6 3 x 6 3 x 3 9 IMU Enclosure Weight 3 4 kg 7 49 Ib A 2 1 HG1700 IMU Mechanical Drawings Figure 37 HG1700 Top Bottom Dimensions 174 6 8 1 SS JEE 4 PLCS Pm IP 90 7 AN cm or PS 74 8 V NAVIGATION ON IMU Enclosure OFFSETS AN Center KI ilv J 93 3 IMU Enclosure Center Note The center of Navigation shown on the HG1700 label for the internal IMU is the same as the enclosure center The enclosure center measurements are labelled as IMU Enclosure Center in this figure 92 SPAN on OEM6 User Manual Rev 10 Technical Specifications Appendix A Table 30 HG1700 Enclosure Side Dimensions
4. La 143 7 gt t 433 b ERN i e 8 1 8 4PLCS E VIVI TI nclosure Loo or Label Center 82 4 NAVIGATION Navigation 76 2 OFFSETS Center 134 6 Y Y j y Navigation Center La 76 2 Enclosure Center Note The Center of Navigation offsets shown on the LN 200 label are for the internal IMU and are different than for the enclosure center The enclosure center is labelled as IMU Center in this figure Dimensions are shown in millimeters 96 SPAN on OEM6 User Manual Rev 10 Technical Specifications Appendix A Figure 39 LN 200 Enclosure Side Dimensions A 127 0 P A 134 9 67 5 Enclosure Center A 36 8 Navigation Center Y a 152 4 Y 9 5 A Note The Center of Navigation offsets shown on the LN 200 label are for the internal IMU and are different than for the enclosure center The enclosure center is labelled as IMU Center in this figure Dimensions are shown in millimeters SPAN on OEM6 User Manual Rev 10 97 Appendix A Technical Specifications A 3 2 LN 200 IMU Performance Table 36 LN 200 IMU Performance GYROSCOPE PERFORMANCE Gyro Input Range 1000 degrees s Gyro Rate Bias 1 hr Gyro Rate Scale Factor 100 ppm An
5. 1 Connect the antenna to the receiver 2 Connectthe interface cable to the IMU CPT 3 Connect the DB9 connector of the interface cable to the COMS3 IMU port of the receiver 4 Connect the IMU power and ground to the IMU interface cable refer to Table 7 IMU Power Supply on page 40 5 Connect a user supplied power supply to the receiver Connect a user supplied computer for set up and monitoring to the USB port 7 Connect a user supplied radio device to COM1 optional for real time differential operation 32 SPAN on OEM6 User Manual Rev 10 SPAN Installation Chapter 2 2 1 2 9 ProPak6 to IMU KVH1750 Set Up Example Figure 14 Basic Set Up ProPak6 to IMU KVH1750 Radio optional for Real Time Differential operation T CH d land Gear WII 1 Connect the antenna to the receiver Connect the 15 pin Micro D connector of the interface cable to the MAIN connector on the IMU KVH1750 Connect the DB9 connector of the interface cable to the COM3 IMU port of the receiver Connect the IMU power to the IMU interface cable refer to Table 7 IMU Power Supply on page 40 Connect a user supplied power supply to the
6. CECR T H D Eme Oe 1 Connect the antenna to the receiver 2 Connect the M12 connector male 4 pin of the interface cable to the ISA 100 or ISA 100C universal enclosure Connect the DB9 connector of the interface cable to the COM3 IMU port of the receiver 4 Connect the M12 connector female 5 pin of the IMU power cable to the power connector qeu on the IMU 5 Connect a user supplied power supply to the IMU power cable refer to Table 7 IMU Power Supply on page 40 6 Connect a user supplied power supply to the receiver Connect a user supplied computer for set up and monitoring to the USB port 8 Connect a user supplied radio device to COM7 optional for real time differential operation SPAN on OEM6 User Manual Rev 10 31 Chapter 2 SPAN Installation 2 1 2 8 ProPak6 to IMU CPT Set Up Example Figure 13 Basic Set Up ProPak6 to IMU CPT Radio e 5 optional for Real Time zi Differential operation T T FOY Si O O O H E El E 5 E E N oo o o E mic mn e
7. Bias Offset 20 hr Turn On To Turn On Bias Repeatability Compensated 3 hr In Run Bias Variation At Constant Temperature 1 hr 10 Scale Factor Error Total 1500 ppm 10 Scale Factor Linearity 1000 ppm 10 Temperature Dependent SF Variation 500 ppm 10 Angular Random Walk 0 0667 4hr 1c 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 10 Temperature Dependent Bias Variation 0 5 mg C 10 Scale Factor Error Total 4000 ppm 10 Temperature Dependent SF Variation 1000 ppm 10 Accelerometer Noise 55 ug Hz 10 Bandwidth 50 Hz Max Input 10g DATA RATE IMU Measurement 100 Hz 118 SPAN on OEM6 User Manual Rev 10 Technical Specifications A 6 3 IMU CPT Electrical and Environmental Table 57 IMU CPT Electrical and Environmental Specifications Power and I O CONNECTORS MIL DTL 38999 Series 3 Temperature operational ENVI Input Power 9 18 VDC Power consumption 13 W max Start Up Time Valid Data 5 seconds RONMENTAL 40 C to 65 C Temperature non operational 50 C to 80 C Vibration operational 6 g rms 20 Hz 2 KHz Vibration non operational 8 g rms 20 Hz 2 KHz Shock operational 7g 6 10 msec 1 2 sine Shock non operational 60 g 6 10 msec 1 2 sine Altitude 1000 to 50 000 ft Humidity 9596 at 35 C
8. gt PIN 6 Table 27 Universal IMU Enclosure Interface Cable Pinouts J2 Pinout Function Connector Pin Label 1 Vin P2 Vin 22 Vin 2 Not used 3 Vin P1 Vin 21 Vin 4 Not used 5 Not used 6 Not used 7 DAS J1 1 8 Not used 9 DAS GND J1 5 10 Not used 11 OEM CTS Rx J1 8 12 OEM_Rx Rx J1 2 13 Not used 14 DGND J1 5 15 DGND J1 5 16 Not used 17 Not used 18 Not used 19 OEM_Tx Tx J1 3 20 OEM RTS Tx J1 7 Shield P3 Shield 90 SPAN on OEM6 User Manual Rev 10 Technical Specifications A 1 5 Universal IMU Cable The NovAtel part number for the Universal IMU cable is 01018299 see Figure 36 Universal IMU Enclosure Interface Cable This cable provides power to the IMU from an external power source and enables communication between the receiver and the IMU Appendix A Figure 36 Universal IMU Enclosure Interface Cable Dimensions in millimetres TL 3x100 10 a Bi G Bi 150 30 4x 1250 30 J2 SIDE VIEW P3 GRN P2 BLK P1 RED
9. 61 3 wei i 96 8 31 9 IMU CENTER to 186 7 E m Co Note The center of Navigation shown on the HG1700 label for the internal IMU is the same as the enclosure center The enclosure center measurements are labelled as IMU Center in this figure SPAN on OEM6 User Manual Rev 10 93 Appendix A A 2 2 HG1700 IMU Performance Technical Specifications Table 31 HG1700 AG58 IMU Performance GYROSCOPE PERFORMANCE Gyro Input Range 1000 degrees s Gyro Rate Bias 1 0 degree hr Gyro Rate Scale Factor 150 ppm Angular Random Walk 0 125 degrees rt hr ACCELEROMETER PERFORMANCE IMU Measurement Accelerometer Range 50 g Accelerometer Linearity 500 ppm Accelerometer Scale Factor 300 ppm Accelerometer Bias 1 0 mg DATA RATE 100 Hz Table 32 HG1700 AG62 IMU Performance GYROSCOPE PERFORMANCE Gyro Input Range 1000 degrees s Gyro Rate Bias 5 0 degrees hr Gyro Rate Scale Factor 150 ppm Angular Random Walk 0 5 degrees rt hr ACCELEROMETER PERFORMANCE IMU Measurement Accelerometer Range 50 g Accelerometer Linearity 500 ppm Accelerometer Scale Factor 300 ppm Accelerometer Bias 2 0 mg DATA RATE 100 Hz 94 SPAN on OEM6 User Manual Rev 10 Technical Specifications A 2 3 HG1700 Electrical and Environmen
10. SPAN on OEM6 User Manual Rev 10 151 Appendix A Technical Specifications Table 96 Pinouts for IMU Connector P601 Description Comments 1 GND Chassis ground 2 GND Chassis ground 3 15V Output Power Positive 15 VDC supply Enabled disabled depending on the IMU type detected 4 15V Output Power Positive 15 VDC supply Enabled disabled depending on the IMU type detected 5 15V Output Power Negative 15 VDC supply Enabled disabled depending on the IMU type detected 6 DGND Digital ground Enabled disabled depending on the IMU type detected 7 DGND Digital ground Enabled disabled depending on the IMU type detected 8 IMU VDD Output Power Positive voltage supply for IMU VDD can be 3 3 VDC or 5 VDC IMU logic circuits depending on the IMU type detected 9 IMU VDD Output Power Positive voltage supply for IMU logic circuits 10 DGND Power Digital ground 11 Tx Data Output Serial data out Non inverting 12 Tx Data Output Serial data out Inverting 13 RX Data Input Serial data in Non inverting RS 422 data input 14 RX Data Input Serial data in Inverting RS 422 data input 15 CLK Bidirectional Serial data clock Non inverting portion of RS 422 link 16 CLK Bidirectional Serial data clock Inverting portion of RS 422 link 17 IMU DAS Bidirectional Data acquisition signal Provides synchronization for IMU data LVTTL level 18 IMUTYPEO I
11. USB Settings Port Enter a name for the connection 4 Select Serial or USB from the Type drop down list Select the computer port that the SPAN enabled OEM6 receiver is connected to from the Port drop down list If you selected Serial select 115200 from the Baud Rate drop down list 7 lf you selected Serial clear the Use hardware handshaking check box Click the OK button to save the new device settings SPAN on OEM6 User Manual Rev 10 61 Chapter 3 SPAN Operation 9 Select the SPAN receiver from the Available Device Connections area of the Open Connection window Available Device Connections Name Device Type Settings SPAN_OEM6 USB COM21 10 Click the Open button to open SPAN receiver communications 11 As NovAtel Connect establishes the communication session with the receiver a progress box is displayed 12 Select Tools Logging Control Window from the NovAtel Connect main menu to control the receiver s logging to files and serial ports Refer to the NovAtel Connect on line Help for more information 13 Use the Console window to enter commands See Data Collection for Post Processing on page 76 If you want to save your receiver s configuration to NVM ensure that all windows other than the Console window are closed in NovAtel Connect and then use the SAVECONFIG command 62 SPAN on OEM6 User Manual Rev 10 SPAN Operation Chapter 3
12. Radio 4e iim optional for Real Time D Differential operation Je a i KE CONI CUIU Eh 1 I 2 i deb mar CH ll eat Em om IC E d ey 4 S Connect the antenna to the receiver Connect the DB 15HD connector of the interface cable to the MAIN connector on the IMU IGM Connect the DB9 connector of the interface cable to the COM 2 port of the receiver Connect a user supplied power supply to the receiver Connect a user supplied power supply refer to Table 7 IMU Power Supply on page 40 to the IMU This step is not required if you are using the IMU IGM Stack Up Cable 01019013 Power from the FlexPak6 is supplied to the IMU IGM through the Stack Up Cable Qv do k 6 Connect a user supplied computer for set up and monitoring to the USB port 7 Connect a user supplied radio device to COM 1 optional for real time differential operation In Figure 10 Basic Set Up FlexPak6 to IMU IGM the FlexPak6 is mounted on IMU IGM using the optional Bracket Kit 01019040 SPAN on OEM6 User Manual Rev 10 29 Chapter 2 SPAN Installation 2 1 2 6 ProPak6 t
13. sss nennen nennen nnne 136 OEM IMU ADIS 16488 Electrical Specifications AA 137 OEM IMU ADIS 16488 Environmental Specifications ssssssesessssernrrnrrteesererrrrnnnnnnennnent 137 ADIS 16488 IMU to MIC Cable Pinot 137 OEM IMU ISA 100C Physical Specifications A 138 OEM IMU ISA 100C IMU Pertommance A 140 OEM IMU ISA 100C Electrical Specifications cece eeeeeeeeeeeeeeeeeeeeeeeteeeeeneeneeees 140 OEM IMU ISA 100C Environmental Specifications AAA 140 OEM IMU ISA 100C IMU to UIC Cable Pinot 141 OEM IMU STIM300 Physical Gpechftcationms 143 OEM IMU STIM300 Performance AA 145 OEM IMU STIM300 Electrical Specifications essere 145 OEM IMU STIM300 Environmental Specifications sssssseseeseeessnnrnnnnrnrneesrerrtnnnnnnnnennseent 145 STIM300 IMU to MIC Cable Pinot 146 MEMS Interface Card Physical Specifications Au 147 MIC Electrical Gpechfications essssssssssssssssssseeeene ener nrennr n nnn nennen 149 MIC Electrical and Environmental Specifications AAA 149 MIG Connectors m 149 Pinouts for Power Connector PITON EE 150 Pinouts for User Interface Connector P301 sse 150 Pinouts for IMU Connector P601 ssesssssssssssssssssssseeneee nennen nnn nrenrr nns n nennen 152 Pinouts for IMU Connector DO 153 MIC LED Indicator DriVers ecrire eadsin araa aaaeeeaa dara iaki aiaia iene derieandeastee
14. 147 MIC Keep Out ZONG isasi an aec ate eerte er tae Bc dh ee eeu tu nean dmn e E cy Ya e urere 148 HG1930 IMU to MIC Cable Assembly AAA 154 HG1700 and HG1900 IMU to MIC Cable Assembly AAA 155 UIC Dimensions and Keep Out ZONES sse nennen nennen nis 156 UIC Connectors LEDs and Heat Sink Details seeeeeseseseeeeeeneereneneeennnn 157 B dg lred3 arts tion et eem poete oth ete auetoritate tete tees 162 Remove Base nocet acu dae deae cies d ree iic Ea a ara aaa gie 163 Disconnect Wiring Harness from Enclosure Boch AAA 163 Remove IMU Mounting Plate and Bracket AAA 164 Remove IMU Mounting SCrews EE 164 Connect IMU to IMU Mounting Plate AAA 165 Installing IMU to Mounting Plate AAA 165 Assemble Into Enclosure Body A 166 Fasten Internal Cable Harness EEN 167 laicus c t 167 Install Enclosure Body on the Base AAA 168 Screw Enclosure Base to Body esseecceeceseecceeeeseeeeeeeesseneceeseseeeeeeseseaeeseesesseeseeesesseeeeeees 168 Final Assembly ret eene uletie aiti eae ru eie e NR ade denies 169 R guiredaP arts uti ott tfe tte Ott aeui eier 170 Remove Baseng edu nadie date nn cid e eoi ec ec Rte EE 171 Disconnect Wiring Harness from SDLC Card AEN 171 IMU Bracket 55 it ice EE ERR EE EES Regio ERN 172 Remove IMU Bracket SDLO EE 172 Install LN 200 IMU to Base nennen enhn nnnnrtrnns nsns n nnns nnn rnnt nnns nis 173 SPAN on OEM6 User Manual Rev 10 Figures 100 101
15. Bom ood e SPAN on OEM6 User Manual Rev 10 27 Chapter 2 SPAN Installation 2 1 2 4 FlexPak6 to IMU CPT or IMU KVH1750 Set Up Example Figure 9 Basic Set Up FlexPak6 to IMU CPT or IMU KVH1750 Radio optional for Real Time Differential operation CJUI fm el Olli p m E ml Gu S IS E e E 9 e I SA Y j Je R i Connect the antenna to the receiver Connect the FlexPak Y Adapter cable to the COM 2 and I O ports on the receiver Connect the IMU interface cable to the IMU and the FlexPak Y Adapter cable FON p Connect power and ground to the IMU interface cable refer to Table 7 IMU Power Supply on page 40 e Connect a user supplied power supply to the receiver Connect a user supplied computer for set up and monitoring to the USB port 7 Connect a user supplied radio device to COM 1 optional for real time differential operation 28 SPAN on OEM6 User Manual Rev 10 SPAN Installation Chapter 2 2 1 2 5 FlexPak6 to IMU IGM Set Up Example Figure 10 Basic Set Up FlexPak6 to IMU IGM
16. 0 7 hr typical Maximum Input 1 hr max Bias Offset at 25 C 2 hr Scale Factor nominal 1 0 2 Scale Factor Non linearity at 25 C lt 50 ppm Scale Factor Temperature Sensitivity lt 200 ppm Angular Random Walk lt 0 012 Jhr Input Axis Misalignment 0 4 mrad ACCELEROMETER PERFORMANCE 10g Bias Stability 7 5 mg typical 25 mg max Bias Stability at 25 C lt 0 05 mg Bias Temperature Sensitivity lt 1 mg 1 C minute Bias Offset at 25 C 2 mg Scale Factor Non linearity lt 0 9 of Full Scale Scale Factor Temperature Sensitivity lt 100 ppm C typical 250 ppm C max Velocity Random Walk 0 23 ft sec Vhr Input Axis Misalignment DATA RATE IMU Measurement 1 0 mrad 200 Hz SPAN on OEM6 User Manual Rev 10 Technical Specifications A 7 3 IMU KVH1750 Electrical and Environmental Table 61 IMU KVH1750 Electrical and Environmental Specifications CONNECTORS Appendix A Power and I O 15 pin Micro D male ELECTRICAL Input Voltage 9 36 VDC Power Consumption 5W typical 8W max Turn On Time room temp lt 1 25 seconds Full Performance Time room temp lt 60 seconds IMU Interface Temperature operational RS 422 ENVIRONMENTAL 40 C to 75 C Temperature non operational 50 C to 85 C Vibration operational 8 g rms 20 Hz 2 kHz Vibration no
17. The information contained within this manual is believed to be true and correct at the time of publication NovAtel SPAN OEM6 ALIGN Inertial Explorer and Waypoint are registered trademarks of NovAtel Inc FlexPak6 ProPak6 NovAtel CORRECT and IMU IGM are trademarks of NovAtel Inc All other product or brand names are trademarks of their respective holders Manufactured and protected under U S Patents 5 101 416 6 184 822 B1 6 750 816 B1 5 390 207 6 243 409 B1 6 922 167 B2 5 414 729 6 664 923 B1 7 193 559 B2 5 495 499 6 721 657 B2 7 346 452 5 736 961 6 728 637 B2 7 738 606 B2 5 809 064 Copyright 2015 NovAtel Inc All rights reserved Unpublished rights reserved under International copyright laws SPAN on OEM6 User Manual Rev 10 Table of Contents Customer Support Notices 1 Introduction 1 1 Fundamentals REI E EE 1 2 Models ANG Features Ee ee EEN 1 3 Related Documents and Information NEG ta EEN 2 SPAN Installation 2 1 Hardware Description sirian aeonit e aaea aa ENEE Rete se Pec sare EEN 21 1 SPAN System Recelvar iuueni e ea e ce rtt RE ee 2 1 2 Typical Installation Examples sessi 2123 SPAN ee 2 2 Hardware Set Up EE 2 21 MOUNT the ANteninas eege Ee DEED ve va a e EP RR FS E EE EY ERROR 2 2 2 Mount the IM nci incer e a e e n EE D EE ERU Y ru 2 2 3 Mount the OEMGO Hecelver nennen nnns sinn instr sss ana sensn nna 2 2 4 Connect the Antenna to the OEMO Receiver eene 2 2 5 Connect the IMU to
18. 3 2 1 INS Window in NovAtel Connect NovAtel Connect provides a graphical user interface to allow you to monitor the operation of the SPAN system The INS Window in NovAtel Connect is described below Refer to the NovAtel Connect help file for more details on NovAtel Connect 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 the NovAtel Connect SPAN 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 Cliserfiex IN Azimuth 0 24329 0 6059 173 4615 0 02 0 02 4 91 3 3 Real Time Operation SPAN operates through the OEM6 command and log interface Commands and logs specifically related to SPAN operation are documented in the SPAN on OEM6 Firmware Reference Manual OM 2000144 Real time operation notes Inertial data does not start until time is set and therefore the SPAN system does not function unless a GNSS antenna is connected with a clear view of
19. O OEM628 Receiver RE ce l E 9 9 a O Wu O TOO T cour e hRg EN 9 9 9 9 IMU Ref Connector Part Number Maung Description Connector 4 J101 43650 0513 43645 0500 Connects to the UIC power supply Molex Molex user supplied cable 2 J102 98464 G61 16LF 90311 016LF Connects the UIC serial port to the OEMG receiver FCI FCI user supplied cable 3 J1401 LTMM 125 02 L D SQT 125 01 L D Connects to the IMU Samtec Samtec NovAtel supplied cable For information about the UIC connectors and pinouts see Section A 13 3 UIC Connectors on page 158 For information about the OEM6 receiver card connectors and pinouts refer to the OEM6 Family Installation and Operation User Manual OM 20000128 50 SPAN on OEM6 User Manual Rev 10 SPAN Installation Chapter 2 Important Ensure all Electrostatic Discharge ESD measures are in place in particular C use a ground strap before exposing or handling any electronic items including the IMU Take care to prevent damaging the UIC receiver or IMU For more information about ESD practices see the OEM6 Family Installation and Operation User Manual OM 200001 28 2 4 1 Mount the SPAN System Components 1 Mount the antenna S
20. Appendix B HG1700 IMU in Universal Enclosure 4 Starting with the round pilot hole shown in Figure 88 Assemble Into Enclosure Body align the pilot holes of the assembled plate noting the orientation with the pilot pins of the enclosure body Lower the assembly into place then fasten using thread locking fluid on the M4 screws Figure 88 Assemble Into Enclosure Body ROUND PILOT HOLE 166 SPAN on OEM6 User Manual Rev 10 HG1700 IMU in Universal Enclosure Appendix B 5 Connect the internal cable harness to the enclosure body as shown in Figure 89 Fasten Internal Cable Harness During this step ensure the connector O ring Supplied with the connector of the internal cable harness remains flat within the connector s groove and make sure the groove is clean and free of debris Fasten the connector to the enclosure body wall using the jam nut supplied with the connector Apply thread locking fluid then with a 30 mm socket tighten the jam nut to 6 9 N m 61 Ib in 5 1 Ib ft Figure 89 Fasten Internal Cable Harness 6 Ensure the O rings are in place If they are not as necessary make sure the grooves of the enclosure base are clean and free of debris using isopropyl alcohol As shown in Figure 90 Install O rings install the outer environmental and inner EMI O rings in the enclosure base being careful not to stretch or twist them O rings must remain flat within the grooves during the remainder
21. Kinematic alignment requires that the angular offset between the vehicle and SPAN frame is known approximately If the angles are simple that is a simple rotation about one axis the values can easily be entered manually through the VEHICLEBODYROTATION command If the angular offset is more complex that is rotation is about 2 or 3 axis then the calibration routine provides a more accurate estimation of the values The steps for the calibration routine are 1 2 3 Apply power to the receiver and IMU Configure the IMU see SPAN IMU Configuration on page 54 Ensure that an accurate lever arm has been entered into the system either manually or through a lever arm calibration see Lever Arm Calibration Routine on page 68 Allow the system to complete a coarse alignment see System Start Up and Alignment Techniques on page 65 Enable the vehicle to body calibration using the RVBCALIBRATE ENABLE command Start to move the system As with the lever arm calibration movement of the system is required for the observation of the angular offsets Drive a series of manoeuvres such as figure eights if the driving surface is not level or a straight course if on level ground remember that most roads have a crown resulting in a constant roll of a few degrees Avoid driving on a surface with a constant non zero slope to prevent biases in the computed angles Vehicle speed must be greater than 5 m s 18 km hr for the calibration to complete
22. SPAN on OEM6 User Manual OM 20000139 Rev 10 January 2015 SPAN on OEM6 User Manual Publication Number OM 20000139 Revision Level 10 Revision Date January 2015 Warranty NovAtel Inc warrants that its GNSS products are free from defects in materials and workmanship subject to the conditions set forth on our web site www novatel com products warranty and for the following time periods OEME Receivers One 1 Year IMU Units return to manufacturer One 1 Year GPSAntenna Series One 1 Year Cables and Accessories Ninety 90 Days Software Warranty One 1 Year Return instructions To return products refer to the instructions at the bottom of the warranty page www novatel com products warranty 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
23. SPAN on OEM6 User Manual Rev 10 69 Chapter 3 SPAN Operation 7 When the uncertainties of the offsets are low enough to be used for a kinematic alignment the calibration stops and the VEHICLEBODYROTATION log is overwritten with the solved values To monitor the progress of the calibration log VEHICLEBODYROTATION using the ONCHANGED trigger To save a calibrated rotation for subsequent start ups issue the SAVECONFIG command after calibration is complete Each time the IMU is re mounted this calibration should be performed again See also Coarse Alignment on page 65 and Kinematic Alignment on page 65 for details on coarse and kinematic alignment After the RVBCALIBRATE ENABLE command is entered there are no vehicle body C3 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 The solved rotation values are used only for a rough estimate of the angular offsets between the IMU and vehicle frames The offsets are used when aligning the system while in motion see System Start Up and Alignment Techniques on page 65 The angular offset values are not applied to the attitude output unless the APPLYVEHICLEBODYROTATION command is enabled 3 4 Synchronizing External Equipment A SPAN system allows you to synchronize with external equipment in two ways 1 SPAN sys
24. 2 Send the data file to NovAtel Customer Support using either the NovAtel FTP site at ftp ftp novatel ca or through the support novatel com e mail address 3 You can also issue a FRESET command to the receiver to clear any unknown settings The FRESET command will erase all user settings You should know your configuration and be able to reconfigure the receiver before you send the FRESET command If you are having a hardware problem send a list of the troubleshooting steps taken and results Contact Information Use one of the following methods to contact NovAtel Customer Support Call the NovAtel Hotline at 1 800 NOVATEL U S amp Canada or 1 403 295 4500 international Fax 1 403 295 4501 Write NovAtel Inc E mail support novatel com Customer Support Department Web site www novatel com 1120 68 Avenue NE Calgary AB Canada T2E 8S5 SPAN on OEM6 User Manual Rev 10 13 The following notices apply to the SPAN devices FCC Notices The SPAN devices covered by this manual comply with part 15 of the FCC Rules Operation is subject to the following two conditions 1 this device may not cause harmful interference and 2 this device must accept any interference received including interference that may cause undesired operation The SPAN devices covered by this manual comply with the radiated and conducted emission limits for a Class B or Class A digital
25. 48 hrs MTBF 2 10 500 hours SPAN on OEM6 User Manual Rev 10 Appendix A 119 Appendix A Technical Specifications A 6 4 IMU CPT Cable The NovAtel part number for the IMU CPT cable is 01018966 This cable provides power to the IMU from an external power source and enables communication between the receiver and the IMU A FlexPak Y Adapter cable is required between the FlexPak6 receiver and the IMU CPT cable see Figure 8 Basic Set Up FlexPak6 to IMU FSAS on page 27 Also see FlexPak Y Adapter Cable for IMU FSAS IMU CPT or IMU KVH1750 on page 115 Figure 56 IMU CPT Development Terminated Cable 1500 mm 225 mm DB9 Female 01018966 REV The IMU CPT cable has a green ground line terminated in a ring lug as shown in Figure 56 IMU CPT Development Terminated Cable that is grounded to the IMU CPT connector body and enclosure Table 58 IMU CPT Connector Pinout Descriptions J2 Function Female DB9 dor e Pin 1 Power Return Labelled Pin 1 2 9 16 VDC Power Input Labelled Pin 2 3 20 Reserved 21 IMU RS422 TX 2 22 IMU RS422 TX 8 23 24 Reserved 25 IMU RS422 Signal Ground 5 26 34 Reserved 35 TOV Output 9 36 External Clock Input 1 37 Chassis GND Labelled Pin 37 Chassis GND Ring lug 120 SPAN on OEM6 User Manual Rev 10 Appendix A Technical Specifications A 7 IMU KVH1750 Table 59 IMU KVH1750 Physical Specifications PHY
26. Appendix G Replacement Parts The following are a list of the replacement parts available Should you require assistance or need to order additional components contact your local NovAtel dealer or Customer Support G 1 SPAN System Part Description NovAtel Part IMUs see Table 1 SPAN Compatible IMU Models on page 20 for details IMU CPT IMU FSAS EI IMU H1900 CA50 IMU H1930 CA50 IMU H58 IMU H62 IMU IGM A1 IMU IGM S1 IMU ISA 100 IMU ISA 100C IMU ISA 100 400 Hz IMU ISA 100C 400 Hz IMU KVH1750 IMU LCI IMU LN200 OEM IMU ADIS 16488 OEM IMU ISA 100 OEM IMU ISA 100C OEM IMU ISA 100 400 Hz OEM IMU ISA 100C 400 Hz OEM IMU STIM300 UIMU H58 UIMU H62 UIMU LN200 Receivers OEM615 OEM628 OEM638 FlexPak6 ProPak6 MEMS Interface Card MIC for MEMS IMUs OEM IMU ADIS MIC OEM IMU STIM MIC Universal IMU Controller UIC for OEM IMU ISA 100C OEM IMU ISA 100 Universal IMU Cable OEM IMU ISA UIC 01018299 SPAN on OEM6 User Manual Rev 10 191 Appendix G Replacement Parts iIMU FSAS IMU with Odometer interface cable 01018388 FlexPak Y Adapter cable 01018948 IMU CPT6 IMU interface cable 01018966 Universal IMU Enclosure Interface cable 01018977 ADIS IMU Cable Kit 01019007 IMU IGM Stack Up Cable 01019013 SPAN IGM Auxiliary Port Interface Cable 01019015 IMU IGM Interface Cable 01019016 SPAN IGM IMU
27. Basic Set Up FlexPak6 to IMU FSAS on page 27 or Figure 10 Basic Set Up FlexPak6 to IMU IGM on page 29 For OEM6 receiver cards an RF adapter is required to connect the antenna cable to the receiver card See the OEM6 Family Installation and Operation User Manual OM 20000128 for more information For best performance use a high quality coaxial cable An appropriate coaxial cable is one that matches the impedances of the antenna and receiver 50 ohms and has a line loss that does not exceed 10 0 dB If the limit is exceeded excessive signal degradation may occur and the receiver may not meet performance specifications NovAtel offers several coaxial cables to meet your GNSS antenna interconnection requirements including 5 15 and 30 m antenna cable with TNC connectors on both ends NovAtel part numbers GPS C006 GPS C016 and GPS C032 If your application requires the use of a cable longer than 30 m refer to application note APN 003 RF Equipment Selection and Installation available at www novatel com support search SPAN on OEM6 User Manual Rev 10 37 Chapter 2 SPAN Installation 2 2 5 Connect the IMU to the OEM6 Receiver Connect the IMU to the receiver using the IMU interface cable For a system with a ProPak6 receiver Connect the IMU interface cable from the IMU to the COM3 IMU port on the ProPak6 receiver See Figure 11 Basic Set Up ProPak6 to LN 200 HG1700 LCI 1 or IMU FSAS on page 30 Fig
28. Computer Software Real time data collection status monitoring and receiver configuration is possible through the NovAtel Connect software utility see SPAN Configuration with NovAtel Connect on page 55 Figure 2 SPAN System IMUs 18 SPAN on OEM6 User Manual Rev 10 Introduction Chapter 1 1 1 Figure 3 SPAN System Receivers The GNSS receiver is connected to the IMU with an RS 232 or RS 422 serial link A NovAtel GNSS antenna must also be connected to the receiver to track GNSS signals After the IMU enclosure GNSS antenna and appropriate power supplies are attached and a few simple configuration commands are entered the SPAN system will be ready to navigate Fundamentals of GNSS INS GNSS positioning observes range measurements from orbiting GNSS satellites From these observations the receiver can compute position and velocity with high accuracy NovAtel GNSS positioning systems are highly accurate positioning tools However GNSS in general has some restrictions which limit its usefulness in some situations GNSS positioning requires line of sight view to at least four satellites simultaneously If these criteria are met differential GNSS 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 GNSS degrades substantially or may not be available at all In general an INS uses forces and rotati
29. IMU ISA 100 01019319 IMU Enclosure Interface Cable 01019319 IMU Enclosure Interface Cable IMU ISA 100C UIMU LN200 01018977 Universal IMU Enclosure 01018977 Universal IMU Enclosure IMU LN200 Interface Cable Interface Cable includes L 01018299 Universal IMU Cable 01018299 Universal IMU Cable or or 01018977 Universal IMU Enclosure 01018977 Universal IMU Enclosure IMU FSAS Interface Cable Interface Cable or or 01018388 IMU FSAS Interface Cable with 01018388 IMU FSAS Interface Cable with Odometer Odometer ILI eure CIS 01018977 Universal IMU Enclosure 01018977 Universal IMU Enclosure WII Lear cM Interface Cable Interface Cable IMU HG1700 AG58 IMU HG1700 AG62 IMU CPT 01018966 IMU CPT Cable 01018966 IMU CPT Cable IMU KVH1750 01019211 IMU KVH1750 Interface Cable 01019211 IMU KVH1750 Interface Cable 01019016 IMU IGM Interface Cable 01019016 IMU IGM Interface Cable IMU IGM or 01019013 IMU IGM Stack Up Cable a A FlexPak Y Adapter Cable 01018948 is required to connect a FlexPak6 receiver to this IMU SPAN on OEM6 User Manual Rev 10 35 Chapter 2 SPAN Installation Table 5 MIC and UIC Interface Cables IMU Cable OEM ISA 100 01019393 see OEM IMU ISA 100C IMU to UIC Cable Assembly on page 141 OEM ISA 100C OEM HG1900 01018828 see HG1700 and HG1900 IMU to MIC Cable Assembly on page 155 OEM HG1930 01018827 see HG1930 IMU to MIC Cable Assembly on page 154 OEM ADIS 16488 010
30. MIC port receive positive RS 422 7 MIC_RX MODE2 high or open No connection MODE2 low MIC port receive negative RS 422 8 DGND Digital ground 9 Reserved Reserved 10 Reserved Reserved 11 DGND Digital ground 12 Reserved Reserved 13 MODE2 Mode 2 input controls MIC port standard 14 Reserved Reserved 15 Reserved Reserved Table 66 IMU IGM AUX Port Pinout Pin Label Description 1 ODM_A Odometer input A positive 2 ODM_B Odometer input B positive No connection on IMU IGM S1 3 Reserved Reserved 4 WS_VOUT Wheel sensor output voltage 12 VDC 5 DGND Digital ground 6 ODM_A Odometer input A negative 7 ODM_B Odometer input B negative No connection on IMU IGM S1 8 Reserved Reserved 9 DGND Digital ground 10 Reserved Reserved 11 Reserved Reserved 12 Reserved Reserved 13 Reserved Reserved 14 Reserved Reserved 15 DGND Digital ground SPAN on OEM6 User Manual Rev 10 Technical Specifications IMU IGM Sensor Specifications Table 67 IMU IGM A1 IMU Performance GYROSCOPE PERFORMANCE Gyro Input Range 450 second In Run Gyro Rate Bias Stability 6 hour Angular Random Walk ACCELEROMETER PE Accelerometer Range 0 3 Jhour RFORMANCE x 18g In Run Accelerometer Bias Stability 0 1 mg Velocity Random Walk IMU Measurement 0 029 m s 4hr DATA RATE 200 Hz Table 68 IMU IGM S1 IMU Performance GYROSCOPE PERFORMANCE Gyro Input Range 400 se
31. MP Am eo t 3 18 0 00 6 30 48 md 51 10 oe cd 67 95 1 90 1 60 3 60 14 00 0 00 Dimensions are in millimetres SPAN on OEM6 User Manual Rev 10 135 Appendix A Technical Specifications Figure 67 ADIS 16488 Center of Navigation Center of Navigation ANALOG DEVICES E E m d a t S l el Si ca g ca g E d a Dimensions are in millimetres Y A 9 2 OEM IMU ADIS 16488 Sensor Specifications Table 76 OEM IMU ADIS 16488 Performance GYROSCOPE PERFORMANCE Gyro Input Range 450 second In run Gyro Rate Bias Stability 6 hour Angular Random Walk 0 30 hour Accelerometer Range 18g In run Accelerometer Bias Stability 0 1 mg Velocity Random Walk 0 029 m syhour DATA RATE IMU Measurement 200 Hz 136 SPAN on OEM6 User Manual Rev 10 Technical Specifications Appendix A A 9 3 OEM IMU ADIS 16488 Electrical and Environmental Table 77 OEM IMU ADIS 16488 Electrical Specifications ELECTRICAL Input Power 3 0 to 3 6 V DC 3 3 V DC typical Power consumption 254 mA typical IMU Interface SPI Table 78 OEM IMU ADIS 16488 Environmental Specifications ENVIRONMENTAL Temperature operational 40 C to 85 C Temperature non operational 40 C to 105 C A 9 4 ADIS 16488 IMU to MIC Cable Assembly The NovAtel part number for the ADIS 16488 IMU to MIC i
32. RE 0 000 om Zc ZNS Ec Ss enc 9 00 0 354 E P IN 0 00 go GEN 0 197 0 000 see oS 2 54 0 100 Es 8 89 L C 0 350 set X2 10 89 d 0 429 S 34 83 1 371 Ma 36 83 CE 1 450 43 18 BE 1 100 X2 0 000 8 50 0 335 0 00 Dimensions in mm inches Cross hatched areas indicate keepout areas intended for NovAtel circuitry NovAtel reserves the right to modify components and component placements inside cross hatched keepout zones while maintaining design form fit and function 148 SPAN on OEM6 User Manual Rev 10 Technical Specifications Appendix A A 12 2 MIC Electrical and Environmental Table 91 MIC Electrical Specifications ELECTRICAL MIC Input Voltage 10 VDC to 30 VDC 5 VDC 1 Amp for IMU 3 3 VDC 1 Amp for IMU 15 VDC 0 5 Amp for IMU 15 VDC 0 08 Amp for IMU 3 3 VDC 0 6 Amp for OEM615 UART and SDLC over RS 422 Power Consumption IMU Data Interfaces a Sample system power consumption 5 7 W when powering an HG1900 IMU and OEM615 receiver in board stack configuration from VIN 15 VDC at 25 C Table 92 MIC Electrical and Environmental Specifications ENVIRONMENTAL Operating Temperature 40 C to 75 C 40 F to 167 F Storage Temperature 55 C to 90 C 67 F to 194 F Random Vibe MIL STD 810G Cat 24 7 7 g RMS Sine Vibe IEC 60068 2 6 Bump IEC 68 2 29 25 g Sho
33. 1 1 Cert GPS C006 GPS C016 GPS C032 GPS C002 SPAN on OEM6 User Manual Rev 10 193 ah NovAtel OM 20000139 Rev 10 January 2015
34. 13 0 30 9 L 3 39 ei 4x 86 1 03 8 Dimensions are in inches and in millimetres in square brackets 6 00 4524 Re C 116 SPAN on OEM6 User Manual Rev 10 Technical Specifications Appendix A Figure 55 IMU CPT Top Front and Bottom View DE Dimensions are in inches and in f millimetres in square brackets Gel Es SS SS SS SS Uer i Se Be EN Se Ll I i A I i 5 01 II i 127 3 1 i I i 3 39 Da n 86 1 n P e c 3 50 Z i 88 9 i Ke 1 22 Pe Es SE 1 65 30 9 418 4 55 115 5 3 A 6 66 Z7 002 H 4693 gt B M 4X MOUNTING SURFACE 4X Toe BB UNPAINTED aT 224 19 1 nerd s 18 8 8 Aa Ee a 9 4X 277 7 m o 015 A B C M Di 5 440 El X e 1382 eG e N we amp Su 080 5 310 2 l 1349 i ALIGNMENT HOLES FOR 0 125 DOWEL PINS t 6 104 a 155 SPAN on OEM6 User Manual Rev 10 117 Appendix A Technical Specifications A 6 2 IMU CPT Sensor Specifications Table 56 IMU CPT Performance GYROSCOPE PERFORMANCE
35. 19 Chapter 1 Introduction The advantages of using SPAN technology are its ability to Provide a full attitude solution roll pitch and azimuth Provide continuous solution output in situations when a GNSS only solution is impossible Provide faster signal reacquisition and RTK solution resolution over stand alone GNSS because of the tightly integrated GNSS and INS filters Output high rate up to 100 125 or 200 Hz depending on your IMU model and logging selections position velocity and attitude solutions for high dynamic applications see also Logging Restriction Important Notice on page 68 Use raw phase observation data to constrain INS solution drift even when too few satellites are available for a full GNSS solution 1 2 Models and Features All SPAN system receivers are factory configurable for L1 L2 RTK capability and are compatible with an IMU See Table 1 SPAN Compatible IMU Models for firmware model details 20 Table 1 SPAN Compatible IMU Models Model Name e ee Compatible IMUs eier IMU CPT 100 Hz IMU CPT S1 IMU FSAS EI 200 Hz iIMU FSAS S3 IMU H1900 CA50 100 Hz HG1900 CA50 2 IMU H1930 CA50 100 Hz HG1930 CA50 S1 IMU H58 100 Hz HG1700 AG58 2 IMU H62 100 Hz HG1700 AG62 2 IMU IGM A1 200 Hz IMU IGM A1 S1 IMU IGM S1 125 Hz IMU IGM S1 S1 IMU ISA 100 200 Hz ISA 100 S3 IMU ISA 100C 200 Hz ISA 100C S3 IMU ISA 100 400 Hz 400 Hz ISA 100 400 Hz S3 I
36. 22 HG1700 AG62 IMU Performance GYROSCOPE PERFORMANCE Gyro Input Range 1000 deg sec Gyro Rate Bias 5 0 deg hr Gyro Rate Scale Factor 150 ppm Angular Random Walk 0 5 deg rt hr ACCELEROMETER PERFORMANCE IMU Measurement Accelerometer Range 50 g Accelerometer Linearity 500 ppm Accelerometer Scale Factor 300 ppm Accelerometer Bias 2 0 mg DATA RATE 100 Hz SPAN on OEM6 User Manual Rev 10 87 Appendix A 88 Table 23 LN200 IMU Performance GYROSCOPE PERFORMANCE Technical Specifications Gyro Input Range 1000 deg sec Gyro Rate Bias 1 0 deg hr Gyro Rate Scale Factor 100 ppm Angular Random Walk 0 07 deg rt hr ACCELEROMETER PERFORMANCE IMU Measurement Accelerometer Range 40g Accelerometer Linearity 150 ppm Accelerometer Scale Factor 300 ppm Accelerometer Bias 0 3 mg DATA RATE 200 Hz Table 24 LCI 1 IMU Performance GYROSCOPE PERFORMANCE Gyro Input Range 800 deg sec Gyro Rate Bias lt 1 0 deg hr Gyro Rate Scale Factor 100 ppm typical Angular Random Walk Accelerometer Range lt 0 05 deg rt hr ACCELEROMETER PERFORMANCE 40 g Accelerometer Scale Factor 250 ppm typical Accelerometer Bias IMU Measurement lt 1 0 mg DATA RATE 200 Hz SPAN on OEM6 User Manual Rev 10 Technical Specifications Appendix A A 1 3 Electrical and Environmen
37. 2x LL 2 m Si A A D4 2 3x d LU Dimensions are in millimetres Graphics courtesy of Sensonor AS SPAN on OEM6 User Manual Rev 10 143 Appendix A Technical Specifications Figure 73 STIM300 Center of Navigation Graphics courtesy 2 of Sensonor AS 10 0 25 0 Z ref plane 144 SPAN on OEM6 User Manual Rev 10 Technical Specifications Appendix A A 11 2 OEM IMU STIMSOO Sensor Specifications Table 86 OEM IMU STIMSOO Performance GYROSCOPE PERFORMANCE Gyro Input Range 400 second In run Gyro Rate Bias Stability 0 5 hour Angular Random Walk 0 15 Vhour Accelerometer Range 10g In run Accelerometer Bias Stability 0 05 mg Velocity Random Walk 0 06 m sVhour DATA RATE IMU Measurement 125 Hz A 11 3 OEM IMU STIMSOO Electrical and Environmental Table 87 OEM IMU STIMSOO Electrical Specifications Input Power 4 5 to 5 5 V DC 5 0 V DC typical Power consumption 1 5 W nominal Connector 15 pin Micro D female Table 88 OEM IMU STIM300 Environmental Specifications ENVIRONMENTAL Temperature operational 40 C to 85 C Temperature non operational 55 C to 90 C SPAN on OEM6 User Manual Rev 10 145 Appendix A A 11 4 STIM300 IMU to MIC Cable Assembly The NovAtel part number for the STIM300 IMU to MIC interface cable is 01019161 Figure 74 STIM300 IMU to MIC Cable Assembly This cable provides power to the IMU and en
38. 33 HG17000 Electrical Specifications 20 0 ccecccecee cece ceecceeeeee eee eee e eee eeeeeeaaaeeeeeeeeeeeeeeeeeecenneeeeeees 95 34 HG17000 Environmental Specifications esessssssesessseeeeee enne 95 35 LN 200 IMU Physical Specifications EE 96 36 LN 200 IMU Performance E 98 37 LN 200 Electrical Specifications EE 98 38 LN 200 Environmental Specifications A 98 39 IMU ISA 100C Physical Specifications sseeeseseeeneeeeenennenen ener 99 40 IMU ISA 100C IMU Performance nennen nnn nnne nennen nennen nennen nnns 102 41 IMU ISA 100 IMU Performance eise nennen nennen nnn nnns nn nnn n nne n nnns nnns 102 42 IMU ISA 100C Electrical Specifications AA 103 43 IMU ISA 100C Environmental Specifications ssssssssnrnrnreeseeeretnrnnnntntstertnnnnnnnnnnnneenennnt 103 44 IMU ISA 100C Interface Cable PinOUts eene nnns 104 45 IMU ISA 100C Power Cable Pinouts nennen nnne nennen emen nnns 105 46 IMU ISA 100C Wheel Sensor Cable Pinouts eere enne 106 47 Kistler to NovAtel Wheel Sensor Cable Connections ssnnnnnnrsrnrerrrererensesssesssrnrnnnnnnnna 107 48 ilMU FSAS Physical Specifications Au 108 10 SPAN on OEM6 User Manual Rev 10 Tables 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 IIMU FSAS Performance AANEREN 110 IIMU FSAS Electrical Specificati
39. Amber alternating INS solution free Amber solid INS is aligning Amber blinking INS high variance Green solid INS solution good Green blinking INS alignment complete 64 SPAN on OEM6 User Manual Rev 10 SPAN Operation Chapter 3 3 3 1 System Start Up and Alignment Techniques The system requires an initial attitude estimate to start the navigation filter This is called system alignment On start up the system has no position velocity or attitude information When the system is first powered up the following sequence of events happens 1 The first satellites are tracked and coarse time is solved 2 Enough satellites are tracked to compute a position 3 Receiver fine time is solved meaning the time on board the receiver is accurate enough to begin timing IMU measurements 4 Raw IMU measurements begin to be timed by the receiver and are available to the INS filter They are also available in the RAWIMU RAWIMUS RAWIMUX and RAWIMUSX logs The INS Status field changes from INS_INACTIVE through DETERMINING_ORIENTATION and WAITING_INITIALPOS during this period The inertial alignment routine starts and the INS Status field reports INS_ALIGNING 6 Alignment is complete and the INS Status field changes to INS ALIGNMENT COMPLETE The system transitions to navigation mode 7 The solution is refined using updates from GNSS Once the system is operating within specifications and after some vehicle movement the INS S
40. Connect power to the OEM6 receiver See the OEMG Family Installation and Operation User Manual OM 2000128 for information about connecting power to the receiver 2 3 2 4 Connect the MIC to a receiver Use the MIC serial port to connect the MIC to the OEM6 receiver The MIC serial port is available on the communications connector P301 of the MIC See MIC Connectors on page 149 for the pinouts of the communications connector See the OEMG Family Installation and Operation User Manual OM 20000128 for information about connecting a serial port to the receiver C All signal UO on the MIC with the exception of the USB port are at LVTTL levels To connect the MIC to devices that use other signals levels such as a computer with an RS 232 serial port an interface circuit that converts LVTTL to the other signal level must be used SPAN on OEM6 User Manual Rev 10 49 Chapter 2 SPAN Installation 2 4 UIC Set Up For IMUs that are not mounted inside a NovAtel IMU enclosure e g OEM IMU ISA 100C an interface card is required to connect the IMU to the OEM6 family receiver The Universal IMU Controller UIC provides the connection between OEM6 family receiver cards and IMUs IMUs have different interface requirements Use a MEMS Interface Card MIC to connect other supported IMUs ADIS 16488 HG 1700 HG 1900 HG 1930 or STIM 300 to a OEMG family receiver See Section 2 3 MIC Set Up on page 42 Figure 24 Basic UIC Set Up
41. GNSS solution or the INS solution This method does not work when the vehicle is stationary as any position difference is due to position error and the computed azimuth is meaningless Course over ground azimuth is of greatest advantage in aerial or marine environments where the actual direction of travel may not match the forward axis of the aircraft boat due to winds or currents This effect is known as the crab angle Course over ground azimuth is a great way to compute the offset if another means of computing the vehicle azimuth is available Course over ground azimuths are available in several different velocity logs See Table 18 Logs with Azimuth data on page 76 3 7 2 Inertial Azimuth The inertial azimuth computed by the SPAN inertial navigation filter It uses the sensors in the IMU to compute the azimuth of the IMU this can be rotated to another reference if desired For more information see the APPLYVEHICLEBODYROATION and VEHICLEBODYROTATION commands in the SPAN on OEMG Firmware Reference Manual OM 20000144 This azimuth is the one provided in the majority of the INS logs available to a SPAN user See Table 18 Logs with Azimuth data on page 76 3 7 3 ALIGN Azimuth On SPAN systems with dual antennas an azimuth is available from the dual antenna baseline This is the same azimuth that is used as an update to the SPAN solution It is noisier than the inertial azimuth and is available at a much lower rat
42. IMU in Universal Enclosure Appendix C C 1 Disassemble the Universal Enclosure Disassemble the Universal Enclosure as follows 1 Using a 3 mm hex bit remove the M4 screws they will be reused and the base as shown in Figure 95 Remove Base Figure 95 Remove Base 2 While squeezing and holding the assembly tightly together carefully turn the assembly over and set it down as shown in Figure 96 Disconnect Wiring Harness from SDLC Card Raise the enclosure body and disconnect the internal cable harness at the SDLC board Ensure the O rings remain with the base when it is removed and that they are not damaged Figure 96 Disconnect Wiring Harness from SDLC Card SPAN on OEM6 User Manual Rev 10 171 Appendix C LN 200 IMU in Universal Enclosure 3 Lift the enclosure lid off the assembly to expose the IMU bracket shown in Figure 97 IMU Bracket Disconnect the harness at the SDLC card and remove Figure 97 IMU Bracket Disconnect harness at SDLC card and remove 4 Using a3 mm hex bit unscrew 4 mm screws and remove the IMU bracket with SDLC as shown in Figure 98 Remove IMU Bracket SDLC Figure 98 Remove IMU Bracket SDLC 172 SPAN on OEM6 User Manual Rev 10 LN 200 IMU in Universal Enclosure Appendix C C 2 Install the LN 200 Sensor Unit To install the LN 200 sensor unit in the Universal Enclosure 1 Using a 3 mm hex bit remove original captive 6 32 screws and
43. IMU pins See Appendix B HG1700 IMU in Universal Enclosure on page 162 or Appendix C LN 200 IMU in Universal Enclosure on page 170 for more details Check the input power supply A minimum of 12V should be supplied to the system for stable IMU performance The supply should also be able to output at least 12W over the entire operating temperature range 2 What system configuration do need to do to get the system running a Set the IMU type using the CONNECTIMU command 3 What types of IMUs are supported a SPAN currently supports the following IMUs HG1700 HG1900 and HG1930 from Honeywell LN 200 from Litton ilMU FSAS from iMAR LCI 1 ISA 100 and ISA 100C from Northrop Grumman LITEF MU CPT and IMU KVH1750 from KVH ADIS 16488 from Analog Devices STIMS00 from Sensonor Use the CONNECTIMU command to specify the type of IMU used 4 Why don t have any INS data a b By default the raw IMU data begins flowing at system start up If there is no INS data check that the system has been configured properly See question 3 above If the INSCOMMAND command has been set to START FINE TIME or for firmware versions prior to OEM6 600 the RAWIMU 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
44. Protection on page 17 SPAN on OEM6 User Manual Rev 10 Notices Figure 1 Primary and Secondary Lightning Protection Ref Description Primary lightning protection device Secondary lightning protection device External antenna GNSS Receiver To ground Grounding plate or grounding point at the building s entrance OO Om E WN A D Acceptable choices for Earth Grounds for central buildings are Grounded interior metal cold water pipe within five feet 1 5 m of the point where it enters the building e Grounded metallic service raceway Grounded electrical service equipment enclosure Eight foot grounding rod driven into the ground only if bonded to the central building ground by 6 or heavier bonding wire These installation instructions are the minimum requirements for receiver and antenna installations Where applicable follow the electrical codes for the country of installation Examples of country codes include USA National Electrical Code NFPA 70 e Canada Canadian Electrical Code CSA C22 UK British Standards Institute BSI 7671 SPAN on OEM6 User Manual Rev 10 17 Chapter 1 Introduction NovAtel s SPAN technology brings together two very different but complementary positioning and navigation systems namely Global Navigation Satellite System GNSS and an Inertial Navigation System INS By combining the best aspects of GNSS and INS into one system SPAN technology is able
45. and a communication link if your application requires real time differential operation If your IMU enclosure and IMU were supplied separately additional installation instructions for installing the IMU can be found in the Appendix specific to your IMU starting on page 178 Another hardware set up consists of a receiver an IMU an IMU interface card and a COM and power link The IMU interface card can be a MEMS Interface Card MIC refer to MIC Set Up on page 42 or a Universal IMU Controller UIC refer to UIC Set Up on page 50 SPAN System Receiver Data storage is done using a computer connected to the receiver through either the USB serial or Ethernet port The OEM638 and ProPak6 receivers also have on board data storage For information about accessing the ports on an OEM6 receiver card see the OEMG Family Installation and Operation User Manual OM 20000128 The connectors available on the FlexPak6 are shown in Figure 4 FlexPak6 Receiver Connectors The FlexPak6 provides DB9 DB 15HD USB power and antenna connectors Figure 4 FlexPak6 Receiver Connectors Table 2 FlexPak6 Receiver Port Labels shows a summary of the receiver port names available on the FlexPak6 Table 2 FlexPak6 Receiver Port Labels Port Label Description COM 1 Serial communications port 1 COM 2 Serial communications port 2 VO Input and output port for additional signals
46. and can be connected to a computer without additional interface circuitry e Use COM for connection to the MIC serial port Both the MIC serial port and COM2 use LVTTL levels and can be connected without additional interface circuitry OEM638 Recommendations e Use COM or COM2 for connection to a computer COM1 and COM2 use RS 232 levels and can be connected to a computer without additional interface circuitry e Use COM3 for connection to the MIC serial port This COM port and the MIC serial port use LVTTL levels and can be connected without additional interface circuitry 2 3 2 1 Mount the OEMG receiver and MIC 1 Mount the antenna See Mount the Antenna on page 36 2 Mount OEM6 receiver See the OEM6 Family Installation and Operation User Manual OM 20000128 for information about installing an OEM6 receiver 3 Use the screws supplied with the MIC card to secure the MIC to its mounting location See MIC MEMS Interface Card on page 147 for the MIC dimensions e Ensure all standoffs are properly installed and the mounting location is level The amount of board deflection bow and twist must not exceed 0 7596 For example on the MIC which is 75 mm long and 46 mm wide the deflection along the length must not exceed 0 56 mm and the deflection along the width must not exceed 0 34 mm 2 3 2 2 Connect the IMU to the MIC 1 Attach the IMU mounting Printed Circuit Board PCB to the IMU Ensure all the pins on the
47. as no connect 11 N C N A 12 N C N A 13 USBD Bidirectional USB interface data Only available in board stackup with OEM615 In standalone no connect 14 USB D Bidirectional USB interface data Only available in board stackup with OEM615 COMS RX COMS receive data In standalone no connect 15 RESETIN Input OEM615 reset in Only available in board stackup with OEM615 In standalone no connect 16 VARF Output Variable frequency output Only available in board stackup with OEM615 CAN1RX9 Input CAN receive data In standalone no connect 17 EVENT2 Input Event2 input Only available in board stackup with OEM615 CAN1TX Output CAN1 transmit data In standalone no connect 18 CAN2RX Input CAN receive data Only available in board stackup with OEM615 In standalone no connect 19 EVENT1 Input Event input Only available in board stackup with OEM615 COM3 Tx f COMS transmit data In standalone no connect 20 DGND Power Digital ground 150 SPAN on OEM6 User Manual Rev 10 Technical Specifications Appendix A Description Comments 21 MIC TX Output In board stackup with OEM615 this pin is for firmware download In standalone use this pin can be used for either firmware download and or for IMU data communication to a SPAN receiver 22 MIC RX Input In board stackup with OEM615 this pin is for firmware download In standalone use this pin can be used for either firmware download and or for IMU data communication
48. cables for OEM6 receivers refer to the OEM6 Family Installation and Operation User Manual OM 20000128 Each connector can be inserted in only one way to prevent damage to both the receiver and the cables Furthermore the connectors used to mate the cables to the receiver require careful insertion and removal Observe the following when handling the cables To insert a cable make certain to use the appropriate cable for the port the serial cable has a different connector than the power cable Insert the connector until it is straight on and secure To remove a cable grasp it by the connector C Do not pull directly on the cable The cables you need to connect the receiver to the IMU depends on the type of IMU you are using Table 4 Receiver to IMU Interface Cables lists the cables required to connect the IMU to the receiver Table 5 MIC and UIC Interface Cables on page 36 lists the cables required to connect an IMU to the MIC or UIC For information about these cables see Appendix A Technical Specifications on page 84 D Receiver cards such as the OEM615 OEM628 and OEM638 require modification to the standard cable Refer to OEM6 Family Installation and Operation User Manual OM 20000128 for information about the modifications needed Table 4 Receiver to IMU Interface Cables FlexPak6 ProPak6 01018977 Universal IMU Enclosure 01018977 Universal IMU Enclosure IMU LCI Interface Cable Interface Cable
49. can also count the number of pulses over one second and report the total at the top of each second by setting the input event line to COUNT mode EVENTINCONTROL MARK1 COUNT When in COUNT mode the polarity time bias and time guard entries in the EVENTINCONTROL log are ignored The maximum signal frequency for the count mode is 50 kHz When an input strobe is configured for COUNT mode the totals are available by logging the MARKxCOUNT logs see the SPAN on OEM6 Firmware Reference Manual OM 20000144 For example the following gives the total pulses on event strobe 1 every second LOG MARK1COUNTA ONNEW 3 5 Adding Timed Sensor Triggers Use the EVENT IN and EVENT OUT connections to attach up to three sensor devices to an OEM6 receiver and then trigger the sensors based upon GPS time In this context a sensor is any external device The sensor reference in the receiver is an object consisting of an Event In and Event Out pair of system strobes all linked by a sensor identifier You can send multiple trigger events marked with a user specified ID and a GPS time to trigger the sensor At the requested trigger time the receiver outputs a user specified LVTTL level pulse to the sensor and waits for a response pulse to indicate a sensor measurement i e camera exposure When this response is received the SPAN system outputs a log with the inertial position velocity attitude and the ID of the event This
50. command see the OEM6 Family Firmware Reference Manual OM 20000129 for the following parameters Polarity When polarity is set to positive events trigger on the rising edge When polarity is set to negative events trigger on the falling edge Time Bias t_bias A constant time bias in ns can be applied to each event pulse Typically this is used to account for a transmission delay Time Guard t guard The time guard specifies the minimum number of milliseconds between pulses This is used to coarsely filter the input pulses The time of the input pulses is available from the MARKxTIME logs see the OEM6 Family Firmware Reference Manual OM 20000129 The solution synchronous with the event pulses is available from the MARKxPVA logs see the SPAN on OEMG Firmware Reference Manual OM 20000144 The logs required for input strobes are LOG MARK1TIMEB ONNEW Output time for every pulse received LOG MARK1PVAB ONNEW Output time position velocity and attitude for every pulse received at the location specified by the SETMARK1OFFSET command The above example is for the MARK1 event input The input signal levels are 3 3 V to 0 V Signal voltages outside these bounds damage the receiver The minimum detectable pulse duration must be greater than or equal to 1 microsecond SPAN on OEM6 User Manual Rev 10 71 Chapter 3 SPAN Operation 3 4 2 1 Using the Input Strobe to Accumulate Counts An input strobe line
51. device Class B digital devices Note This equipment has been tested and found to comply with the limits for a Class B digital device pursuant to part 15 of the FCC Rules These limits are designed to provide reasonable protection against harmful interference in a residential installation This equipment generates uses and can radiate radio frequency energy and if not installed and used in accordance with the instructions may cause harmful interference to radio communications However there is no guarantee that interference will not occur in a particular installation If this equipment does cause harmful interference to radio or television reception which can be determined by turning the equipment off and on the user is encouraged to try to correct the interference by one or more of the following measures Reorient or relocate the receiving antenna Increase the separation between the equipment and receiver Connect the equipment into an outlet on a circuit different from that to which the receiver is connected Consult the dealer or an experienced radio TV technician for help Class A digital devices Note This equipment has been tested and found to comply with the limits for a Class A digital device pursuant to part 15 of the FCC Rules These limits are designed to provide reasonable protection against harmful interference when the equipment is operated in a commercial environment This equipment generates uses and can radi
52. for the LN 200 IMU nennen nnnm nnne 98 A4 IMU ISA 100C IMU ISA 100Q incerto tnt treten ect Ee REC ET Es 99 A 4 1 IMU ISA 100C Mechanical Drawimgs eene 99 A 4 2 Optional Side Mounting Holes AAA 101 A 4 3 IMU ISA 100C IMU ISA 100 Performance menn 102 A 4 4 Electrical and Enmvironmenta AAA 103 A 4 5 IMU ISA 100C Interface Cable AAA 104 A 4 6 IMU ISA 100C Power Cable AA 105 A 4 7 IMU ISA 100C Wheel Sensor Cable nnn 106 AD IMU FSA S eege e fer t nte ete degen e Eege Sot 108 SPAN on OEM6 User Manual Rev 10 Table of Contents A 5 1 iIMU FSAS Mechanical DrawingS AA 108 LN OR E e Ga el un E Ile 110 A 5 3 iIMU FSAS Electrical and Environmental eese nnne 110 A 5 4 Interface Cable for the IMU FSAS ener nnnnnn nn e 111 A 5 5 IMU FSAS cable with Odometer nenne nnne nnn nnns 111 A 5 6 iIMU FSAS Odometer Cablmg AAA 113 A 5 7 FlexPak Y Adapter Cable for IMU FSAS IMU CPT or IMU KVH1750 115 TIR E mS 116 A 6 1 IMU CPT Mechanical Drawinmgs AAA 116 A 6 2 IMU CPT Sensor Specifications nennen 118 A 6 3 IMU CPT Electrical and EnvirOnmental cccccccsssseccceceesseeceeseeeesseeeeetenenseceesetsaaaees 119 ZB uigzele ce 120 re E A a WEE TE 121 A 7 1 IMU KVH1750 Mechanical Drawings AAA 121 A 7 2 IMU KVH1750 Sensor Specifications eee eee eect eeeeeeeeeaeeeeeeeeeeeeeeeeeeeeeaaee 124 A 7 3 IMU KVH1750 Electrical and Environmental cccccccsssssceeseeeesseeseeeceeeseeeesesseenees 125 A74 IMU KVFET750 GC
53. header are aligned with the holes on the mating connector An IMU mounting PCB is not used with the STIM300 IMU 2 Mount the IMU See Mount the IMU on page 36 Connect the IMU to MIC interface cable supplied with the MIC to the IMU 4 Connect the IMU to MIC interface cable to the IMU connector on the MIC e Use the 10 pin locking connector P701 for ADIS IMUs See Figure 18 Connect the ADIS IMU to the MIC OEM Cable Kit 01019007 on page 45 Use the 20 pin locking connector P601 for the HG1700 HG1900 or HG1930 IMU See Figure 19 Connect the HG1700 IMU to the MIC OEM Cable Kit 01018868 on page 45 Figure 20 Connect the HG1900 IMU to the MIC OEM Cable Kit 01018871 on page 45 Figure 21 Connect the HG1930 IMU to the MIC OEM Cable Kit 01018869 on page 45 or Figure 22 Connect the STIM300 IMU to the MIC OEM Cable Kit 01019174 on page 46 48 SPAN on OEM6 User Manual Rev 10 SPAN Installation Chapter 2 2 3 2 3 Connect Power to the MIC and OEMG receiver In a standalone configuration a separate power supply is required for the OEMG family receiver For information about the power supply requirements refer to the Technical Specifications appendix for the receiver card in the OEMG Family Installation and Operation User Manual OM 20000128 1 Connect a 10 to 30 V DC power supply to the power connector P101 on the MIC See MIC Connectors on page 149 for pinout information for the power connector 2
54. in Universal Enclosure 5 Clean the surface of the enclosure body where it will mate with the O rings using isopropyl alcohol While ensuring all wires will fit inside the bracket without being pinched align the reference markers and pilot holes screws of the enclosure body and base and carefully lower the body onto the base observing the O rings and the alignment of corners Start with the round pilot hole indicated in Figure 103 Installing the Enclosure Body to the Base then press the assembly into place Figure 103 Installing the Enclosure Body to the Base OUND PILOT HOLE ABOVE THIS PILOT PIN REFERENCE MARKERS 176 SPAN on OEM6 User Manual Rev 10 LN 200 IMU in Universal Enclosure Appendix C 6 While squeezing and holding the enclosure body and base together to maintain tight contact carefully turn the assembly over and place it on its top as shown in Figure 104 Screw Enclosure Base to Body Using a 3 mm hex bit lightly fasten four equally spaced M4 screws to hold the parts together Use thread locking fluid on all screws Install the remaining screws in similar fashion Tighten all screws to 1 36 1 58 N m 12 14 Ib in Do not over tighten Figure 104 Screw Enclosure Base to Body e g i 5 Product identification label not shown 7 Ensure the product identification label the logo plate and the center of navigation labels are properly affixed and contain the correct informa
55. more information on signals wiring and pinout information of the ProPak6 SPAN on OEM6 User Manual Rev 10 SPAN Installation Chapter 2 2 2 7 Connect Power If you are using a MEMS OEM IMU ADIS 16488 HG1900 HG1930 STIM300 and a MIC see MIC Set Up on page 42 for information about connecting and powering the MIC and IMU If you are using an OEM IMU ISA 100 or ISA 100C and a UIC see UIC Set Up on page 50 for information about connecting and powering the UIC and IMU 2 2 7 1 Receiver Power The power requirements for the OEM6 family receiver cards are shown in Table 6 For information about connecting power to an OEM6 receiver card see the OEM6 Family Installation and Operation User Manual OM 2000128 Table 6 OEM6 Family Receiver Card Power Requirements Receiver Power Requirements OEM615 3 3 VDC 5 lt 100 mV p p ripple OEM617 3 3 VDC 5 3 lt 100 mV p p ripple OEM617D 3 3 VDC 5 3 100 mV p p ripple OEM628 3 3 VDC 5 lt 100 mV p p ripple OEM638 3 3 VDC 5 3 lt 100 mV p p ripple aT to 36 VDC The FlexPak6 receiver requires an input voltage of 6 to 36 VDC The ProPak6 receiver requires an input voltage of 9 to 36 VDC An 12 V automotive adapter is supplied with the FlexPak6 and ProPak6 but any appropriate DC power source can be used The FlexPak6 and ProPak6 have an internal power module that e filters and regulates the supply voltage protec
56. o o o LED side 8 E e i Z 12 50 gt 4 o 2 Ki o o Height of 5 92 80 G OO power brick 1 89 50 o o Power Brick Keepout Area J 400 00 Connector Side 13 03 pi o o 16 50 menon ae YN v HHHH q Y 0 00 e e 5 o 17 54 t S E Overall 3 60 Q D S 2 thickness o N KR o T Ki M 2 9 00 gt a Q Q 2 93 45 x10 89 50 Keepout Area LED Side 3 30 To GOT 0 00 Power Data Status LED Status LED o CH o Dimensions in mm 156 SPAN on OEM6 User Manual Rev 10 Technical Specifications Appendix A Figure 80 UIC Connectors LEDs and Heat Sink Details r Surface of power brick baseplate for attaching a heat spreader The heat spreader needs to be attached Use 4 M2 screws to retain heat to a heat conducting surface that spreader Screw length should can transfer heat to an external not exceed the thickness of the N environment The baseplate heatspreader plus 2 5 mm S o temperature cannot exceed 100 C GI 9 9 E 1 77 79 J1401 gt 39 69 13 48 ennen 14 06 E Ll 7 00 This connector is located on the mounting rails and needs to be avoided when mounting the board to the enclosure s o KO e J102 J101 e 19 18 62 85 88 90 Cross hatching indicates mounting rail on both sides with noted exception for J101 connector OS TB ye LED location
57. of the assembly procedure Figure 90 Install O rings SPAN on OEM6 User Manual Rev 10 167 Appendix B HG1700 IMU in Universal Enclosure 7 Clean the surface of the enclosure body where it mates with the O rings using isopropyl alcohol As shown in Figure 91 Install Enclosure Body on the Base align the reference markers and pilot holes pins of the enclosure body and base Carefully lower the body onto the base observing the O rings and alignment of corners Press the enclosure body into place starting with the round pilot hole indicated in Figure 91 Install Enclosure Body on the Base Figure 91 Install Enclosure Body on the Base ROUND PILOT HOLE ABOVE THIS PILOT PIN REFERENCE MARKERS 8 While squeezing and holding the enclosure body and base together to maintain tight contact carefully turn the assembly over and place it on its top as shown in Figure 92 Screw Enclosure Base to Body Using a 3 mm hex bit lightly fasten four equally spaced M4 screws to hold the parts together Apply thread locking fluid to each screw before inserting Install the remaining screws in similar fashion Tighten all screws then check all of them again for tightness Tighten these screws to 1 36 1 58 N m 12 14 Ib in Do not over tighten Figure 92 Screw Enclosure Base to Body 168 SPAN on OEM6 User Manual Rev 10 HG1700 IMU in Universal Enclosure Appendix B 9 Ensure the product identification label the logo plate an
58. stationary alignment is required refer to Manual Alignment on page 66 3 3 1 2 Kinematic Alignment An alternate form of aligning the SPAN system is a kinematic alignment A kinematic alignment can be used for any SPAN system and is the best alignment alternative for lower performance sensors ADIS 16488 IMU CPT IMU IGM HG1930 and STIM300 The kinematic or moving alignment is performed by estimating the attitude from the GNSS velocity vector and injecting it into the SPAN filter as the initial system attitude This method for alignment assumes that the roll and pitch of the vehicle are near to zero This should be kept in mind when attempting to do this in airborne or marine environments as these assumptions may not hold causing a poor initial solution SPAN on OEM6 User Manual Rev 10 65 66 Chapter 3 SPAN Operation For the kinematic alignment routine to work optimally the course over ground azimuth and pitch must match the IMU enclosure azimuth and pitch For example a plane being blown in the wind has aa large crab angle and the course over ground trajectory will not match the direction the IMU is pointing Additional configuration parameters are necessary to enable the kinematic alignment In order to simplify this configuration it is strongly suggested that you mount the IMU in parallel to the vehicle frame The Y axis marked on the IMU enclosure should point in the direction of travel Specify which IMU axes are m
59. such as Ethernet and CAN Bus signals b Supply voltage e USB communications port Y Antenna port For information about the FlexPak6 ports and cables see the OEM6 Family Installation and Operation User Manual OM 20000128 SPAN on OEM6 User Manual Rev 10 23 Chapter 2 SPAN Installation The connectors available on the ProPak6 are shown in Figure 5 ProPak6 Receiver Connectors The ProPak6 provides DB9 USB Ethernet expansion power and antenna connectors Figure 5 ProPak6 Receiver Connectors Table 3 ProPak6 Receiver Port Labels shows a summary of the receiver port names available on the ProPak6 Table 3 ProPak6 Receiver Port Labels Port Label Description COM1 Serial communications port 1 COM2 Serial communications port 2 Serial communications port 3 Gier The IMU must be connected to this port VO Input and output port for additional signals PPS Event Inputs and Event Outputs EXP Expansion port for CAN Bus ports 1 and 2 and additional COM ports COM7 COM8 COMS COM10 ae Ethernet port PWR Supply voltage e Device USB communications port ANT or ANT 1 Antenna port External oscillator input or OSG STANT 2 Secondary antenna port Dual antenna model For information about the ProPak6 ports and cables see the ProPak6 User Manual OM 20000148 2 1 2 Typical Installation Examples The following examples show the connections for a FlexPak6 receiver
60. the IMU to UIC interface cable to the IMU connector J1401 on the UIC 2 4 8 Connect the UIC to a receiver 1 Using a customer supplied wiring harness connect the UIC serial port to a serial port on the OEM6 receiver See Section A 13 3 UIC Connectors on page 158 for pinout information for the communications connector J102 The serial port on the UIC uses RS 422 levels To connect the UIC to devices that use other signals levels such as an LVTTL COM port on the GNSS receiver an interface circuit that converts to and from RS 422 must be used SPAN on OEM6 User Manual Rev 10 51 Chapter 2 SPAN Installation OEM615 OEM617 Table 8 COM Port Recommendations All of the COM ports on these receivers use LVTTL levels An interface circuit that converts to and from RS 422 levels is required for the port connected to the UIC COM1 on the OEM628 receiver can use RS 232 levels default or RS 422 levels To use COM for connection to the UIC configure the COM1 port to use RS 422 levels Refer to the OEM6 Family Installation and Operation User Manual for e 3i 37223 information about changing COM1 to RS 422 levels e COM2 and COM3 on the OEM628 receiver use LVTTL levels To use COM2 or COMS for connection to the UIC serial port an interface circuit that converts to and from RS 422 levels is required Use COM1 or COM for connection to a computer COM1 and COM2 use RS 232 levels and can be connected to a com
61. the gaps with what is referred to as free inertial navigation The IMU measurements are used to propagate the solution Errors in the IMU measurements accumulate over time to degrade the solution accuracy For example after one minute of GNSS outage the horizontal position accuracy is approximately 2 5 m when using an HG1700 AG58 The SPAN solution continues to be computed for as long as the GNSS outage lasts but the solution uncertainty increases with time This uncertainty can be monitored using the INSCOV log What does it mean if my IMUCARD version string looks like this GPSCARD G2LRORTTOS1 BFN11490091 OEM628 1 00 DEMO60210RN0000 OEM060100RBO000 2012 Aug 03 11 31 07 lt IMUCARD Test mode 20Hz r2 1 0 0 Sep 13 2010 09 34 20 The SPAN enabled receiver has detected the SDLC card and is communicating with it however the SDLC card is not communicating with the IMU Check the SDLC to IMU connections to ensure that both power and communication lines are connected to the IMU Why can SPAN not align with my IMU KVH1750 SPAN requires that the IMU KVH1750 be configured with non default settings If you have obtained your IMU KVH 1750 directly from KVH or have manually changed the IMU configuration you need to use the IMUCONFIGURATION command to restore the configuration that SPAN requires See the SPAN on OEM6 Firmware Reference Manual OM 20000144 for details on this command SPAN on OEM6 User Manual Rev 10
62. the inertial error estimates and improve attitude accuracy This is particularly useful in applications with reduced motion SPAN on OEM6 Dual Antenna provides the hardware necessary to run an ALIGN baseline with an IMU and a second receiver With SPAN on OEM6 the ALIGN GNSS baseline can be used to assist the initial alignment of the SPAN solution In addition the ALIGN baseline solution will aid the heading solution from the receiver if the heading drifts due to slow or constant dynamics ALIGN is capable of a 10 Hz heading output rate when integrated with the OEM6 receiver Installation The hardware for SPAN on OEM6 Dual Antenna is installed in a manner similar to other SPAN systems Some points to consider during your installation are 1 Install the IMU and the two antennas in the vehicle such that the relative distance between them is fixed 2 The antennas should be mounted where the view of the satellites will not be obstructed by any part of the vehicle As heading accuracy is dependent on baseline length mount the antennas as far apart as possible A minimum separation distance of 1 metre is recommended 3 The lever arms or distance from the IMU to the antennas needs to be fixed and accurately measured using the coordinate axes defined on the outside of the IMU The baseline between the two antennas does NOT need to be aligned with the vehicle axes or with the axes of the IMU 4 Both receivers need to be powered and connecte
63. to offer a solution that is more accurate and reliable than either GNSS or INS could provide alone The combined GNSS INS solution has the advantage of the absolute accuracy available from GNSS and the continuity of INS through traditionally difficult GNSS conditions The SPAN system consists of the following components NovAtel OEM6 receiver These receivers are capable of receiving and tracking different combinations of GPS GLONASS Galileo and BeiDou signals on a maximum of 120 or 240 channels OEM6 family receivers can also allocate channels for the reception of correction service signals from SBAS standard and NovAtel Correct with PPP optional OEM6 adaptability offers multi system frequency and size configurations for any application requirement Patented Pulsed Aperture Correlator PAC technology combined with a powerful microprocessor enable multipath resistant processing Excellent acquisition and re acquisition times allow this receiver to operate in environments where very high dynamics and frequent interruption of signals can be expected The OEM6 family also supports the timing requirements of the IMU and runs the real time INS filter IMU The Inertial Measurement Unit IMU consists of three accelerometers and three gyroscopes gyros so that accelerations along specific axis and angular rotations can be measured Several IMU types are supported and are listed in Table 1 SPAN Compatible IMU Models on page 20 GNSS antenna
64. x 137mm IMU Enclosure Weight 5 0 kg A 4 1 IMU ISA 100C Mechanical Drawings Figure 40 IMU ISA 100C Dimensions l 13650 lt 19400 180 00 A 150 00 v A pl 45 00 l 40 00 0 90 00 22 00 O Q a f 45 00 4 90 00 Ge d Z SCH L om 93 20 Alignment Hole 4mm oj iT Va 45 00 le A Mounting Hole E M6 x 1 0mm 6 5mm 4x Dimensions in mm SPAN on OEM6 User Manual Rev 10 99 Appendix A Technical Specifications Figure 41 IMU ISA 100C Center of Navigation Dimensions in mm T1 6 N 8 4A A Ua i ak 1 64 6 64 6 ge ae 40 3 4 e 76 6 78 6 These dimensions are to gi the edges of a machined slot O S O The center of the slot is the center of navigation 100 SPAN on OEM6 User Manual Rev 10 Technical Specifications Appendix A A 4 2 Optional Side Mounting Holes There are mounting and alignment holes on both sides of the IMU enclosure to allow the IMU to be mounted on its side These holes have the same pattern and spacing as the mounting and alignment hol
65. 0C Table 41 IMU ISA 100 IMU Performance GYROSCOPE PERFORMANCE Input range Bias stability Scale factor repeatability Scale factor non linearity 610 deg sec lt 0 05 deg hr lt 100 ppm lt 100 ppm Angular random walk 0 012 deg Vhr ACCELEROMETER PERFORMANCE 102 Range 20g Bias repeatability lt 200 ug Scale factor repeatability lt 100 ppm Scale factor non linearity lt 100 ppm Velocity random walk 100 ug Hz IMU Measurement DATA RATE 200 Hz a A maximum data rate of 400 Hz is available on specific models of IMU ISA 100 SPAN on OEM6 User Manual Rev 10 Technical Specifications AAA Electrical and Environmental Table 42 IMU ISA 100C Electrical Specifications ELECTRICAL Appendix A IMU Power Consumption 18 W typical IMU Input Voltage 10 to 34 V DC IMU Interface Power RS 422 CONNECTORS SAL M12 5 pin male Data SAL M12 4 pin female Wheel Sensor SAL M12 8 pin male Table 43 IMU ISA 100C Environmental Specifications ENVIRONMENTAL Operating Temperature Storage Temperature 40 C to 55 C 40 C to 71 C Humidity MIL STD 810G Method 507 5 Water Ingress MIL STD 810G Method 512 5 SPAN on OEM6 User Manual Rev 10 103 Appendix A Technical Specifications A 4 5 IMU ISA 100C Interface Cable The NovAtel part number for the IMU ISA 100C interface cable is 01019319 se
66. 1 20 0 03 0 03 0 05 Alternately the angular offset between the dual antenna baseline from primary GNSS antenna to secondary GNSS antenna and the IMU frame forward axis is entered directly via the EXTHDGOFFSET command We recommend entering the lever arms rather than entering the angular offset as this is easier to measure and will lead to better overall accuracy Refer to the SPAN on OEM6 Firmware Reference Manual OM 20000144 for the syntax of the above commands As with all ALIGN capable products the GNSS baseline solution is available from the GPHDT and HEADING logs For INS heading use INSATT or INSPVA The SPAN system can be configured for different alignment routines depending on the motion conditions experienced during the alignment period For example in marine applications the dynamics required for either a coarse or kinematic alignment cannot be guaranteed so a different alignment routine is required The different alignment routines are described in the following sections 4 3 Configuring SPAN with ALIGN The SPAN receiver can be configured for different alignment routines depending on the motion conditions experienced during the alignment period For example in marine applications the dynamics required for either a coarse or kinematic alignment cannot be guaranteed so a different alignment routine will be required If the ALIGNMENTMODE selected can use a kinematic alignment UNAIDED or AUTO
67. 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 Install Bracket to Base EE 174 Making Connections arrra eite yale ct nec cou dei aa sick n ede da na sec E az 174 Connect Internal Cable Harness A 175 Installing the Enclosure Body to the Base A 176 Screw Enclosure Base to Body Akkuen 177 Final Assembly rie ir ceti d se v dae is ct ia d d aa E v ee bio d ah 177 Re gulreq Parts zn rp ti eite ere etr ree ue eot ea ta tefte eda bete 178 Bots ana Hex Key ie iat RERO 179 Lift Top Cover Tube Body and 3 Ring Spacer Screws seeeee 179 SPAN IMU Fte Assembly diii RE eaae ge ERU cen Re HARE e ee 180 Attach Flex Cable diente redet eege geet deet Eegen Sec 181 Incorrect Bowed Flex Cable Installation esee 181 Correct Flat Flex Cable Installation AAA 181 HGA700 SPAN NEE 182 Required Parts EE 183 Bolts and Hex Key zeegt d ed e ER im 184 Lift Top Cover and Tube Body AAA 185 SPAN IMU Re Assembly iet te EE te ear RR Re LER e bae ERE 186 Attach Viele e Dun 187 Attach Samtec Connector EE 188 EN 200 SPAN IMU siot ei o f ed nd dn m e ei ts 188 SPAN on OEM6 User Manual Rev 10 ELGI 1 SPAN Compatible IMU Models AAA 20 2 FlexPak6 Receiver Port Labels AAA 23 3 ProPak6 Receiver Port Labels AAA 24 4 Receiver to IMU Interface Cables isses nennen nnn nennen nennen nnns 35 5 MIC and UIC Interface Cables
68. 168 mm x 195 mm x 146 mm IMU Enclosure Weight 4 25 kg A 1 1 Universal IMU Enclosure Mechanical Drawings Figure 32 Universal IMU Enclosure Side Dimensions G Dimensions in mm inches l Qo 358 i A i 28 Of Log Ee UY LEFT FRONT l 2g e o Z 84 SPAN on OEM6 User Manual Rev 10 Technical Specifications Appendix A Figure 33 Universal IMU Enclosure Top Bottom Dimensions e Dimensions in mm inches NOTES H 1 THIS MOUNTING HOLE TOP SUR FACE IS MASKED FROM PAINT B FOR GROUNDING ENSURE SUF FICIENT CONNECTION TO GROUND AS TOP SEE NOTE 1 s 195 0 T 7 68 PES 180 00 oe AN R79 M 7 087 g 75 E 0 31 BOTTOM G EES 0 30 1 AN PN l 4X 06 60 po 9 9 9 9 9 0 260 ais O 0 6 So 0 02 ae MARKERS TYP Sa o o 1 S io d 9 2 D Ge 2 Y SPAN on OEM6 User Manual Rev 10 85 Appendix A Technical Specifications Figure 34 IMU Center of Navigation E ss Enclosure m leon IMU Typ
69. 19008 see ADIS 16488 IMU to MIC Cable Assembly on page 137 OEM STIM300 01019161 see STIM300 IMU to MIC Cable Assembly on page 146 2 2 Hardware Set Up 2 2 1 Complete the following steps to set up your NovAtel SPAN system 1 Mount the GNSS antenna as described in Mount the Antenna on page 36 2 Mount the IMU as described in Mount the IMU on page 36 3 Mount the receiver as described in Mount the OEM6 Receiver on page 37 4 Connect the GNSS antenna to the OEM6 receiver as described in Connect the Antenna to the OEM6 Receiver on page 37 5 Connect the IMU to the OEM6 receiver as described in Connect the IMU to the OEM6 Receiver on page 38 6 Connect the I O strobe signals optional as described in Connect I O Strobe Signals on page 38 7 Connect power to the IMU and receiver as described in Connect Power on page 39 NovAtel recommends biasing unused inputs to their default states See Appendix A Technical Specifications on page 84 for information about the devices in the system Mount the 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 multi
70. 2 MAR iMWS Pre Installed on page 113 e Wheel Pulse Transducer CWPTA411 WPT from Kistler A transducer traditionally fits to the outside of a non drive wheel A pulse is then generated from the transducer which is fed directly to the ODO connector on the IMU cable See also Figure 51 Kistler WPT on page 113 Figure 52 iMAR iMWS Pre Installed The iMAR iMWS V2 sensor is on the inside of the wheel so that all you can see in the vehicle is the grey signal converter box The WPT mounts to the wheel lug nuts via iMAR provides a sensor that operates with a adjustable mounting collets The torsion magnetic strip glued inside the rim of a non drive protection rod which maintains rotation around wheel and a special detector iRS mounted on the the wheel axis affixes to the vehicle body with inside of the wheel the disk of the wheel suction cups Refer to the Kistler WPT part suspension brake cover or brake caliper holder number CWPTA411 user manual for mounting Details are shown in the installation hints delivered instructions with the system The NovAtel IMU interface cable with ODO is the same as that in Interface Cable for the IMU FSAS on page 111 but with some of the reserved pins having odometer uses It still provides power to the IMU from an external source and enables input and output between the receiver and IMU See also SPAN Wheel Sensor Configuration on page 73 The DMI runs only one output line A SPAN
71. 2 Basic Set Up ProPak6 to ISA 100 or ISA 100C sss 31 13 Basic Set Up ProPak6 to IMU CPfT nennen nennen nnnrtntns nennen nnn 32 14 Basic Set Up ProPak6 to IMU KVH1750 AA 33 15 Basic Set Up ProPak6 to IMU IGM sssssesesesseeeeeenenere nennen nennen nmerentr rne n nennen 34 16 Basic Set Up MIC in Stack Up Configuration eessssssseenernrnn 42 17 Mount the MIC on the OEM615 A 44 18 Connect the ADIS IMU to the MIC OEM Cable Kit 01019007 sese 45 19 Connect the HG1700 IMU to the MIC OEM Cable Kit 01018868 45 20 Connect the HG1900 IMU to the MIC OEM Cable Kit 01018871 A 45 21 Connect the HG1930 IMU to the MIC OEM Cable Kit 01018869 ss 45 22 Connect the STIM300 IMU to the MIC OEM Cable Kit 01019174 ssssss 46 23 Basic Set Up MIC in Standalone Configuration eeseeeeennne 47 24 Basic UIC Set Up EE 50 25 Ule Status EEDS tcrtio en tiet ev o ed eds 53 26 Local Level Frame ENU ENNEN 58 27 The Enclosure Frame ceti eee titt hr m beate petere e alor tur 60 28 Vehicle KEE 60 29 dS E 71 30 SPAN on OEMG6 Dual Antenna Installation eessssssseseseeeeeennnn nene 79 31 SPAN on OEM6 ProPak6 Dual Antenna Installation A 80 32 Universal IMU Enclosure Side Dimensions ssssssssessseneeeeeeeeneenenennn nn
72. 6 family products refer to the OEM6 Family Firmware Reference Manual OM 20000129 available on the NovAtel website at www novatel com support It is recommended that these documents be kept together for easy reference For more information about the OEM6 family receiver cards or the FlexPak6 receiver refer to the OEM6 Family Installation and Operation User Manual OM 20000128 For more information about the ProPak6 receiver refer to the ProPak6 User Manual OM 20000148 SPAN system output is compatible with post processing software from NovAtel s Waypoint Products Group Visit our web site at www novatel com for details 1 Rates higher than 115 200 are not standard on most computers and may require extra computer hardware SPAN on OEM6 User Manual Rev 10 21 Chapter 1 Introduction 1 4 Conventions The following conventions are used in this manual Information that supplements or clarifies text v A caution that actions operation or configuration may lead to incorrect or improper use of the hardware A warning that actions operation or configuration may result in regulatory noncompliance safety issues or equipment damage 22 SPAN on OEM6 User Manual Rev 10 Chapter 2 SPAN Installation 2 1 2 1 1 Hardware Description One hardware setup consists of an OEM6 receiver see Figure 3 SPAN System Receivers on page 19 an IMU see Figure 2 SPAN System IMUs on page 18 a GNSS antenna power
73. 8 99 Figures IIMU FSAS Center of Navigation EE 109 IMU FSAS Interface Cable with Odometer A 111 Kistler WPT acces eate de e eit eaa su 113 iMAR iMWS Pre Installed AEN 113 FlexPak Y Adapter Gable 5 eee nen eerte te aieo Eegenen 115 IMU CPT Side and Perspective View sessssssssseeseeeeeeeeenenenn enne nnne nis 116 IMU CPT Top Front and Bottom View EE 117 IMU CPT Development Terminated Cable ssssseeseseeseeeeneennn nenne 120 IMU KVETT 750 Bottom ViGW ve 52 eiie eie he Pate err ettet eti 121 IMU KVH1750 Top View ENEE 122 IMU KVELITZ50 Side View pp Eh exe lee rper ine pice pelas 122 IMU KVH1 750 Gyro AXES cete erae er peti enne er RR ER ea Ed 123 IMU KVH1750 Cable eiin eai heec ce Deere e e nee ce ten ECL Eee e e aka ea 126 IMU IGM A1 Dimensions AEN 128 IMU IGM S1 Dimensions ENEE 129 IMU IGM Interface Cable nn 133 IMU IGM Stack Up Cable ENEE 134 ADIS 16488 Dimensions ENNEN EEN 135 ADIS 16488 Center of Navigation essen mene nnne nnns 136 ADIS 16488 IMU to MIC Cable Assembly AAA 137 ISA 100C Dimensions EE 138 ISA 100G Coordinate AXIS 5 gi bed e Ee heo e rens 139 OEM IMU ISA 100C IMU to VIC Cable Assembly AAA 141 STIMS300 itrienslOns ite rnt Etro ete hice pieta eta tnl unen 143 STIM300 Center of Navigation seesssessseseeseeeenenenn nennen nnne nennen nennen 144 STIM300 IMU to MIC Cable Assembly EE 146 MIC Top Bottom Dimensions
74. Enclosure eese nnneennnennennnnnn nennen nnns 182 E LN 200 IMU in SPAN IMU Enclosure 183 E 1 Disassemble the SPAN IMU Encloeure nnne nnne nnns 184 E 2 Install the LN 200 Sensor Un 186 E 3 Make the Electrical Connections nennen nennn rrr nnn n nnn nns 187 E 4 Re Assemble the SPAN IMU Enclosure ccccccceccscceeeeseeeceseeeueseueeueeeuaueeseeueeeeuaueusnaeeenes 188 F Frequently Asked Questions 189 G Replacement Parts 191 GT SPANSySIem 36 x sn e e e eC E 191 G 2 Accessories and Options EE 193 SPAN on OEM6 User Manual Rev 10 1 Primary and Secondary Lightning Protection 17 2 SPAN System IMUS eee re HE Ere e OH i Ee eria ens 18 3 SPAN System RecelVers code Deed e cde pie e epe ERES eese caa natia 19 4 FlexPak6 Receiver Connectors eesssssssssssesessseeeeeenenennn ener n nn nnnremes nsns nenna 23 5 ProPak6 Receiver Connectors AEN 24 6 Basic Set Up FlexPak6 to LN 200 HG1700 or LCI 1 sseseeeeeeeeeeeeennnn nnn 25 7 Basic Set Up FlexPak6 to ISA 100 or ISA 100C ssssssseseeeenemrnnnnn 26 8 Basic Set Up FlexPak6 to IMU FSAS ccccceceeee cette eee eeeeeeaaeeeeeeeeeeeeeeeeeecccaeeeeeeeeeeeeees 27 9 Basic Set Up FlexPak6 to IMU CPT or IMU KVH1750 sse 28 10 Basic Set Up FlexPak6 to IMU IGM nennen nennen rretes nnne nene 29 11 Basic Set Up ProPak6 to LN 200 HG1700 LCI 1 or IMU FSAS uses 30 1
75. IGM Bracket Kit 01019040 ProPak6 Expansion Cable 01019154 OEM IMU STIM300 Cable 01019174 IMU KVH1750 Interface Cable 01019211 IMU ISA 100C Interface Cable 01019319 UIC to ISA 100C Interface Cable 01019393 IMU ISA 100C Power Cable 60723136 IMU ISA 100C Wheel Data Cable 60723137 SPAN on OEM6 User Manual OM 20000139 SPAN on OEM Firmware Reference Manual OM 20000144 SPAN on OEM6 Quick Start Guide GM 14915112 MEMS Interface Card Quick Start Guide GM 14915118 Universal IMU Controller Quick Start Guide GM 14915134 OEM6 Family Installation and Operation User Manual OM 20000128 OEM6 Family Firmware Reference Manual OM 20000129 ProPak6 User Manual OM 20000148 a The FlexPak Y Adapter cable is required for SPAN systems with a FlexPak6 receiver and either the IMU CPT IMU KVH1750 or IMU FSAS 192 SPAN on OEM6 User Manual Rev 10 Replacement Parts G 2 Accessories and Options Part Description NovAtel Part Optional NovAtel GNSS Antennas Appendix G High Performance L1 L2 L Band Antenna GPS 702L High Performance L1 L2 GLONASS Antenna GPS 702 GG High Performance L1 L2 GLONASS L Band Antenna GPS 702 GGL High Performance L1 L2 L5 GLONASS Galileo Antenna GPS 703 GGG Compact L1 L2 Antenna 42G1215A XT 1 Cert Compact L1 L2 L Band Antenna 42G1215A XT 1 3 Cert Compact L1 L2 GLONASS L Band Antenna Optional RF Antenna Cable 5 metres 15 metres 30 metres 22 cm interconnect adapter cable 42G0XX16A4 XT
76. IGN with SPAN on OEMG AAA 81 4 3 Configuring SPAN with ALIGN AAA 81 4 3 1 Alignment on a Moving Vessel Aided Transfer Alignment 82 4 3 2 Alignment on a Stationary Vehicle Aided Static Alignment ssssss 82 4 9 3 Unaided Alignment 2 4 a cec tt ERE ERR Le ree BG ee Roi ps 82 4 3 4 Automatic Alignment Mode Automatic Alignment default 82 4 4 SPAN ALIGN Attitude Updates eeesesseeeeeeseseeeeeeeenennene nene nnmene nennen nennen nnne 83 A Technical Specifications 84 A1 Universal IMU EncloSUrFe 2 tiit e reiten ttti AER AAR enee 84 A 1 1 Universal IMU Enclosure Mechanical DrawingS eesceceeeeeeseeeeeeeeneeeeeeeenaeeeteneenaaes 84 A 1 2 IMU Performance eie Renee d on e feeit m ne n e des 87 A 1 3 Electrical and Enmironmenta AAA 89 A 1 4 Universal IMU Enclosure Interface Cable AAA 90 A 1 5 Universal IMU Cable emt et ete En EE e a a eei Ren eoe ERE HL ee TE 91 A 2 HG1700 IMU single connector enclosurel nnns 92 A 2 1 HG1700 IMU Mechanical Drawings A 92 A 2 2 HG1700 IMU Performance neret fter ie mter lee ET eps 94 A 2 3 HG1700 Electrical and Environment 95 A 2 4 Interface Cable for the HG1700 IMU menn 95 A 3 LN 200 IMU single connector enclosurel nnns 96 A 3 1 LN 200 IMU Mechanical Dr wings mene 96 A 3 2 LN 200 IMU Performances AAA 98 A 3 3 LN 200 Electrical and Environmental esses 98 A 3 4 Interface Cable
77. If you are using an OEM6 receiver card such as an OEM615 OEM628 or OEM638 you need a wiring harness to connect the receiver to the other components of the SPAN system See the OEM6 Family Installation and Operation User Manual OM 20000128 for information about preparing the data signal and power wiring harness 24 SPAN on OEM6 User Manual Rev 10 SPAN Installation Chapter 2 2 1 2 1 FlexPak6 to LN 200 HG1700 or LCI 1 Set Up Example Figure 6 Basic Set Up FlexPak6 to LN 200 HG1700 or LCI 1 Radio optional for Real 2 Time Differential operation e T T T T d S gere eG T Vo Connect the antenna to the receiver Connect the interface cable to the LN 200 HG1700 or LCI 1 universal enclosure Connect the DB9 connector of the interface cable to the COM 2 port of the receiver FON gt Connect the IMU power and ground to the IMU interface cable refer to Table 7 IMU Power Supply on page 40 Connect a user supplied power supply to the receiver e Connect a user supplied computer for set up and monitoring to the USB port 7 Connect a user su
78. M IMU STIM300 Electrical and Emvironmental 145 A 11 4 STIM300 IMU to MIC Cable Assembly AAA 146 A 12 MIC MEMS Interface Card 147 A 12 1 MIC Mechanical Drawings AA 147 A 12 2 MIC Electrical and Enmvironmental nennen nennen nnns 149 Ail2 3 MIC eene te e 149 A 12 4 HG1930 IMU to MIC Cable Assembly esee 154 A 12 5 HG1700 and HG1900 IMU to MIC Cable Assembly eene 155 A 13 UIC Universal IMU CGontroller rennen nennen nnne 156 A 13 1 UIC Mechanical Drawings AAA 156 A 13 2 UIC Electrical and Environmental ccccccccecssssceeeceeeeseeceeeceeeseceeseseaeeseeeeseneagaees 158 AA3 9 HIE EE E ee eege 158 E e Ee 161 B HG1700 IMU in Universal Enclosure 162 B 1 Disassemble the Universal Enclosure ccccsssseceececessseeeecceeesseeeeeceeeaseceeeetseeaseceesetsaseeeeees 163 B 2 Install the HG1700 Sensor Unit assisi ranore ennenen apane are iaaa iaaa 164 SPAN on OEM6 User Manual Rev 10 Table of Contents C LN 200 IMU in Universal Enclosure 170 C 1 Disassemble the Universal Enclosure nnne nnn ni 171 C 2 Install the LN 200 Sensor Untt eene nnnnnnnnn nnne nsa rn tesa 173 D HG1700 IMU in SPAN HG Enclosure 178 D 1 Disassemble the SPAN IMU Encosure nnne nnne inis 179 D 2 Install the HG1700 Sensor Unit cc ccccc cc cccscceeeeseeeeseeeeeeeeeeseueeueueueeuueueueeeueeeueueneuenaaes 180 D 3 Make the Electrical CONNECTIONS nennen nrnennn rrr nnns n nnn n ns 180 D 4 Re Assemble the SPAN IMU
79. MATIC the SETIMUORIENTATION and VEHICLEBODYROTATION commands must be sent to the receiver regardless of system configuration and IMU orientation The different alignment routines are described in the following sections SPAN on OEM6 User Manual Rev 10 81 Chapter 4 SPAN on OEM6 Dual Antenna 4 3 4 Alignment on a Moving Vessel Aided Transfer Alignment This alignment routine is the preferred dual antenna alignment method It is used if the alignment mode is set to AIDED TRANSFER using the ALIGNMENTMODE command and can be used if the alignment mode is set to AUTOMATIC If your vehicle is not stationary during the alignment such as may be the case on a ship use the Aided Transfer Alignment routine This alignment method uses the ALIGN baseline solution to perform an instantaneous alignment of the vehicle attitude The alignment happens instantaneously after the receiver establishes communication with the IMU and computes a verified fixed integer ALIGN solution The INS status changes to INS ALIGNMENT COMPLETE or INS SOLUTION GOOD depending on the variances of the ALIGN solution and the measured lever arm external heading offset To guarantee the use of this alignment mode the configuration command ALIGNMENTMODE must be sent to the receiver ALIGNMENTMODE AIDED TRANSFER 4 3 2 Alignment on a Stationary Vehicle Aided Static Alignment An alternative to the aided transfer alignment the ALIGN he
80. MU ISA 100C 400 Hz 400 Hz ISA 100C 400 Hz S3 IMU KVH1750 200 Hz KVH 1750 S2 IMU LN200 200 Hz LN 200 S3 OEM IMU ADIS 16488 200 Hz OEM IMU ADIS 16488 S1 OEM IMU ISA 100 200 Hz OEM IMU ISA 100 S3 OEM IMU ISA 100C 200 Hz OEM IMU ISA 100C S3 OEM IMU ISA 100 400 Hz 400 Hz OEM IMU ISA 100 400Hz S3 OEM IMU ISA 100C 400 Hz 400 Hz OEM IMU ISA 100C 400 Hz S3 OEM IMU STIM300 125 Hz OEM IMU STIM300 S1 UIMU H58 100 Hz HG1700 AG58 S2 UIMU H62 100 Hz HG1700 AG62 S2 UIMU LCI 200 Hz Litef LCI 1 S3 SPAN on OEM6 User Manual Rev 10 Introduction Chapter 1 Each model is capable of multiple positioning modes of operation For a discussion on GNSS positioning and receiver details refer to the OEM6 Family Installation and Operation User Manual OM 20000129 Each model has the following standard features Rugged shock water and dust resistant enclosure FlexPak6 and ProPak6 e NovAtel s advanced OEM6 L1 L2 L5 GPS L1 L2 GLONASS and PAC technology Bidirectional COM ports which support data transfer rates of up to 921 600 bits s One of these serial ports is capable of communication with an IMU USB 2 0 port Ethernet port not available on the OEM615 e Controller Area Network Bus CAN Bus which is a rugged differential serial bus with a protocol that provides services for processes data and network management Field upgradeable firmware program software This unique feature means that the firmware can be
81. MU enclosure is shown in Figure 120 LN 200 SPAN IMU Figure 120 LN 200 SPAN IMU 188 SPAN on OEM6 User Manual Rev 10 Appendix F Frequently Asked Questions 1 How do know if my hardware is connected properly a When powered the HG 1700 IMU makes a noticeable humming sound If no sound is heard check that the cable between the receiver and IMU is connected properly The cable should be connected to the COM 2 port on the FlexPak6 COM3 IMU on a ProPak6 or COMG on an OEM638 Most IMUs LN 200 ISA 100 ISA 100C ADIS 16488 IMU IGM IMU CPT IMU KVH1750 iMAR FSAS Litef LCI 1 HG1900 HG930 and STIM300 do not make noise Check that the IMU interface cable is properly connected to the receiver For the IMU FSAS IMU CPT and IMU KVH1750 check that the IMU interface cable is connected to the FlexPak Y Adapter cable and the FlexPak Y Adapter cable is connected to the COM 2 and I O ports on the FlexPak6 For the IMU ISA 100 IMU ISA 100C IMU FSAS IMU CPT and IMU KVH1750 ensure the IMU interface cable is connected to an RS 422 capable port COM2 on the FlexPak6 or COM3 IMU on the ProPak6 and the port is configured to use RS 422 On the ProPak6 for all IMUs check that the IMU interface cable is connected to the COM3 IMU port If the cable is connected properly check the flex cable mounted on top of the IMU Refer to the instructions in this manual on proper IMU installation to ensure that the cable is seated properly on the
82. NECTIMU COMx IMU_ADIS16488 IMU IGM S1 CONNECTIMU COMx IMU_STIM300 IMU ISA 100 CONNECTIMU COM IMU_ISA100 IMU ISA 100C CONNECTIMU COM IMU ISA100C IMU ISA 100 400 Hz CONNECTIMU COM x IMU_ISA100_400HZ IMU ISA 100C 400 Hz CONNECTIMU COM x IMU_ISA100C_400HZ IMU KVH1750 CONNECTIMU COMx IMU_KVH_1750 LCI 1 CONNECTIMU COMx IMU LITEF LOCH LN 200 CONNECTIMU COMx IMU LN200 STIM300 CONNECTIMU COMx IMU_STIM300 a Use the COM port number the IMU is connected to For SPAN systems with a ProPak6 receiver the IMU must use COM3 IMU For SPAN systems with an OEM638 receiver the IMU must use COM6 If you are using the OEM615 MIC board stack you must use COM1 For SPAN systems with a FlexPak6 or OEMG28 receiver COM2 is the recommended serial port for the IMU however you can use any available port for these IMUs b If you are using a FlexPak6 you must use COM2 for the IMU ISA 100 IMU ISA 100C IMU FSAS IMU CPT or IMU KVH1750 This is to accommodate the RS 422 protocol used for these IMUs For SPAN systems with a ProPak6 receiver the IMU ISA 100 IMU ISA 100C IMU FSAS IMU CPT or IMU KVH1750 must use COM3 IMU For SPAN systems with an OEM638 receiver the IMU ISA 100 IMU ISA 100C IMU FSAS IMU CPT or IMU KVH1750 must use COM6 54 SPAN on OEM6 User Manual Rev 10 SPAN Installation Chapter 2 Basic configuration of the SPAN system is now complete The inertial filter starts after the GNSS solution is solved and the IMU is conn
83. NGED if using GLONASS From a rover e RANGECMPB ONTIME 1 e RAWEPHEMB ONCHANGED e GLOEPHEMERISB ONCHANGED if using GLONASS e RAWIMUSXB ONNEW e MUTOANTOFFSETSB ONCHANGED e VEHICLEBODYROTATIONB ONCHANGED e HEADINGB ONNEW if using ALIGN dual antenna solution Post processing is performed through the Waypoint Inertial Explorer software package available from the NovAtel Waypoint Products Group Visit our Web site at www novatel com for details The highest rate that you should request GNSS 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 GNSS logs can be requested at rates up to 20 Hz 76 SPAN on OEM6 User Manual Rev 10 SPAN Operation Chapter 3 3 9 Firmware Updates and Model Upgrades Firmware updates are firmware releases which include fixes and enhancements to the receiver functionality Firmware updates are released on the web site as they become available Model upgrades enable features on the receiver and may be purchased through NovAtel authorized dealers Contact your local NovAtel dealer first for more information To locate a dealer in your area visit Where to Buy Dealer Network on the NovAtel web site at www novatel com where to buy sales offices or contact NovAtel Customer Support directly For information about how to install firmware updates or model upgrades refer to the OEM6 Family Installation and Operatio
84. PVAS and INSPVAX logs The inertial solution is available up to the rate of the IMU data 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 200 Hz The GNSS only solution is still available through the GNSS only logs such as RTKPOS and PSRPOS When running SPAN rates of non INS logs should be limited to a maximum rate of 5 Hz Refer to the OEMG Family Firmware Reference Manual OM 2000128 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 The highest rate that you should request GNSS 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 GNSS logs can be requested at rates up to 20 Hz Ensure that all windows other than the Console are closed in NovAtel Connect and then C use the SAVECONFIG command to save settings in NVM Otherwise unnecessary data logging occurs and may overload your system SPAN on OEM6 User Manual Rev 10 67 Chapter 3 SPAN Operation e Logging Restriction Important Notice Logging excessive amounts of high rate data can overload the system When configuring the output for SPAN NovAtel recommends that only one high rate 250 Hz message be configured for output at a time It is possible to log more than one message at high rates but doing so could have negative im
85. RTCM RTCM V3 and CMR ProPak6 FlexPak6 OEM638 and OEM628 receivers can also be set up for L Band corrections Refer to the OEM6 Family Installation and Operation User Manual OM 2000128 for details on DGPS RTK L Band or SBAS setup and operation With no additional configuration the system operates in single point mode SPAN on OEM6 User Manual Rev 10 538 Chapter 2 SPAN Installation 2 5 2 SPAN IMU Configuration 2 5 2 1 Configure SPAN Manually Follow these steps to enable INS as part of the SPAN system using software commands or see SPAN Configuration with NovAtel Connect on page 55 for the alternate method using the NovAtel Connect software utility A GNSS antenna must be connected and tracking satellites for operation 1 Issue the CONNECTIMU command to specify the type of IMU being used and the receiver port connected to the IMU see Table 10 Enable INS Commands on page 54 and the CONNECTIMU command Table 10 Enable INS Commands IMU Type CONNECTIMU command ADIS 16488 CONNECTIMU COMx IMU_ADIS16488 HG1700 AG11 CONNECTIMU COMx IMU HG1700 AG11 HG1700 AG17 CONNECTIMU COMx IMU HG1700 AG17 HG1700 AG58 CONNECTIMU COMx IMU HG1700 AG58 HG1700 AG62 CONNECTIMU COMx IMU HG1700 AG62 HG1900 CA50 CONNECTIMU COMx IMU_HG1900_CA50 HG1930 CA50 CONNECTIMU COMx IMU_HG1930_CA50 iIMU FSAS CONNECTIMU COMx IMU_IMAR_FSAS IMU CPT CONNECTIMU COMx IMU_KVH_COTS IMU IGM A1 CON
86. SICAL 88 9 mm X 73 7 mm IMU KVH1750 Enclosure Size IMU KVH1750 Weight lt 0 7 kg A 7 1 IMU KVH1750 Mechanical Drawings Figure 57 IMU KVH1750 Bottom view 61 77 2 432 Mounting Hole 4x 4 39 0 173 Alignment Hole 5 029 0 013 20 1980 0 0005 61 77 12 8 70 110 2 432 5 54 gi E 1 02 5 029 0 013 0 1980 40 0005 12 8 10 110 Alignment Slot 2 750 Dimensions are in millimetres inches 121 SPAN on OEM6 User Manual Rev 10 Appendix A Technical Specifications 122 Figure 58 IMU KVH1750 Top View Center of gt lt 1 2 0 05 Gravity Dimensions are in millimetres inches Figure 59 IMU KVH1750 Side View Center of gt 1 2 0 05 Gravity A cal Wro 36 0 14 Zu IET 2 90 22 ord Coe pi 1 T j 32 8 AN l o 1 29 DI ze 3 50 Dimensions are in millimetres inches SPAN on OEM6 User Manual Rev 10 Technical Specifications Appendix A Figure 60 IMU KVH1750 Gyro Axes SPAN on OEM6 User Manual Rev 10 123 Appendix A A 7 2 124 IMU KVH1750 Sensor Specifications Technical Specifications Table 60 IMU KVH1750 Performance GYROSCOPE PERFORMANCE Maximum Input Rate 490 second Bias Stability constant temperature 0 05 hr typical 0 1 hr max Bias Temperature Sensitivity full temp
87. U to the MIC OEM Cable Kit 01019007 L0Zd p Je 409d P301 LOZd o rot 09d MIC to IMU Interface Cable 01019008 lt q ADIS IMU MIC to IMU gl gt Interface Cable 01018828 IMU Mounting PCB 01019053 Figure 19 Connect the HG1700 IMU to the MIC OEM Cable Kit 01018868 HG1700 IMU IMU Mounting PCB 01018785 Figure 20 Connect the HG1900 IMU to the MIC OEM Cable Kit 01018871 P301 L0Zd 4 L09d MIC to IMU d Interface Cable 01018828 HG1900 IMU IMU Mounting PCB 01018715 Figure 21 Connect the HG1930 IMU to the MIC OEM Cable Kit 01018869 P301 LOZd L09d Pro lt MIC to IMU d Interface Cable 01018827 SPAN on OEM6 User Manual Rev 10 HG1930 IMU IMU Mounting PCB 01018716 45 Chapter 2 SPAN Installation Figure 22 Connect the STIM300 IMU to the MIC OEM Cable Kit 01019174 P301 7 MIC a STIM300 IMU hem CO Interface Cable Jeck 01019161 2 3 1 3 Connect Power to the MIC Connect a 10 to 30 V DC power supply to the power connector P101 on the MIC S
88. a connector IMU Interface RS 422 Table 51 ilMU FSAS Environmental Specifications ENVIRONMENTAL Operating Temperature 40 C to 71 C 40 F to 160 F Storage Temperature 40 C to 85 C 40 F to 185 F Humidity 95 non condensing 110 SPAN on OEM6 User Manual Rev 10 Technical Specifications Appendix A A 5 4 Interface Cable for the IMU FSAS The iIMU FSAS connects to the FlexPak6 receiver using a FlexPak Y Adapter cable and an IMU interface cable see Figure 8 Basic Set Up FlexPak6 to IMU FSAS on page 27 For a drawing and pinout of the FlexPak Y Adapter cable see FlexPak Y Adapter Cable for IMU FSAS IMU CPT or IMU KVH1750 on page 115 The IMU interface cable can be one of the following cables Cable Novel Comment For more information Part Number Universal IMU 01018977 For standard pinout enclosures See Universal IMU Enclosure Enclosure Interface FlexPak6 compatible Interface Cable on page 90 cable connectors Universal IMU cable 01018299 For standard pinout enclosures See Universal IMU Cable on page 91 IMU FSAS cable with 01018388 For standard pinout enclosures See MU FSAS cable with ODO Includes an additional Odometer on page 111 connector for odometer cabling A 5 5 IMU FSAS cable with Odometer The NovAtel part number for the IMU FSAS cable with Odometer is 01018388 see Figure 50 IMU FSAS Interface Cable with Odometer This cable pr
89. able gegtee teste edd a T a aara aaa a ae E aa ana a ea n ire aaan en aaiae 126 AB IMIS IGM EH DM 127 A 8 1 IMU IGM Physical Specifications ssssasessseusesrerussrnannnrrnenunrnnnnnnnsnnnnncnnnannnnnnannnnnnnnnne 127 A 8 2 IMU IGM Mechanical DrawingS AAA 128 LCE LEINEN 130 A 8 4 IMU IGM Sensor Specifications eeessssssssssssseessseeeeenennenenn nnne 131 A 8 5 IMU IGM Electrical and Environmental seeeeeeseseseeee nennen 132 A 8 6 IMU IGM Interface Gabl ra dioe ea ceterae e Yeu venous es Eed Pe nenas 133 A 8 7 IMU IGM Stack Up Cable EEN 134 A 9 OEM IMU ADISE164988 5 nte cert eei ee nete ee es 135 A 9 1 Mechanical Drawings AAA 135 A 9 2 OEM IMU ADIS 16488 Sensor Specifications esses 136 A 9 3 OEM IMU ADIS 16488 Electrical and Environmental 137 A 9 4 ADIS 16488 IMU to MIC Cable Assembly AAA 137 ACTO OEMEIMUEISA 1006 5 iR 138 A 10 1 Mechanical DrawingS nennen nnne nn nnne nn nnne 138 A 10 2 OEM IMU ISA 100C Sensor Specifications ssssssseesoeeeesnnnnreereeeerrrnnnnnennneeeee ne 140 A 10 3 OEM IMU ISA 100C Electrical and Environmental eese 140 A 10 4 OEM IMU ISA 100C IMU to UIC Cable Assembly AA 141 AAA OEMSIMU STIMGOQOQ tci erect t ea co y duse tec te Fee ree eeu er eoi eor e te ees 143 A 11 1 Mechanical Drawings 2 Lie ricos ceni ie tentes rint esteem et esee ris 143 A 11 2 OEM IMU STIM300 Sensor Specifications esses 145 A 11 3 OE
90. ables communication 146 between the MIC and the IMU Technical Specifications Figure 74 STIM300 IMU to MIC Cable Assembly Dimensions are in millimetres 230 0 25 0 P2 HHH i P PIN 20 Table 89 STIM300 IMU to MIC Cable Pinout P2 Pin Signal P1 Pin MIC STIM300 1 No connection 2 No connection 3 No connection 4 No connection 5 No connection 6 Ground 12 7 Ground 13 8 VSUP 5V input 8 9 VSUP 5V input 10 Ground 15 11 Transmit Data 10 12 Transmit Data 2 13 Receive Data 9 14 Receive Data 1 15 No connection 16 No connection 17 IMU DAS 4 18 No connection 19 IMUTYPE1 15 20 No connection SPAN on OEM6 User Manual Rev 10 Technical Specifications Appendix A A 12 MIC MEMS Interface Card Table 90 MEMS Interface Card Physical Specifications PHYSICAL MIC Size 74 9 mm x 45 7 mm x 19 5 mm 2 94 x 1 80 x 0 76 MIC Weight 31 g 0 0683 Ib A 12 1 MIC Mechanical Drawings Figure 75 MIC Top Bottom Dimensions
91. ading can be used as a seed for a coarse static alignment In this mode the standard coarse alignment routine runs given the initial azimuth value As with the transfer alignment the first verified fixed RTK solution is used to provide the alignment seed after which the coarse alignment INS ALIGNING begins After the coarse alignment is complete the INS status changes to INS ALIGNMENT COMPLETE After the attitude accuracy has converged the INS status changes to INS SOLUTION GOOD This alignment mode is useful if the initial vehicle roll is more than 20 degrees To use this alignment mode the configuration command ALIGNMENTMODE must be sent to the receiver ALIGNMENTMODE AIDED STATIC 4 3 3 Unaided Alignment The unaided alignment sets the SPAN system to use only single antenna alignment options static kinematic or manual alignment To use this alignment mode the configuration command ALIGNMENTMODE must be sent to the receiver ALIGNMENTMODE UNAIDED 4 3 4 Automatic Alignment Mode Automatic Alignment default Automatic Alignment Mode Selection is the default setting for a SPAN receiver This mode is designed to allow alignment of the system as quickly as possible using either an aided transfer alignment Alignment on a Moving Vessel Aided Transfer Alignment on page 82 a kinematic alignment Kinematic Alignment on page 65 or a manual alignment Manual Alignment on page 66 The first availab
92. an be changed using the SETALIGNMENTVEL command See the SPAN on OEM6 Firmware Reference Manual OM 20000144 for more information The accuracy of the initial attitude of the system following the kinematic alignment varies and depends on the dynamics of the vehicle and the accuracy of the RVB estimates The attitude accuracy will converge to within specifications once some motion is observed by the system This transition can be observed by monitoring the INS Status field in the INS logs 3 3 1 3 Manual Alignment If the initial attitude roll pitch azimuth of the IMU is known it can be entered manually using the SETINITATTITUDE command Refer the SPAN on OEMG Firmware Reference Manual OM 20000144 for more information about the SETINITATTITUDE command 3 3 1 4 Dual Antenna Alignment SPAN can also use information available from a NovAtel Dual Antenna ALIGN solution to perform an alignment Refer to Chapter 4 SPAN on OEM6 Dual Antenna on page 78 for details SPAN on OEM6 User Manual Rev 10 SPAN Operation Chapter 3 3 3 2 Navigation Mode Once the alignment routine has successfully completed SPAN enters navigation mode SPAN computes the solution by accumulating velocity and rotation increments from the IMU to generate position velocity and attitude SPAN models system errors by using a filter The GNSS solution phase observations and automatic zero velocity updates ZUPTs provide updates to the fil
93. andoffs included with the MIC is RAF M21073005AL7 Irwin Industrial If alternate standoffs are selected use equivalent parts with a minimum height of 12 mm e Ensure all standoffs are properly installed and the mounting location is level The amount of board deflection bow and twist must not exceed 0 7596 For example on the OEM615 which is 71 mm long and 46 mm wide the deflection along the length must not exceed 0 53 mm and the deflection along the width must not exceed 0 34 mm Connect the antenna cable to the antenna jack on the OEM615 The antenna cable must have a right angle MCX connector on the end that connects to the OEM615 C Warning Do not apply power to the cards until the antenna cable is attached The part number for the recommended MCX connector is 7 0 mm C M1051 110 ShinA Telecom If an alternate part is used it should meet the dimensions shown in the diagram a The space between the OEM615 and the MIC is limited 4 35 mmi 4 8 65 mm max The height of the MCX connector must not exceed 8 65 MEX aes mm Align the OEM615 mating connector J301 on the MIC with the 20 pin header P1101 on the OEM615 Make sure all of the pins on the header are aligned with the holes in the mating connector Press down on the MIC to seat the connector on the header Use the four screws supplied with MIC to secure the MIC card to the OEM615 SPAN on OEM6 User Manual Rev 10 43 Chapter 2 SPAN In
94. ar use a ground strap before exposing or handling any electronic items including the IMU Take care to prevent damaging or marring painted surfaces O rings sealing surfaces and the IMU For more information about ESD practices see the OEM6 Family Installation and Operation User Manual OM 200001 28 Figure 23 Basic Set Up MIC in Standalone Configuration IMU O O o Mating e Ref Connector Part Number Description Connector 1 P101 43650 0313 43645 0300 Connects to the MIC power supply Molex Molex user supplied cable Connects to HG1700 HG1900 HG1930 and 2 P601 P MOI E STIM300 IMUs NovAtel supplied cable 3 P701 53780 1070 51146 1000 Connects to ADIS 16488 IMUs Molex Molex NovAtel supplied cable 501571 3007 501189 3010 Connects the MIC serial port to the OEM6 receiver 4 P301 Molex Molex user supplied cable 5 J301 ASP 163577 01 N A This connector is not used in a standalone Samtec configuration For information about the OEM6 receiver card connectors and pinouts refer to the OEM6 Family Installation and Operation User Manual OM 20000128 SPAN on OEM6 User Manual Rev 10 47 Chapter 2 SPAN Installation D OEM628 Recommendations e Use COM for connection to a computer COM1 uses RS 232 levels
95. as BESTPOS When the time status reaches FINETIME the inertial filter starts and IMU data is available SPAN on OEM6 User Manual Rev 10 189 Appendix F Frequently Asked Questions 190 How can access the inertial solution The GNSS INS 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 100 125 or 200 Hz depending on your IMU model The solution can also be triggered by the mark input signal by requesting the MARKxPVA logs Further details on these logs are available in the SPAN on OEM6 Firmware Reference Manual OM 20000144 Can still access the GNSS only solution while running SPAN The GNSS only solution used when running the OEMG receiver without the IMU is still available when running SPAN Logs such as PSRPOS and RTKPOS are still available The BESTGNSSPOS log is also available to provide the best available GNSS only solution Any non INS logs should be logged at a maximum rate of 5 Hz when running SPAN Only INS specific logs documented in the SPAN on OEMG Firmware Reference Manual OM 20000144 should be logged at rates higher than 5 Hz when running SPAN What will happen to the INS solution when lose GNSS satellite visibility When GNSS tracking is interrupted the INS solution bridges through
96. ate radio frequency energy and if not installed and used in accordance with the instruction manual may cause harmful interference to radio communications Operation of this equipment in a residential area is likely to cause harmful interference in which case the user will be required to correct the interference at his own expense In order to maintain compliance with the limits of a Class B or Class A digital device it is v required to use properly shielded interface cables such as Belden 9539 or equivalent when using the serial data ports and double shielded cables such as Belden 9945 or equivalent when using the I O strobe port Changes or modifications to this equipment not expressly approved by NovAtel Inc could C result in violation of FCC Industry Canada and CE Marking rules and void the user s authority to operate this equipment SPAN on OEM6 User Manual Rev 10 Notices Industry Canada SPAN Class B and Class A digital apparatuses comply with Canadian ICES 003 SPAN appareils num rique de la classe B et classe A sont conforme a la norme NMB 003 du Canada Class B Classe B Class A Classe A ProPak6 IMU H58 IMU FSAS IMU CPT IMU IGM A1 FlexPak6 IMU H62 IMU LCI IMU KVH1750 IMU IGM S1 OEM638 UIMU H58 IMU LN200 IMU H1900 CA50 IMU ISA 100 OEM628 UIMU H62 UIMU LN200 IMU H1930 CA50 IMU ISA 100C OEM617 OEM IMU ADIS16488 OEM615 OEM IMU STIM300 Universal IMU Controller CE Marking The encl
97. ator to Vehicle Electrical System Dedicated Vehicle Main Battery Battery For pinout information about the power connector on the FlexPak6 refer to the OEM6 Family Installation and Operation User Manual OM 20000128 For pinout information about the power connect on the ProPak6 refer to the ProPak6 User Manual OM 20000148 2 2 7 2 IMU Power In addition to the receiver power supply a power supply is needed for the IMU See Table 7 IMU Power Supply for the voltage requirements for each IMU The same power supply can be used for the receiver and the IMU if the power supply meets the power requirements of both devices If the SPAN system has an IMU IGM connected to the COM2 port on a FlexPak6 using the Stack Up Cable 01019013 power for the IMU IGM is provided by the FlexPak6 through the Stack Up Cable Table 7 IMU Power Supply IMU Power Requirement UIMU LN200 12 to 28 V DC IMU ISA 100 IMU ISA 100C 10 to 34 V DC UIMU HG1700 AG58 or AG62 12 to 28 V DC UIMU LCI 12 to 28 V DC iIMU FSAS 10 to 34 V DC IMU CPT 9 to 18 VDC IMU KVH1750 9 to 36 V DC IMU IGM 10 to 30 V DC For most IMUs connect the power leads on the IMU interface cable to the IMU power supply For an IMU ISA 100 or IMU ISA 100C connect the IMU Power Cable NovAtel part 60723136 from the IMU to the IMU power supply Details about the IMU ports and cables can be
98. ble maybe needed to pass conducted emission b A tubular ferrite bead similar to Laird Technologies 28B0375 300 maybe attached to the data cable to reduce radiated emissions Table 105 Pinouts for Power Connector J101 Pin Signal Type Description Comments 1 VIN Power Power input 10 VDC to 34 VDC 2 VIN Power Power input 10 VDC to 34 VDC 3 VIN Power Power return Connect to negative terminal of battery 4 VIN Power Power return Connect to negative terminal of battery 5 GND Power Chassis ground 158 SPAN on OEM6 User Manual Rev 10 Technical Specifications Appendix A Table 106 Pinouts for UIC to Receiver Communications Connector J102 Signal Description Comments A1 UIC_RX Input RS 422 serial data in RS 422 serial port for UIC to receiver A2 UIC_RX Input RS 422 serial data in EIER A3 UIC_TX Output RS 422 serial data out A4 UIC_TX Output RS 422 serial data out A5 A Input Odometer input A Connects to the wheel sensor A6 A Input Odometer input A Connects to the wheel sensor AT Reserved A8 Reserved B1 Reserved B2 Reserved B3 EVENT OUT Output Event output B4 EVENT OUT Output Event output B5 B Input Odometer input B Connects to the wheel sensor B6 B Input Odometer input B Connects to the wheel sensor B7 Reserved do not connect B8 CGND Power Chassis ground a All signal I O are at LVTTL
99. ble to the corresponding connector on the IMU card ensuring that the contacts on the flex cable mate with the contacts on the connector as shown in Figure 110 Attach Flex Cable on page 181 4 Check that the flex cable is locked in place Figure 111 Incorrect Bowed Flex Cable Installation shows an incorrect installation of the v flex cable where it is bowed in the middle It will not operate properly in this position Figure 112 Correct Flat Flex Cable Installation shows the proper installation of the flex cable Notice how the flex cable sits flush against the IMU surface Figure 111 Incorrect Bowed Flex Cable Installation SPAN on OEM6 User Manual Rev 10 181 Appendix D HG1700 IMU in SPAN HG Enclosure DA Re Assemble the SPAN IMU Enclosure Use a hex key to align the long bolts with the threaded holes in the base as shown in Figure 107 Bolts and Hex Key on page 179 Apply threadlock to threads Finger tighten all bolts and torque them ina cross pattern to 12 in lbs The fully assembled IMU enclosure is shown in Figure 113 HG1700 SPAN IMU Figure 113 HG1700 SPAN IMU 182 SPAN on OEM6 User Manual Rev 10 Appendix E LN 200 IMU in SPAN IMU Enclosure The following procedure provides the necessary information to install the LN 200 sensor NovAtel part number 80023515 into the SPAN IMU enclosure NovAtel part number 01017656 using the LN 200 wiring harness NovAtel part number 01017655 The steps required for t
100. bles communication between the MIC and the IMU Figure 78 HG1700 and HG1900 IMU to MIC Cable Assembly 600 0 20 0 P2 to MIC P1 to IMU PCB 20 1 al mmmmmssmSEEEEEEEEEBEEH e La V Notch indicates Pin 1 end of connector ES Ep EE ED ED E E E CH E E E Dimensions in millimetres Table 100 HG1700 and HG1900 IMU to MIC Cable Assembly P1 IMU Cable End FCI MINITEK P2 MIC Cable End Pin Pin 15 16 13 14 Oli old Oc BR Ww Mm co eo N oO BR w CO pare CH Mil on For more information refer to the IMU documentation provided by Honeywell SPAN on OEM6 User Manual Rev 10 155 Appendix A Technical Specifications A 13 UIC Universal IMU Controller Table 101 UIC Physical Specifications PHYSICAL UIC Size 100 mm x 113 mm x 17 54 mm 3 94 x 4 45 x 0 69 UIC Weight 125 g 0 28 Ib A 13 1 UIC Mechanical Drawings Figure 79 UIC Dimensions and Keep Out Zones 12 02 Component M 3 50 113 00 height keepout Component connector side height keepout o
101. ce REACH SVHC lists are updated occasionally please contact NovAtel Customer Support if you require further information C Cables may contain DEHP CAS Number 117 81 7 in concentrations above 0 196 w w 1 Visit the NovAtel Web site at www novatel com products weee and rohs for more information SPAN on OEM6 User Manual Rev 10 15 Notices Lightning Protection Installation and Grounding Procedure What is the hazard A lightning strike into the ground causes an increase in the earth s potential which results in a high voltage potential between the center conductor and shield of the coaxial cable This high voltage develops because the voltage surge induced onto the center conductor lags in time behind the voltage surge induced onto the shield Hazard Impact A lightning strike causes the ground potential in the area to rise to dangerous levels resulting in harm to personnel or destruction of electronic equipment in an unprotected environment It also conducts a portion of the strike energy down the inner conductor of the coax cable to the connected equipment Only qualified personnel electricians as mandated by the governing body in the country of installation may install lightning protection devices Actions to Mitigate Lightning Hazards 1 Do not install antennas or antenna coaxial cables outside the building during a lightning storm 2 Itis not possible to avoid over voltages caused by lightning but a lightning pr
102. cessing at a later time For information about logging information to the onboard memory and retrieving data from the onboard memory refer to the OEM6 Family Installation and Operation User Manual OM 20000128 or the ProPak6 User Manual OM 20000148 3 3 4 Lever Arm Calibration Routine Each time the system is re mounted on a vehicle or the IMU or antenna is moved on the vehicle the lever arm must be redefined either through manual measurement or through calibration We recommend that you measure the lever arm using survey methodology and equipment for example a total station Only use calibrations when precise measurement of the lever arm is not possible Initial estimates and uncertainties for the lever arm may be entered using the SETIMUTOANTOFFSET command The calibration routine uses these values as the starting point for the lever arm computation The Lever Arm Calibration routine is not available for the IMU CPT HG 1930 ADIS 16488 IMU IGM or STIM300 68 SPAN on OEM6 User Manual Rev 10 SPAN Operation Chapter 3 The steps involved in the calibration are 1 2 3 4 Apply power to the receiver and the IMU Configure the IMU see SPAN IMU Configuration on page 54 Set the orientation of your installed IMU using the SETIMUORIENTATION command Enter the initial estimate for the lever arm using the SETIMUTOANTOFFSET command Ensure the standard deviation values entered for the antenna offset are not o
103. ck MIL STD 810G 40 g A 12 3 MIC Connectors Table 93 MIC Connectors Mating Connector Connector Description Part Number Part number J301 20 pin OEM615 mating connector 501189 3010 Connects only to Molex Electronics OEM615 receiver P101 3 pin locking power connector 43650 0313 43645 0300 Molex Electronics Molex Electronics P301 30 pin locking communication connector 501571 3007 501189 3010 Molex Electronics Molex Electronics P601 20 pin locking IMU connector for Honeywell and 53780 2070 51146 2000 Sensonor IMUs Molex Electronics Molex Electronics P701 10 pin locking IMU connector for ADIS IMUs 53780 1070 51146 1000 Molex Electronics Molex Electronics SPAN on OEM6 User Manual Rev 10 149 Appendix A Technical Specifications Table 94 Pinouts for Power Connector P101 Pin Signal Type Description Comments 1 VIN Power Power input 10 VDC to 30 VDC 2 VIN Power Power return Connect to negative terminal of battery 3 GND Power Chassis ground Table 95 Pinouts for User Interface Connector P301 Description Comments 1 N C 2 N C 3 LED3 Output Status LED 3 Self test 4 LED2 Output Status LED 2 GPS Time Status 5 DGND Power Digital ground LED1 Output Status LED 1 IMU Data Status 7 Reserved N A Leave as no connect 8 DGND Power Digital ground 9 Reserved N A Leave as no connect 10 Reserved N A Leave
104. cond In Run Gyro Rate Bias Stability 0 5 hour Angular Random Walk ACCELEROMETER PE Accelerometer Range 0 15 hour RFORMANCE 10g In Run Accelerometer Bias Stability 0 05 mg Velocity Random Walk IMU Measurement 0 06 m s Vhr DATA RATE 125 Hz SPAN on OEM6 User Manual Rev 10 Appendix A 131 Appendix A Technical Specifications A 8 5 IMU IGM Electrical and Environmental Table 69 IMU IGM A1 Electrical Specifications ELECTRICAL Input Voltage 10 30 VDC Power consumption 2 5 W typical a Asystem with a FlexPak6 requires 11 VDC if using the FlexPak6 to power the IMU IGM b A system with a FlexPak6 requires 5 W typical Table 70 IMU IGM A1 Environmental Specifications ENVIRONMENTAL Temperature operational 40 C to 65 C Temperature storage 50 C to 80 C Humidity 95 Non condensing Table 71 IMU IGM S1 Electrical Specifications ELECTRICAL Input Voltage 10 30 VDC Power consumption 4 6 W typical a Asystem with a FlexPak6 requires 11 VDC if using the FlexPak6 to power the IMU IGM b A system with a FlexPak6 requires 7 W typical Table 72 IMU IGM S1 Environmental Specifications ENVIRONMENTAL Temperature operational 40 C to 65 C Temperature storage 50 C to 80 C Humidity 95 Non condensing 132 SPAN on OEM6 User Manual Rev 10 Technical Specifications Appe
105. condary GNSS Antenna Connect COM 2 to COM 2 Mo t Poe o CE SPAN Receiver Master SPAN on OEM6 User Manual Rev 10 Chapter 4 d po p PN il AS oce Se Wills ji Secondary Receiver B Rover USB USB Power Supply 79 Chapter 4 SPAN on OEM6 Dual Antenna Figure 31 SPAN on OEM6 ProPak6 Dual Antenna Installation m Rl Power Supply Primary GNSS Antenna i Mn mfi Secondary GNSS Antenna ANT1 l SE GRENZ M SPAN im Receiver An 4a eege EI Ek NK 9 ANT2 T f E gt USB j Connect IMU to COM3 IMU t The ALN LED on the front panel of the ProPak6 indicates the ALIGN heading status Table 19 ALN ALIGN LED States LED State Description Off ALIGN is not operational Dual card is disabled or unavailable Tracking lt 4 satellites Heading log not received updated in 30 seconds Amber solid ALIGN has FLOAT sol
106. d event in weeks and seconds and an event ID You can queue 10 unprocessed events at a time Any time input specified via this command must occur at least 1 second after the command is entered The timing accuracy of the TIMEDEVENTPULSE output is 2 milliseconds 3 5 4 Recording Incoming Sensor Events After a TIMEDEVENTPULSE is sent the system can be configured to accept an incoming pulse from the sensor in order to produce a time and ID tagged inertial solution associated to that event This is optional and useful if a sensor provides a measurement TOV pulse The produced log is a TAGGEDxMARKPVA where the x is the Event In line associated with that sensor via the SETUPSENSOR command For example if the SETUPSENSOR command specifies SENSOR1 to use MARK in as the input event then a TAGGEDMARK1PVA log will be produced when any pulses on that line are observed In this case the TAGGEDMARK1PVA log should be requested ONNEW to capture the data 3 6 SPAN Wheel Sensor Configuration A wheel sensor is used to measure the distance traveled by counting the number of revolutions of a ground vehicle wheel Typical wheel sensor hardware outputs a variable frequency pulse that varies linearly with speed If the pulses are accumulated and the size of the wheel known a displacement of the wheel over time can be calculated The SPAN system takes in a wheel sensor inp
107. d the center of navigation labels are properly affixed and contain the correct information The final assembled unit will be similar to that shown in Figure 93 Final Assembly Figure 93 Final Assembly Centre of Navigation Labels triangular Product icon for HG1700 should be here Identification Label on e SS SPAN on OEM6 User Manual Rev 10 169 Appendix C LN 200 IMU in Universal Enclosure Important Assemble in accordance with applicable industry standards Ensure all ESD C3 measures are in place in particular use a ground strap before exposing or handling any electronic items including the IMU Take care to prevent damaging or marring painted surfaces O rings sealing surfaces and the IMU The following procedure provides the necessary information to install the LN 200 sensor into the Universal Enclosure NovAtel part number 01018590 both illustrated below The steps required for this procedure are Disassemble the Universal Enclosure e Install the LN 200 Sensor Unit e Reassemble the Universal Enclosure Figure 94 Required Parts LN 200 Universal Sensor Unit Enclosure D 1 Use thread locking fluid on all fasteners except for the cable harness connectors 2 Torque values for all fasteners including those for the cable harness screws are as follows Size 6 32 0 79 0 90 N m 7 0 8 0 Ib in Size M4 1 36 1 58 N m 12 0 14 0 Ib in 170 SPAN on OEM6 User Manual Rev 10 LN 200
108. d the installation and setup instructions in Chapter 2 SPAN Installation on page 23 You can use the NovAtel Connect software to configure receiver settings and to monitor data in real time between a rover SPAN system and base station SPAN system output is compatible with post processing software from the NovAtel Waypoint Products Group Visit our web site at www novatel com for details Ensure the Control Panel Power Settings on your computer 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 e the Local Level Frame e the SPAN Body Frame the Enclosure Frame the Vehicle Frame 3 1 1 The Local Level Frame ENU The definition of the local level coordinate frame is as follows e z axis pointing up aligned with gravity e y axis pointing north e x axis pointing east Figure 26 Local Level Frame ENU 3 1 2 The SPAN Body Frame The definition of the SPAN body frame is as follows e z axis pointing up aligned with gravity e y axis defined by how the IMU is mounted e x axis defined by how the IMU is mounted To determine your SPAN x axis and y axis see Table 13 Full Mapping Definitions on page 59 This frame is also known as the computation frame and is the frame where all the mechaniza
109. d to each other via COM 2 before sending any configuration commands It does not matter which receiver is powered on first or how long they are both powered before sending any commands SPAN on OEM6 Dual Antenna operation requires the dedicated use of the COM 2 port for communication between receivers If an IMU ISA 100 ISA 100C IMU iMAR FSAS IMU CPT or IMU KVH1750 with a FlexPak6 that requires COM 2 is connected COM 1 can be used on the master station However the rover must always use COM 2 Use the USB port to connect the receiver to the computer used to send commands and receive logs The two receivers need to be set up as shown in the example in Figure 30 SPAN on OEM6 Dual Antenna Installation on page 79 The ProPak6 Dual Antenna receiver contains the hardware necessary to provide an ALIGN solution without an additional receiver Set up a SPAN system with a ProPak6 Dual Antenna receiver as shown in Figure 31 SPAN on OEM6 ProPak6 Dual Antenna Installation on page 80 In a SPAN system with a ProPak6 Dual Antenna receiver the antenna connected to the ANT port is the Primary GNSS Antenna and the antenna connected to the ANT2 port is the Secondary GNSS Antenna SPAN on OEM6 User Manual Rev 10 SPAN on OEM6 Dual Antenna er Connect IMU to COM 1 Figure 30 SPAN on OEMG Dual Antenna Installation Primary GNSS Antenna Se
110. e Remove the 3 ring spacer screws and set them aside Figure 108 Lift Top Cover Tube Body and 3 Ring Spacer Screws SPAN on OEM6 User Manual Rev 10 179 Appendix D HG1700 IMU in SPAN HG Enclosure D 2 Install the HG1700 Sensor Unit To re assemble the SPAN IMU with the HG1700 sensor see Figure 109 SPAN IMU Re Assembly on page 180 and follow these steps 1 Mount the HG1700 sensor with the attached 8 screws Apply threadlock to the screw threads Use a hex key to torque each screw to 10 in Ibs 2 Fitthe tube body over the HG1700 sensor and onto the base plate Figure 109 SPAN IMU Re Assembly 1 D 3 Make the Electrical Connections To make the electrical connections you need a 3 32 hex key the flex cable and the partially assembled SPAN IMU from Section D 2 Install the HG1700 Sensor Unit on page 180 Now follow these steps 1 Attach the flex cable to the HG1700 sensor ensuring that all the pins are fully connected Check also that the pins are fully seated and that the flex cable stiffener around the pins is not bent upward see Figure 110 Attach Flex Cable 180 SPAN on OEM6 User Manual Rev 10 HG1700 IMU in SPAN HG Enclosure Appendix D Figure 110 Attach Flex Cable Lem 2 Tighten the screws to 4 in Ibs Connect the opposite end of the flex ca
111. e LITEF 2 B LCL1 HGT HG1700 N T O LN200 25 09 0 209 99 24 3 907 f S C Kl H Ka INX 7 2 559 la n o x 99 24 3 907 2 559 FT S 8 eu eu d A J e e e Gu ej joe j A LEFT FRONT 5 30 ty 3 00 E maa 0 209 0 118 Is S M 25 09 0 988 Notes 1 Dimensions are shown in mm and in square brackets in inches TOP FRONT 86 SPAN on OEM6 User Manual Rev 10 Technical Specifications A 1 2 IMU Performance Table 21 HG1700 AG58 IMU Performance GYROSCOPE PERFORMANCE Appendix A Gyro Input Range 1000 deg sec Gyro Rate Bias 1 0 deg hr Gyro Rate Scale Factor 150 ppm Angular Random Walk 0 125 deg rt hr ACCELEROMETER PERFORMANCE IMU Measurement Accelerometer Range 50 g Accelerometer Linearity 500 ppm Accelerometer Scale Factor 300 ppm Accelerometer Bias 1 0 mg DATA RATE 100 Hz Table
112. e but will have a stable mean This azimuth is computed from the master antenna to the rover antenna based on how the antennas are oriented on the vehicle There is a specific subset of logs that output this azimuth See Table 18 Logs with Azimuth data on page 76 SPAN on OEM6 User Manual Rev 10 75 Chapter 3 SPAN Operation Table 18 Logs with Azimuth data Log Log Format Azimuth Source INSPVA INSPVAS INSPVAX NovAtel Inertial INSATT INSATTS INSATTX NovAtel Inertial PASHR NMEA Inertial INSSPD T Course Over Grote Computed using the INS solution only Course Over Ground BESTVEL NovAtel From the best system solution which could be either GNSS or INS Course Over Ground GPVTG NMEA From the best system solution which could be either GNSS or INS HEADING NovAtel ALIGN GPHDT NMEA ALIGN 3 8 Data Collection for Post Processing Some operations such as aerial measurement systems do not require real time information from SPAN These operations are able to generate the position velocity or attitude solution post mission in order to generate a more robust and accurate solution than is possible in real time In order to generate a solution in post processing data must be simultaneously collected at a base station and each rover The following logs must be collected in order to successfully post process data From a base e RANGECMPB ONTIME 1 e RAWEPHEMB ONCHANGED e GLOEPHEMERISB ONCHA
113. e Figure 43 IMU ISA 100C Interface Cable This cable provides enables communication between the receiver and the IMU Figure 43 IMU ISA 100C Interface Cable lt 2000 50 gt Pin 1 Dimensions in millimetres Table 44 IMU ISA 100C Interface Cable Pinouts P1 Pinout F hction J2 Pinout M12 5 525 1 TX 2 2 TX 8 3 RX 3 4 RX 7 GND 5 Shield Shield Shield 104 SPAN on OEM6 User Manual Rev 10 Technical Specifications Appendix A A 4 6 IMU ISA 100C Power Cable The NovAtel part number for the IMU ISA 100C power cable is 60723136 see Figure 44 IMU ISA 100C Power Cable This cable provides power to the IMU from an external power source Figure 44 IMU ISA 100C Power Cable 2000 25 0 gt Dimensions in millimetres Table 45 IMU ISA 100C Power Cable Pinouts P1 Pinout M12 Function Bare Wire Color 1 VIN Brown 2 VIN White 3 VIN Blue 4 VIN Black 5 Chassis Ground Grey SPAN on OEM6 User Manual Rev 10 105 Appendix A Technical Specifications A 4 7 IMU ISA 100C Wheel Sensor Cable The NovAtel part number for the IMU ISA 100C wheel sensor cable is 60723137 see Figure 45 IMU ISA 100C Wheel Sensor Cable This cable enables communication between the IMU and the wheel sensor Figure 45 IMU ISA 100C Wheel Sens
114. e MAIN connector on the IMU IGM to the COM 2 port on the FlexPak6 See Figure 10 Basic Set Up FlexPak6 to IMU IGM on page 29 If the IMU IGM is connected to the FlexPak6 using a Stack Up Cable 01019013 you must connect the cable to the COM 2 port For a system with a OEM6 receiver card A wiring harness is required between the receiver card and the IMU interface cable For more information see the OEM6 Family Installation and Operation User Manual OM 20000128 For systems with an OEM638 receiver the COM6 port should be used to connect to the IMU See Table 4 Receiver to IMU Interface Cables on page 35 for information about which interface cable is appropriate for your SPAN system 2 2 6 X Connect I O Strobe Signals 38 The OEMG receivers have several I O strobe signals that enable it to be part of an interconnected system composed of devices that need to be synchronized with each other For example you could connect the SPAN system to an aerial camera in such a way that the SPAN system records its position whenever the shutter button is pressed The I O strobe lines are accessed from the multi pin connectors on receiver cards or the I O port on the FlexPak6 and ProPak6 Refer to the OEMG Family Installation and Operation User Manual OM 20000128 for more information on signals wiring and pinout information of the receiver card connectors and the FlexPak6 I O port Refer to the ProPak6 User Manual OM 20000148 for
115. e e tere ete bet ree pa re deti denos 3 3 1 System Start Up and Alignment TeChniques EE 3 3 2 Navigation Mode E RER ENEE 3 3 4 Lever Arm Calibration Routine sse nnns 3 3 5 Vehicle to SPAN Frame Angular Offsets Calibration Routine ssssss SPAN on OEM6 User Manual Rev 10 Table of Contents 3 4 Synchronizing External Equipment AAA 70 3 4 1 Configuring a Synchronous Output Pulse AAA 70 3 4 2 Configuring an Input Strobe AAA 71 3 5 Adding Timed Sensor TriQQers ccecseecceeceeseccceeeeeeeeeeesenseeeeeeseesenseesessaneeensnseeneeeeeseseneeeees 72 3 5 1 Configuring kel ve VC 72 3 5 2 Configuring the SoftWare AA 73 3 5 3 Using Timed Event Pulses esses essere nennen nnn nennen nens 73 3 5 4 Recording Incoming Sensor Events AAA 73 3 6 SPAN Wheel Sensor Configuration eesssessseeeeeeeeeeeee enne nnne 73 3 6 1 Wheel Sensor Updates Using the Event Input Lines 74 3 6 2 Wheel Sensor Data Collected on IM 74 3 7 Azimuth Sources on a SPAN Gvstem AAA 75 3 FA Course Elle DEET 75 3 7 2 Inertial AZIMUTH x eor eec cte e eee etie dE Laer rp de 75 3 7 9 LEI ET NEEN 75 3 8 Data Collection for Post Processing AA 76 3 9 Firmware Updates and Model Upgrades nnne 77 3 10 Variable Lever Arm iier Oe EENS deen 77 eMo CIEMI e aA el TAAT A E dna heveseeten Uitcedeandbnee 77 4 SPAN on OEM6 Dual Antenna 78 ln TE de Te EE 78 4 2 Configuring AL
116. e period starts at the GNSS time synchronized edge rising for negative polarity and falling for positive polarity The time length of this period is specified in nanoseconds ns Not Active Period Width The not active period immediately follows the active period The width of this period is specified in ns SPAN on OEM6 User Manual Rev 10 SPAN Operation Chapter 3 Rules Governing Period Widths The minimum period is 10 ns The maximum period is 999 999 990 ns The sum of the active and not active periods must be a factor of 1 s That is K active not active 1 000 000 000 where K 1 2 3 500 000 Figure 29 Event Out e GPS Time PPS 3 3V ov J L J L 1Hz negative polarity 3 3V i Lm ov 1Hz positive polarity L i L i gt Active Non Active Period Active Period Width Period Width Width 3 4 2 Configuring an Input Strobe SPAN systems with OEM615 OEM628 and FlexPak6 receivers have two available input strobes SPAN systems with OEM638 and ProPak6 receivers have four available input strobes The input strobes apply an accurate GNSS time to the rising or falling edge of an input pulse called an event For each event an accurate position velocity or attitude solution is also available Each input strobe is usually associated with a separate device therefore different solution output lever arm offsets can be applied to each strobe Each input strobe can be configured using the EVENTINCONTROL
117. ected 2 Issue the SETIMUTOANTOFFSET command to enter the distance from the IMU to the GNSS antenna See the SPAN on OEMG Firmware Reference Manual OM 20000144 for information about the SETIMUTOANTOFFSET command The offset between the antenna phase center and the IMU axis must remain constant and be known accurately m The X pitch Y roll and Z azimuth directions are clearly marked on the IMU enclosure The SETIMUTOANTOFFSET parameters are where the standard deviation fields are optional and the distances are measured from the IMU to the antenna x offset y offset z offset x stdev y stdev z stdev Y Offset 3 X Offset This example assumes a default mounting configuration with a X offset Y offset and Z offset A typical RTK GNSS solution is accurate to a few centimetres For the integrated GNSS INS system to have this level of accuracy the offset must be measured to within a centimetre Any offset error between the two systems shows up directly in the output position For example a 10 cm error in recording this offset will result in at least a 10 cm error in the output If itis impossible to measure the IMU to GNSS antenna offset precisely the offset can be estimated by carrying out the Lever Arm Calibration Routine See Lever Arm Calibration Routine on page 68 2 5 2 2 SPAN Configuration with NovAtel Connect Follow these steps to enable INS as part of the SPAN system using the NovAtel Connect softwa
118. ee MIC Connectors on page 149 for pinout information for the power connector LOZd m T 409d This connection provides power to the MIC and the OEM615 2 3 1 4 Connect the Input and Output Signals All of the communication connections to the MIC and the OEM615 receiver are available on the communications connector P601 on the MIC These connections include MIC serial port e OEM615 serial port COM2 USB port Event trigger input Event2 trigger input 1 PPS Pulse Per Second output e VARF Variable Frequency output Reset input Position Valid output See MIC Connectors on page 149 for the pinouts of the communications connector C All signal UO with the exception of the USB port are at LVTTL levels To connect the MIC to devices that use other signals levels such as a computer with an RS 232 serial port an interface circuit that converts LVTTL to the other signal level must be used Use a twisted pair for the USB port connection and keep the wires as short as possible 46 SPAN on OEM6 User Manual Rev 10 SPAN Installation 2 3 2 Chapter 2 Install a MIC in a Standalone MIC Set Up In a standalone configuration the MIC is mounted separately from the OEM6 receiver Important Assemble in accordance with applicable industry standards Ensure all Electrostatic Discharge ESD measures are in place in particul
119. ee Mount the Antenna on page 36 2 Mount OEMG receiver See the OEMG Family Installation and Operation User Manual OM 20000128 for information about installing an OEMG receiver Mount the IMU See Mount the IMU on page 36 4 Install the UIC in a secure enclosure to reduce environmental exposure and RF interference If there is sufficient space the UIC can reside in the same enclosure as the receiver Use M3 pan head stainless steel screws to secure the UIC to its mounting location See UIC Universal IMU Controller on page 156 for the UIC dimensions Ensure the UIC is mounted close enough to the IMU so the interface cable can reach both devices The IMU to UIC interface cable NovAtel part 01019393 is approximately 85 mm long Ensure the mounting location provides at least 5 mm of clearance below the board to allow C for components on the bottom of the UIC Ensure all standoffs are properly installed and the mounting location is flat The amount of board deflection bow and twist must not exceed 0 7596 For example on the UIC which is 100 mm long and 113 mm wide the deflection along the length must not exceed 0 75 mm and the deflection along the width must not exceed 0 85 mm 2 4 2 Connect the IMU to the UIC 1 Attach the screw kit to the IMU to UIC interface cable 2 Connect the IMU to UIC interface cable supplied with the UIC to the IMU Secure the cable to the IMU using the supplied screw kit 3 Connect
120. ees 153 HG1930 IMU to MIC Cable Assembly AAA 154 SPAN on OEM6 User Manual Rev 10 17 Tables 100 HG1700 and HG1900 IMU to MIC Cable Assembly esee 155 101 UIC Physical Specifications eeeeseeeeeeesesesseseseeeeeeeeeee nennen nennen nnne nnn nennen nenne 156 102 UIC Electrical Specifications EE 158 103 UIC Electrical and Environmental Gpechfcations ccccceeceeeeeeceeeenneeeeeeeeeeeeeeeeeeeeneeaeaeeees 158 104 Tee eet 158 105 Pinouts for Power Connector LO 158 106 Pinouts for UIC to Receiver Communications Connector LO 159 107 Pinouts for UIC to IMU Communications Connector UL A071 159 SPAN on OEM6 User Manual Rev 10 Customer Support NovAtel Knowledge Base If you have a technical issue browse to the NovAtel website at www novatel com support and search for general information about GNSS and other technologies information about NovAtel hardware software installation and operation issues Before Contacting Customer Support Before contacting NovAtel Customer Support about a software problem perform the following steps 1 Log the following data to a file on your computer for 15 minutes RXSTATUSB once RAWEPHEMB onchanged RANGECMPB ontime 1 BESTPOSB ontime 1 RXCONFIGA once VERSIONB once RAWIMUSXB onnew NSPVASB ontime 1 NSCOVSB ontime 1 NSUPDATEB onchanged I x I I MUTOANTOFFSETSB onchanged VEHICLEBODYROTATION once
121. ensor Data Collected on IMU 74 3 6 2 1 Wheel Sensor Update Logic The SPAN system uses the wheel sensor data passed in and timed through the IMU CPT MAR FSAS IMU ISA 100 IMU ISA 100C or IMU IGM This timed data is passed to the GNSS INS filter to perform the update The timed data is also available through the TIMEDWHEELDATA log The TIMEDWHEELDATA log can be used for applying wheel sensor updates in post processing The SPAN filter uses sequential TIMEDWHEELDATA logs to compute a distance traveled between update intervals 1Hz This information can be used to constrain free inertial drift during times of poor GNSS 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 Information on how the wheel sensor updates are being used is available in the INSUPDATE log Refer to the SPAN on OEM6 Firmware Reference Manual OM 20000144 for information about these logs 3 6 2 MAR Wheel Sensor Interface for iIMU FSAS and IMU CPT users If you have the iMAR iMWS Magnetic Wheel Speed Sensor and Converter the wheel sensor information is sent to the OEM6 along with the raw IMU data You can integrate other wheel sensor hardware with the iIMU FSAS The Kistler Wheel Pulse Transducer CWPTA411 WPT is used as an example see iIMU FSAS Odometer Cabling on page 113 The accumulated wheel
122. es on the bottom of the IMU enclosure To access these holes the NovAtel label must be removed from the side of the enclosure A small notch on the side of enclosure allows you to insert a small flat blade screw under the label to start lifting the label Figure 42 Optional Side Mounting Holes A S Label Removal Notch 180 00 i 90 00 45 00 90 00 isi 90 00 D o D 72 00 o i 150 00 d v Mounting Hole M6 x 1 0mm 6 5mm 4x SPAN on OEM6 User Manual Rev 10 03 20 Alignment Hole Jy 4mm 4x Dimensions in mm 101 Appendix A A 4 3 IMU ISA 100C IMU ISA 100 Performance Table 40 IMU ISA 100C IMU Performance GYROSCOPE PERFORMANCE Technical Specifications Input range 495 deg sec Bias stability 20 5 deg hr Scale factor repeatability lt 100 ppm Scale factor non linearity lt 100 ppm Angular random walk 0 012 deg Vhr ACCELEROMETER PERFORMANCE Range 10g Bias repeatability 21250 ug Scale factor repeatability lt 100 ppm Scale factor non linearity lt 100 ppm Velocity random walk lt 100 ug Hz IMU Measurement DATA RATE 200 Hz a Amaximum data rate of 400 Hz is available on specific models of IMU ISA 10
123. feature is available only on the OEM638 or ProPak6 3 5 1 Configuring the Hardware A sensor s trigger input is connected to a valid Event_Out and the sensor s response output is connected to a valid Event In Three sensor slots are available for use but may be limited to less depending on the hardware platform used Table 17 Valid Event Inputs and Outputs for Timed Sensor Triggers Valid Event Outputs Valid Event Inputs MARK1 MARK1 MARK2 MARK2 MARK3 MARK3 MARK4 MARK4 MARKS bare OEM638 only MARK6 bare OEM638 only 72 SPAN on OEM6 User Manual Rev 10 SPAN Operation Chapter 3 3 5 2 Configuring the Software Sensor objects are defined by using the SETUPSENSOR command This command allows the Event_In and Event_Out lines to be specified as well as some parameters for the outgoing and incoming signals D After configuring a sensor using the SETUPSENSOR command any other commands that affect the selected event lines will disturb this functionality For example if MARKA Out is selected for a sensor but later the EVENTOUTCONTROL command is sent the EVENTOUTCONTROL command will reconfigure the properties of the MARKA line 3 5 3 Using Timed Event Pulses When sensors have been connected and configured use the TIMEDEVENTPULSE command to queue events on the system TIMEDEVENTPULSE specifies the sensors that are affected the GPS time for the desire
124. found in Appendix A Technical Specifications on page 84 40 SPAN on OEM6 User Manual Rev 10 SPAN Installation Chapter 2 2 2 8 Connect the Additional Communication Ports on a ProPak6 In addition to the three COM ports COM1 COM2 and COM3 IMU on the back of the ProPak6 there are four additional COM ports available from the EXP port To access these ports connect the ProPak6 Expansion Cable 01019154 to the EXP port For more information about this cable see the ProPak6 User Manual 2 2 9 Connect the CAN Bus OEM6 family receivers incorporate a CAN Bus controller that supports physical layer signals and low level messages specified in the appropriate sections of the J1939 and 18011783 standards Manufacturers can also create messages specific to their application without violating these standards To facilitate manufacturer messages NovAtel provides an Application Program Interface API To obtain information about this API contact NovAtel Customer Support The OEM6 family receiver cards have two CAN Bus ports CANT and CAN2 which are available on the multi pin connectors See the OEM6 Family Installation and Operation User Manual OM 20000128 for pinout descriptions of the multi pin connectors The FlexPak6 receiver has one CAN Bus port CANT which is available on the I O port See the OEMG Family Installation and Operation User Manual OM 20000128 for pinout descriptions of the I O port The ProPak6 receiver has two CAN Bus p
125. gular Random Walk 0 07 degrees rt hr ACCELEROMETER PERFORMANCE Accelerometer Range 40 g Accelerometer Linearity 150 ppm Accelerometer Scale Factor 300 ppm Accelerometer Bias 0 3 mg DATA RATE IMU Measurement 200 Hz A 3 3 LN 200 Electrical and Environmental Table 37 LN 200 Electrical Specifications ELECTRICAL IMU Power Consumption 16 W max IMU Input Voltage 12 to 28 V DC Receiver Power Consumption 1 8 W typical System Power Consumption 13 8 W typical Input Output Connectors MIL C 38999 III 22 pin all IMUs IMU Interface RS 232 or RS 422 Table 38 LN 200 Environmental Specifications ENVIRONMENTAL LN 200 IMU Temperature Operating 30 C to 60 C 22 F to 140 F Storage 45 C to 80 C 49 F to 176 F Humidity 95 non condensing A 3 4 Interface Cable for the LN 200 IMU The IMU interface cable provides power to the IMU from an external power source and enables communication between the receiver and IMU The LN 200 IMU uses the Universal IMU Enclosure Interface cable see Universal IMU Enclosure Interface Cable on page 90 or the Universal IMU cable see Universal IMU Cable on page 91 98 SPAN on OEM6 User Manual Rev 10 Technical Specifications Appendix A AA IMU ISA 100C IMU ISA 100 The IMU ISA 100C contains an ISA 100C or ISA 100 IMU Table 39 IMU ISA 100C Physical Specifications PHYSICAL IMU Enclosure Size 180 mm x 150mm
126. gure 71 OEM IMU ISA 100C IMU to UIC Cable Assembly 2 374 in J 60 3 mm 4 289 in 108 928 mm 3 22 in 81 778 mm 2 432 in 61 763 mm 81 44 v e cc 0 0006000000 v ec c 0 0 000000009 9 v e cc 0 000000000 9 1 15 ISA 100C 1 GND 9 2 3 3V 1 3 GND 4 4 GND 5 5 GND 6 6 GND 8 7 GND 10 8 GND 15 9 GND 16 10 GND 21 11 GND 22 12 5 25 V 43 13 5 25 V 49 SPAN on OEM6 User Manual Rev 10 141 Appendix A 142 Technical Specifications J2 Pin ISA 100C 14 5 25 V 15 5 25 V a4 16 15V 17 3 3 V 18 GND 28 19 a 20 E 21 NOGOx 18 22 z GND 29 GND 35 24 TXC 32 25 SYNC 34 26 GND 41 27 TXD 40 28 z 29 GND 42 30 5 25 V 44 31 3 3V 32 3 3V S 33 PWRDOWNx 12 34 RESETIMUx 14 35 Z 36 GND 45 37 E 38 TXC 30 39 GND 48 40 SYNC 36 41 TXD 38 42 43 GND 48 44 5 25 V 46 SPAN on OEM6 User Manual Rev 10 Technical Specifications Appendix A A 11 OEM IMU STIM300 The OEM IMU STIM300 requires a MEMS Interface Card to connect to a NovAtel receiver See MIC MEMS Interface Card on page 147 Table 85 OEM IMU STIM300 Physical Specifications PHYSICAL IMU Size 45 mm x 39 mm x 22 mm IMU Weight 55g A 11 1 Mechanical Drawings Figure 72 STIM300 Dimensions 13 5 10 6 2 56 UNC 2B
127. he Universal Enclosure e Install the HG1700 Sensor Unit e Reassemble the Universal Enclosure Figure 81 Required Parts HG1700 Sensor Unit HG1700 Flex Cable Universal Enclosure D 1 Use thread locking fluid on all fasteners except for the flex cable connectors 2 Torque values for all fasteners including those for the flex cable are as follows Size 2 56 0 20 0 25 N m 1 8 2 2 Ib in 28 35 oz in Size M4 1 36 1 58 N m 12 0 14 0 Ib in Size 8 32 1 55 1 70 N m 13 7 15 0 Ib in 162 SPAN on OEM6 User Manual Rev 10 HG1700 IMU in Universal Enclosure Appendix B B 1 Disassemble the Universal Enclosure Disassemble the Universal Enclosure as follows 1 Using a 3 mm hex bit remove the M4 screws they will be reused and the base as shown in Figure 82 Remove Base Ensure the O rings come with the base when it is removed and that they are not damaged Figure 82 Remove Base 2 Using a 30 mm socket remove the jam nut and free the wiring harness connector from the body as shown in Figure 83 Disconnect Wiring Harness from Enclosure Body Retain the O ring and the jam nut for reassembly Figure 83 Disconnect Wiring Harness from Enclosure Body SPAN on OEM6 User Manual Rev 10 163 Appendix B HG1700 IMU in Universal Enclosure 3 Using a 2 5 mm hex bit unscrew the M4 screws and remove the IMU mounting plate bracket and cable harness as shown in Figure 84 Remove IMU Mounting Plate and Brac
128. his procedure are Disassemble the SPAN IMU Enclosure Install the LN 200 Sensor Unit Make Electrical Connections Reassemble the SPAN IMU Enclosure Se Important Ensure you use a ground strap before installing the internal circuit boards Do NOT scratch any surfaces of the unit Figure 114 Required Parts Reference Description 1 SPAN IMU Enclosure 2 LN 200 Wiring Harness 3 LN 200 Sensor Unit SPAN on OEM6 User Manual Rev 10 183 Appendix E LN 200 IMU in SPAN IMU Enclosure E 1 Disassemble the SPAN IMU Enclosure The SPAN IMU disassembly steps are as follows 1 Remove the six bolts from the top cover using a hex key as shown in Figure 115 Bolts and Hex Key on page 184 Figure 115 Bolts and Hex Key 2 Set aside the bolts with their sealing washers 3 Lift the top cover off the tube body and set it aside 184 SPAN on OEM6 User Manual Rev 10 LN 200 IMU in SPAN IMU Enclosure Appendix E 4 Lift the tube body away from its base plate and set it aside as shown in Figure 116 Lift Top Cover and Tube Body on page 185 Figure 116 Lift Top Cover and Tube Body SPAN on OEM6 User Manual Rev 10 185 Appendix E LN 200 IMU in SPAN IMU Enclosure E 2 Install the LN 200 Sensor Unit To install the LN 200 sensor follow these steps 1 Mount the LN 200 sensor with the attached M4 screws Apply threadlock to the screw threads Use a hex key to torque each screw to 10 i
129. ical Specifications Table 63 IMU IGM A1 Physical Specifications Enclosure Size 152 0 mm x 137 0 mm x 50 5 mm Weight 475g MAIN DB 15HD Female AUX DB 15HD Male Table 64 IMU IGM S1 Physical Specifications Enclosure Size 152 0 mm x 137 0 mm x 50 5 mm Weight 500 g MAIN DB 15HD Female AUX DB 15HD Male SPAN on OEM6 User Manual Rev 10 127 Appendix A Technical Specifications A 8 2 IMU IGM Mechanical Drawings Figure 62 IMU IGM A1 Dimensions a 133 4 vi 7 00 0 25 Z x4 J re eoe 9 ng M De L x Y T N 137 0 C S LU 125 0 ll 66 5 L I o 6 Oo grt Je 7 1 69 4 E m apped Hole in 140 0 gt 152 0 0 5 s Es wO Dimensions are in cm millimetres The center of navigation is at the location marked by the axis labels on the enclosure and indicated on the drawing above It is not at the depression in the enclosure cover 128 SPAN on OEM6 User Manual Rev 10 Technical Specifications Appendix A Figure 63 IMU IGM S1 Dimensions
130. ilter is in navigation mode and the INS solution is good 2 INS_HIGH_VARIANCE The INS filter is in navigation mode and the GNSS solution is suspected to be in error 6 INS_SOLUTION_FREE This may be due to multipath or limited satellite visibility The inertial filter has rejected the GNSS position and is waiting for the solution quality to improve The INS filter is in navigation mode but not enough vehicle 7 INS_ALIGNMENT_COMPLETE dynamics have been experienced for the system to be within specifications 8 DETERMINING_ORIENTATION INS is determining the IMU axis aligned with gravity The INS filter has determined the IMU orientation and is awaiting WAITING INIMALPOS an initial position estimate to begin the alignment process a This value is configured using the INSTHRESHOLDS command See the SPAN on OEM6 Firmware Reference Manual OM 20000144 for more information b See also question 7 in Appendix F Frequently Asked Questions on page 189 The INS LED on the front of the ProPak6 also indicates the status of the inertial solution Table 15 INS LED States LED State Description Off INS disabled GNSS only or INS enabled no IMU detected Red solid INS inactive IMU detected no error Red blinking IMU error INS state not applicable Red Amber alternating INS determining orientation IMU good Red Amber alternating INS waiting initial position Green
131. itoring to the USB port Connect a user supplied radio device to COM 1 optional for real time differential operation SPAN on OEM6 User Manual Rev 10 SPAN Installation Chapter 2 2 1 2 3 FlexPak6 to IMU FSAS Set Up Example Figure 8 Basic Set Up FlexPak6 to IMU FSAS LET Be ey EE L ZEm N SEN Radio e optional for Real Time Differential pde mmu operation del Cll I e mr ERN SS z m 9 II ma E D bs Connect the antenna to the receiver Connect the FlexPak Y Adapter cable to the COM 2 and l O ports on the receiver Connect the IMU interface cable to the IMU and the FlexPak Y Adapter cable Connect power and ground to the IMU interface cable refer to Table 7 IMU Power Supply on page 40 Connect a user supplied power supply to the receiver Connect a user supplied computer for set up and monitoring to the USB port 7 Connect a user supplied radio device to COM 1 optional for real time differential operation
132. ket Figure 84 Remove IMU Mounting Plate and Bracket wiring harness not shown B 2 Install the HG1700 Sensor Unit To install the HG1700 sensor unit in the Universal Enclosure 1 Using a Phillips screwdriver remove the 8 32 IMU mounting screws from the IMU mounting plate as shown in Figure 85 Remove IMU Mounting Screws Figure 85 Remove IMU Mounting Screws wiring harness not shown 164 SPAN on OEM6 User Manual Rev 10 HG1700 IMU in Universal Enclosure Appendix B 2 Check the connection of the internal cable harness to the board assembly and route as shown in Figure 86 Connect IMU to IMU Mounting Plate Before you connect the IMU cable harness make sure the connector on the board assembly is clicked open Connect the IMU cable harness to the IMU fasten the 2 56 screws but do not use thread locking fluid then connect to the board assembly Ensure the cable housing latches Figure 86 Connect IMU to IMU Mounting Plate 3 Being careful of the connectors and the orientation align the pilot holes of the IMU with the pilot pins of the mounting plate Gently place the IMU and mounting plate together being careful not to pinch the cable harness Screw the IMU and mounting plate together using thread locking fluid on the 8 32 screws as shown in Figure 87 Installing IMU to Mounting Plate Figure 87 Installing IMU to Mounting Plate ALIGN BOTH PILOT PINS TO HOLES ON IMU SPAN on OEM6 User Manual Rev 10 165
133. l Vin 5 6 Not used 7 DAS Shielded data acquisition signal LVTTL to VARF 9 DAS GND Shielded ground reference for data acquisition and control signals 8 Reserved 10 Reserved 11 OEM_CTS Twisted pair serial data output signal Rx RS 422 12 OEM_Rx Rx Twisted pair serial data output signal RS 422 13 Reserved 14 DGND Digital ground 15 DGND Digital ground 16 ODO_B Odometer input B opto coupler 2 to 6 V RS 422 compatible 17 ODO_BN Odometer input B opto coupler 2 to 6 V RS 422 compatible 18 Reserved 19 OEM_Tx Tx Twisted pair serial data in RS 422 20 OEM_RTS Twisted pair serial data in RS 422 Tx 112 SPAN on OEM6 User Manual Rev 10 Technical Specifications Appendix A A 5 6 ilMU FSAS Odometer Cabling The ilMU FSAS with the O wheel sensor option provides wheel sensor input from the Distance Measurement Instrument DMI through the DB 9 connector labelled ODO on the IMU interface cable The DMI data goes through the IMU and then into the SPAN receiver through the serial communication line There are two DMI products that are compatible with the iIMU FSAS system e iMWS V2 Magnetic Wheel Sensor from iMAR A magnetic strip and detector are installed inside the wheel The signal then goes through a box that translates the magnetic readings into pulses that are then passed through the cable into the ODO connector on the IMU cable See also Figure 5
134. l Specifications PHYSICAL IMU Size 128 mm x 128 mm x 104 mm 5 04 x 5 04 x 4 09 IMU Weight 2 1 kg 4 63 Ib A 5 1 ilMU FSAS Mechanical Drawings Figure 46 ilMU FSAS Top Dimensions lt 128 128 Dimensions are in mm 128 119 M6x1 6H 12 mm deep 4x Dimensions are in mm 108 SPAN on OEM6 User Manual Rev 10 Technical Specifications Appendix A Figure 48 ilMU FSAS Enclosure Side Dimensions MEA 10 11 Dimensions are in mm SPAN on OEM6 User Manual Rev 10 109 Appendix A Technical Specifications A 5 2 ilMU FSAS Performance Table 49 ilMU FSAS Performance GYROSCOPE PERFORMANCE Gyro Input Range 450 degrees s Gyro Rate Bias lt 0 75 hr Gyro Rate Scale Factor 300 ppm Angular Random Walk 0 1 degrees sq rt hr ACCELEROMETER PERFORMANCE Accelerometer Range 5 g 20 g optional Accelerometer Scale Factor 300 ppm Accelerometer Bias 1 0 mg DATA RATE IMU Measurement 200 Hz A 5 3 ilMU FSAS Electrical and Environmental Table 50 ilIMU FSAS Electrical Specifications ELECTRICAL IMU Power Consumption 16 W max IMU Input Voltage 10 to 34 V DC Receiver Power Consumption 1 8 W typical System Power Consumption 13 8 W typical Data Connector MIL C 38999 III Power Connector MIL C 38999 III same as dat
135. le technique will be used regardless of its relative quality If you wish to guarantee a specific technique is used or use an aided static alignment you must select the desired alignment mode manually No additional configuration is required to use this alignment routine 82 SPAN on OEM6 User Manual Rev 10 SPAN on OEM6 Dual Antenna Chapter 4 4 4 SPAN ALIGN Attitude Updates The INS heading updates are used to help constrain the azimuth drift of the INS solution whenever possible This is of the greatest value with lower quality IMUs and in environments with low dynamics where the attitude error is less observable Slow moving marine or train applications are good examples of the intended use By providing an external heading source the solution drift can be constrained in these environments You can monitor the heading update status as outlined in the INSUPDATE command in the SPAN on OEM6 Firmware Reference Manual OM 20000144 SPAN on OEM6 User Manual Rev 10 83 Appendix A Technical Specifications This appendix details the technical specifications of the IMUs For information about the technical specifications performance and cables of the SPAN receiver refer to the OEM6 Family Installation and Operation User Manual OM 20000128 A 1 Universal IMU Enclosure The Universal IMU Enclosure is available with the HG1700 LN 200 and LCI 1 IMUs Table 20 Universal IMU Enclosure Physical Specifications PHYSICAL IMU Enclosure Size
136. levels not 5V tolerant Table 107 Pinouts for UIC to IMU Communications Connector J1401 Pin Signal Type Description Al 3 3V Output Power Positive 3 3 VDC supply A2 3 3V Output Power Positive 3 3 VDC supply A3 GND Power Digital ground A4 15V Output Power Positive 15 VDC supply A5 15V Output Power Negative 15 VDC supply A6 NSS SPI Slave Select A7 SCK Output SPI Serial Clock A8 GND Power Digital ground A9 MISO Input SPI Master Input Slave Output A10 MOSI Output SPI Master Output Slave Input A11 GND Power Digital ground A12 IMU_TYPEO Input Detect IMU type 0 A13 IMU TYPE1 Input Detect IMU type 1 A14 IMU TYPE2 Input Detect IMU type 2 A15 IMU TYPES Input Detect IMU type 3 SPAN on OEM6 User Manual Rev 10 159 Appendix A 160 Technical Specifications Pin Signal Type Description A16 IMU_DATA_OUT1 A17 IMU_DATA_OUT1 A18 GND Power Digital ground A19 IMU_DATA_OUT2 A20 IMU_DATA_OUT2 A21 GND Power Digital ground A22 5 25V Output Power Positive 5 25 VDC supply A23 GND Power Digital ground A24 GND Power Digital ground A25 5 25V Output Power Negative 5 25 VDC supply B1 3 3V Output Power Positive 3 3 VDC supply B2 GND Power Digital ground B3 GND Power Digital ground B4 GND Power Digital ground BS GND Power Digital ground B6 PWRDOWNx Output Power down wa
137. n 84 33 Universal IMU Enclosure Top Bottom Dimensions ssssssseeeneneenne 85 34 IMU Center of Navigation ssssseseeseseeeeeneennnneneennn nennen nnne nnn nenne nennen nnn nnns 86 35 Universal IMU Enclosure Interface Cable ssssssssesssseeeeeeeeeeeeennnn nennen 90 36 Universal IMU Enclosure Interface Cable E 91 37 HG1700 Top Bottom Dimensions A 92 38 LN 200 IMU Enclosure Top Bottom Dimensions and Center of Navigation 96 39 LN 200 Enclosure Side Dimensions nennen nnn nnne 97 40 IMU ISA 100G DIMENSIONS 2 tete geteilt ate efenitu fase 99 41 IMU ISA 100C Center of Navigation eesessseseeeeeeeeeeennenneeennn nennen nnne nnns 100 42 Optional Side Mounting Holes AAA 101 43 IMU ISA 100C Interface Cable A 104 44 IMU ISA 100C Power Cable ENEE 105 45 IMU ISA 100C Wheel Sensor Cable essssssssssssssseeeeeeeee nennen nnnrenen nnn nnne 106 46 IIMU FSAS Top DiMensions AEN 108 47 IIMU FSAS Bottom Dimensions ccccceceeeeeeecenenee cece eter teeta eaaaaaeeeeeeeeeeeeeesecsceeeeeeeeeeeeeess 108 48 ilIMU FSAS Enclosure Side Dimensions cccceeeeeeeeeeeeeeeeaeeeeeeeeeeeeeeeeeceeeeaeeeeeeeeeeeess 109 SPAN on OEM6 User Manual Rev 10 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 9
138. n Ibs 2 Fitthe tube body over the LN 200 sensor and onto the base plate Figure 117 SPAN IMU Re Assembly UI 4 SCREWS 186 SPAN on OEM6 User Manual Rev 10 LN 200 IMU in SPAN IMU Enclosure Appendix E E 3 Make the Electrical Connections To make the electrical connections you will need a 3 32 a hex key the wiring harness and the partially assembled SPAN IMU from Section E 2 Install the LN 200 Sensor Unit on page 186 Now follow these steps 1 Attach the LN 200 wire harness to the mating connector on the LN 200 Check that the connector is fully seated as shown in Figure 118 Attach Wiring Harness on page 187 Figure 118 Attach Wiring Harness 5 32 SPAN on OEM6 User Manual Rev 10 187 Appendix E LN 200 IMU in SPAN IMU Enclosure 2 Connect the Samtec connector at the other end of the wiring harness to the corresponding connector on the internal IMU card as shown in Figure 119 Attach Samtec Connector on page 188 Ensure that the connector is locked in place Figure 119 Attach Samtec Connector EA Re Assemble the SPAN IMU Enclosure Use a hex key to align the long bolts with the threaded holes in the base as shown in Figure 115 Bolts and Hex Key on page 184 Apply threadlock to threads Finger tighten the 6 bolts then torque them in a cross pattern to 12 in Ibs The fully assembled I
139. n User Manual OM 20000128 3 10 Variable Lever Arm The variable lever arm concept arose to support applications in which the IMU is no longer rigidly fixed to the vehicle but rather on a gimballed mount This creates an issue where the input lever arm offsets to the GNSS antenna are no longer correct because the IMU can rotate on its mount while the antenna remains fixed The use of the variable lever arm functionality requires that the device to which the IMU is attached be able to send its gimbal rotation angles back to SPAN These angles are used to re calculate the lever arm at the rate that they are received SPAN will also be able to output a gimballed solution at the rate the gimbal angles are received See the SPAN on OEMG Firmware Reference Manual OM 20000144 or more information 3 11 Relative INS The Relative INS feature generates a position velocity and full attitude vector between two SPAN systems Unlike an RTK system where the master receiver is stationary and the rover receiver is moving in a Relative INS system both the master receiver and rover receiver are moving See the SPAN on OEMG Firmware Reference Manual OM 20000144 or more information SPAN on OEM6 User Manual Rev 10 77 Chapter 4 SPAN on OEM6 Dual Antenna 4 1 78 NovAtel s ALIGN heading technology generates distance and bearing information between a master and one or more rover receivers This information can be used by SPAN to update
140. n operational 12 g rms 20 Hz 2 kHz Shock operational 9 g 11 ms sawtooth Shock non operational 40 g 11 ms sawtooth SPAN on OEM6 User Manual Rev 10 125 Appendix A Technical Specifications A 74 IMU KVH1750 Cable The NovAtel part number for the IMU KVH1750 cable is 01019211 This cable provides power to the IMU from an external power source and enables communication between the receiver and the IMU A FlexPak Y Adapter cable is required between the FlexPak6 receiver and the IMU KVH1750 cable see Figure 8 Basic Set Up FlexPak6 to IMU FSAS on page 27 Also see FlexPak Y Adapter Cable for IMU FSAS IMU CPT or IMU KVH1750 on page 115 Figure 61 IMU KVH1750 Cable 1000 50 0 x2 Pin 9 Pin 6 Dimensions are in millimetres Table 62 IMU KVH1750 Connector Pinout Descriptions J1 15 Pin Micro D Female P2 Female DB9 P3 Pin Signal Name Signal Name Labels 2 3 4 5 Reserved 6 Reserved 7 Reserved 8 Reserved 9 Power Return PWR 10 VDC Power PWR 11 MSync 1 IMU Event Out Sync 12 TOV Out 9 Event In 13 Reserved 14 Reserved 15 Signal Ground 5 Signal Ground Shell Chassis Ground Shell Chassis Ground 126 SPAN on OEM6 User Manual Rev 10 Technical Specifications Appendix A A B IMU IGM This section contains the specifications for both the IMU IGM A1 and IMU IGM S1 A 8 1 IMU IGM Phys
141. ndix A A 8 6 IMU IGM Interface Cable The NovAtel part number for the IMU IGM interface cable is 01019016 This cable provides power to the IMU IGM and communication signals between the IMU IGM and the OEM6 family receiver Figure 64 IMU IGM Interface Cable 1000 50 0 si PIN 11 PIN6 p H PIN 10 J2 Wire Bundle PIN 15 1 d Dimensions are in 1000 50 0 millimetres Table 73 IMU IGM Interface Cable Pinout Descriptions J2 J3 Function Wire Bundle MIC Port Label Pin A 1 MIC Port Transmit Transmit RS 422 2 2 MIC Port Transmit RS 422 8 3 Digital Ground 4 Battery BATT 5 Digital Ground BATT 6 MIC Port Receive Receive RS 422 7 MIC Port Receive RS 422 8 Digital Ground 9 Reserved 10 Reserved 11 Digital Ground 12 Reserved 13 MODE 2 MODE 2 14 Reserved 15 Reserved D The MIC port can operate as either an RS 232 or RS 422 serial port When the MODE 2 pin is left open or tied high the MIC port operates as an RS 232 serial port When the MODE 2 pin is tied low the MIC port operates as an RS 422 serial port SPAN on OEM6 User Manual Rev 10 133 Appendix A Technical Specifications A 8 7 IMU IGM Stack Up Cable The NovAtel part
142. nment on page 66 56 SPAN on OEM6 User Manual Rev 10 Chapter 2 The IMU IGM IMU ISA 100 and IMU ISA 100C have LEDs that provide the IMUs basic status SPAN Installation 2 6 IMU LEDs information LED Ont Power No power to unit Table 11 IMU IGM LEDs On Unit is powered Flashing Slow 1Hz UNKNOWN or Flashing Fast gt 1Hz Programming error Red on UNSUPPORTED IMU GNSS Waiting for GPS Time Status FINE Time status COARSE limi or EINESTEERING COARSESTEERING or N A mem FREEWHEELING a it d psi Naing ToS Connected to IMU N A Bootup or loading Green time wat a The IMU IGM must be connected to a GNSS receiver before the state of these LEDs can change to On LED Power SPAN on OEM6 User Manual Rev 10 Table 12 IMU ISA 100 and IMU ISA 100C LEDs On Solid green UIC is powered on with no errors detected Solid green Data is being sent to the GNSS receiver Solid yellow Functioning but the receiver is not in finesteering Off No power to UIC No communication between UIC and GNSS receiver Flash Red An unrecognized error was detected No communication between UIC and IMU Flash Yellow A recoverable error was detected IMU data receiving error was detected Flashes for the duration of the faulty transmission Chapter 3 SPAN Operation Before operating your SPAN system ensure that you have followe
143. nput detect IMU type LVTTL level not 5V tolerant 19 IMUTYPE1 Input detect IMU type LVTTL level not 5V tolerant 20 IMUTYPE2 Input detect IMU type LVTTL level not 5V tolerant a All signal I O are at LVTTL levels 152 SPAN on OEM6 User Manual Rev 10 Technical Specifications Appendix A Table 97 Pinouts for IMU Connector P701 Description Comments 1 IMU_VDD Output Power Positive voltage supply for IMU_VDD must be 3 3 VDC IMU logic circuits 2 IMU_VDD Output Power Positive voltage supply for IMU logic circuits 3 SPI NSS Slave Select LVTTL level not 5V tolerant 4 SPI SCK Output Serial Clock LVTTL level not 5V tolerant 5 DGND Digital Ground 6 SPI MOSI Output Master Output Slave Input LVTTL level not 5V tolerant 7 SPI MISO Input Master Input Slave Output LVTTL level not 5V tolerant 8 DGND Digital Ground 9 IMU DIO1 Bidirectional LVTTL level not 5V tolerant 10 IMU DIO2 Bidirectional LVTTL level not 5V tolerant Table 98 MIC LED Indicator Drivers Board State Status LED 1 Status LED 2 Status LED 3 Bootup Toggles at 2 Hz Off On Self test Normal Operation On Toggles at 2 Hz Toggles at 2 Hz GPS Time IMU Data No IMU Connected Toggles t 1 Hz Toggles at 2 Hz Toggles at 1 Hz Error GPS Time Error D complete the reprogramming When the MIC boots up it requires approximately 10 seconds to perform a self
144. ns Appendix A A 5 7 FlexPak Y Adapter Cable for IMU FSAS IMU CPT or IMU KVH1750 The NovAtel part number for the FlexPak Y Adapter cable is 01018948 This cable connects from the FlexPak6 to the IMU interface cable see Figure 8 Basic Set Up FlexPak6 to IMU FSAS on page 27 The FlexPak Y Adapter cable allows the IMU to access receiver signals from both the COM 2 port and the I O port Figure 53 FlexPak Y Adapter Cable nd 200 mm PIN9 PIN 6 PN15 1 0 01018948 Rev x PIN 11 7 Dimensions are in millimetres Table 54 FlexPak Y Adapter Cable Pinouts P1 Connector J1 Connector J2 Connector DB9 to IMU Function DB9 to COM 2 DB15 to I O Pin Pin Pin 1 VARF 12 2 RXD_IMU Rx 3 TXD_IMU Tx 3 4 Not Used 5 GROUND 5 5 9 6 Not Used 7 RTS_IMU Tx 7 8 CTS_IMU Rx 8 9 Not Used SPAN on OEM6 User Manual Rev 10 115 Appendix A Technical Specifications Ap IMU CPT Table 55 IMU CPT Physical Specifications PHYSICAL IMU CPT Enclosure Size 168 mm W X 152 mm L X 89 mm H IMU CPT Weight 2 29 kg A 6 1 IMU CPT Mechanical Drawings Figure 54 IMU CPT Side and Perspective View Y X T mu T di un E 0 mu m SN z EE Gg See 1 22 A Y E Se S 51
145. nterface cable is 01019008 Figure 68 ADIS 16488 IMU to MIC Cable Assembly This cable provides power to the IMU and enables communication between the MIC and the IMU Figure 68 ADIS 16488 IMU to MIC Cable Assembly 155 25 0 mm Table 79 ADIS 16488 IMU to MIC Cable Pinout P2 P1 Pin Signal Name Pin IMU VDD IMU VDD SPI NSS SPI CLK Ground SPI MOSI SPI MISO Ground ADIS IMU DIO1 ADIS IMU DIO2 k oOo NI OD ao BR OJN oOo NI OD ao ATI OJN A CH e SPAN on OEM6 User Manual Rev 10 137 Appendix A A 10 OEM IMU ISA 100C Technical Specifications The OEM IMU ISA 100C requires a Universal IMU Controller Card to connect to a NovAtel receiver See UIC Universal IMU Controller on page 156 Table 80 OEM IMU ISA 100C Physical Specifications PHYSICAL IMU Size 100 mm x 130 mm x 125 mm IMU Weight 2 kg A 10 1 Mechanical Drawings Figure 69 ISA 100C Dimensions iS pe Wi e o o NM V o ABI ed TL Isa f j PF 138 Graphics courtesy of Northrop Grumman LITEF GmbH Dimensions are in millimetres SPAN on OEM6 User Manual Rev 10 Technical Specifications Appendix A Figure 70 ISA 100C Coordinate Axis Graphics courtesy of Northrop Grumman LITEF GmbH y Axis x Axis Z A
146. number for the IMU IGM stack up cable is 01019013 This cable provides power to the IMU IGM and communication signals between the IMU IGM and the FlexPak6 receiver Use the stack up cable when the IMU IGM is connected to a FlexPak6 receiver in a stack up configuration You must connect this cable to COM 2 on FlexPak6 Figure 65 IMU IGM Stack Up Cable 200 25 0 PIN 11 PING PIN 1 PIN 6 PIN 9 SS See O E PINS E PIN S V PIN 10 PIN 15 Dimensions are in millimetres Table 74 IMU IGM Stack Up Cable Pinout Descriptions Function MIC Port Transmit Transmit RS 422 2 Digital Ground Battery Digital Ground MIC Port Receive Receive RS 422 oO aj A oj wo oaol A O1 134 SPAN on OEM6 User Manual Rev 10 Technical Specifications Appendix A A 9 OEM IMU ADIS 16488 receiver See MIC MEMS Interface Card on page 147 D The OEM IMU ADIS 16488 requires a MEMS Interface Card to connect to a NovAtel Table 75 OEM IMU ADIS 16488 Physical Specifications PHYSICAL IMU Size 47 mm x 44 mm x 14 mm IMU Weight 48 g IMU with mounting PCB size 71 1 mm x 45 7 mm x 17 6 mm A 9 1 Mechanical Drawings Figure 66 ADIS 16488 Dimensions 40 01 b 39 14 E 36 94 34 29 o ag ii E d lt A Ba 3 SS Pin 1 d ps 6 2 66
147. o LN 200 HG1700 LCI 1 or IMU FSAS Set Up Example Figure 11 Basic Set Up ProPak6 to LN 200 HG1700 LCI 1 or IMU FSAS Radio optional for Real Time Differential operation COl m Bac 4 O el V SS 4 Connect the antenna to the receiver Connect the interface cable to the LN 200 HG1700 or LCI 1 universal enclosure or the IMU FSAS Connect the DB9 connector of the interface cable to the COM3 IMU port of the receiver FON gt Connect the IMU power and ground to the IMU interface cable refer to Table 7 IMU Power Supply on page 40 e Connect a user supplied power supply to the receiver Connect a user supplied computer for set up and monitoring to the USB port 7 Connect a user supplied radio device to COM1 optional for real time differential operation 30 SPAN on OEM6 User Manual Rev 10 SPAN Installation Chapter 2 2 1 2 7 ProPak6 to ISA 100 or ISA 100C Set Up Example Figure 12 Basic Set Up ProPak6 to ISA 100 or ISA 100C Radio optional for Real Time Differential operation ei
148. omer supplied wiring harness connect a 10 to 34 V DC power supply to the power connector J101 on the UIC See UIC Connectors on page 158 for pinout information for the power connector Using a customer supplied wiring harness connect power to the OEMG receiver See the OEMG Family Installation and Operation User Manual OM 2000128 for information about connecting power to the receiver SPAN on OEM6 User Manual Rev 10 SPAN Installation Chapter 2 2 4 5 UIC Status LEDs The LEDs on the UIC provide basic status information Figure 25 UIC Status LEDs 9 9 Bottom of Board Connectors on other side Power Status LED O Q Data Status LED 9 9 Oo Table 9 UIC Status LEDs LED On Off Flash Red Flash Yellow Solid green An unrecognized A recoverable error was Power UIC is powered on with No power to UIC 9 error was detected detected no errors detected Solid green Data is being sent to the GNSS receiver IMU data receiving error Nocommunication No communication was detected Flashes Solid yellow between UIC and between UIC and for the duration ofthe GNSS receiver IMU Functioning but the faulty transmission receiver is not in finesteering COM 2 5 Software Configuration 2 5 1 GNSS Configuration The GNSS configuration can be set up for different accuracy levels such as single point SBAS DGPS and RTK RTCA
149. ons ceeeecceesecece eee eeeeeeeeeecaaaaaeeeeeeeeeeeeeeeecneceeeeeeeeeeeeess 110 iIIMU FSAS Environmental Specifications cccccccceceeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeececaeeeeeeeeeeeeess 110 IMU FSAS Cable with Odometer Pinot 112 Cable Modification for Kistler WT 114 FlexPak Y Adapter Cable Pinouts AAA 115 IMU CPT Physical Specifications AEN 116 IMU GCPT Performance tee Ed eR ted tae ta dere ENER 118 IMU CPT Electrical and Environmental Specifications cccccccceeeeeeeeeeeeeeeneeeeeeeeeeeeeeeeees 119 IMU CPT Connector Pinout Descriptions nennen 120 IMU KVH1750 Physical Specifications AA 121 IMU KVH1750 Pertormmance AAA 124 IMU KVH1750 Electrical and Environmental Specifications A 125 IMU KVH1750 Connector Pinout Descriptions A 126 IMU IGM A1 Physical Specifications nee 127 IMU IGM S1 Physical Specifications eene 127 IMU IGM Main Port Pinout nemennnnn nnn n nnn nn nnn nn eaaa 130 IMU IGM AUX Port PINOUT ENEE 130 IMU IGM A1 IMU Performance 131 IMU IGM S1 IMU Performancen 131 IMU IGM A1 Electrical Gpechications nnn 132 IMU IGM A1 Environmental Specifications A 132 IMU IGM S1 Electrical Gpechications nnne 132 IMU IGM S1 Environmental Specifications A 132 IMU IGM Interface Cable Pinout Descriptions A 133 IMU IGM Stack Up Cable Pinout Descriptions eee eeeeeeeeeeeeaaeaaeeeeeeeeeeeeees 134 OEM IMU ADIS 16488 Physical Specifications seeeeeeennn 135 OEM IMU ADIS 16488 Performance
150. ons measured by an IMU to calculate position velocity and attitude This capability is embedded in the firmware of OEMG series receivers Forces are measured by accelerometers in three perpendicular axes within the IMU and the gyros measure angular rotation rates around those axes Over short periods of time inertial navigation gives very accurate 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 degrades with time unless external updates such as position velocity or attitude are supplied The SPAN system s combined GNSS INS solution integrates the raw inertial measurements with all available GNSS information to provide the optimum solution possible in any situation By using the high accuracy GNSS solution the IMU errors can be modeled and mitigated Conversely the continuity and relative accuracy of the INS solution enables faster GNSS signal reacquisition and RTK solution convergence SPAN on OEM6 User Manual Rev 10
151. or Cable lt 2000 25 0 P1 Dimensions in millimetres Table 46 IMU ISA 100C Wheel Sensor Cable Pinouts MID Function Bare Wire Color 1 A White 2 B Brown 3 Chassis Ground Green 4 A Yellow 5 B Grey 6 Chassis Ground Pink 7 Reserved Blue 8 Reserved Red One of the wheel sensors compatible with the IMU ISA 100C is the Kistler WPT see Figure 51 Kistler WPT on page 113 Table 47 Kistler to NovAtel Wheel Sensor Cable Connections on page 107 shows connections required between the Kistler cable and the IMU ISA 100C wheel sensor cable 106 SPAN on OEM6 User Manual Rev 10 Technical Specifications Appendix A Table 47 Kistler to NovAtel Wheel Sensor Cable Connections M12 Connector M12 Connector on Kistler Cable on NovAtel Cable Pin Pin Bare Wire Color 1 GND 2 Up Input Power External 3 Signal A 1 White 4 Signal A Inverted 4 Yellow 5 Signal B 2 Brown 6 Signal B Inverted 5 Grey i Reserved No Connection D This modification is for the Kistler WPT 8 pin M12 plug cable number 14865 b The WPT requires power to operate which is not supplied through the P1 connector on the IMU ISA 100 IMU ISA 100C interface cable Pins 1 and 2 should therefore be connected to an external power supply 10 to 30 VDC SPAN on OEM6 User Manual Rev 10 107 Appendix A Technical Specifications Ab ilMU FSAS Table 48 ilMU FSAS Physica
152. orts CAN1 and CAN2 which are available on the EXP port To access these signals use the ProPak6 Expansion Cable 01019154 For information about the EXP port and the ProPak6 Expansion Cable see the ProPak6 User Manual OM 2000148 SPAN on OEM6 User Manual Rev 10 41 Chapter 2 SPAN Installation 2 3 MIC Set Up 2 3 1 OEM6 family receiver cards connect to Micro Electromechanical Systems MEMS IMUs using the MEMS Interface Card MIC There are two MIC configurations stack up and standalone In a stack up configuration the MIC card is mounted on an OEM615 receiver In a standalone configuration the MIC is mounted separately from the receiver The MIC supports OEM6 family receiver cards for communications The OEM615 is the only OEM6 family receiver card that can be directly integrated and powered by the MIC Install a MIC in a Stack Up Configuration In a stack up configuration the MIC is connected to an OEM615 receiver using the 20 pin header on the OEM615 Power and communications connections to the receiver are made through the MIC Important Assemble in accordance with applicable industry standards Ensure all Electrostatic Discharge ESD measures are in place in particular use a ground strap before exposing or handling any electronic items including the MIC receiver and IMU Take care to prevent damaging or marring painted surfaces O rings sealing surfaces and the IMU For more information about ESD practice
153. ost closely aligned with gravity using the SETIMUORIENTATION command If the IMU is mounted with the Z axis up and the Y axis pointing in the direction of travel then the command would be SETIMUORIENTATION 5 The INS filter is reset anytime the SETIMUORIENTATION command is sent regardless of whether the orientation is changed Specify the angular offsets between the SPAN frame and the vehicle frame known as vehicle body rotation or RVB using the VEHICLEBODYROTATION command If the IMU is mounted coincidentally with the vehicle frame defined as z up and y pointing in the direction of travel then the command would be VEHICLEBODYROTATION 0 0 0 Alternatively solve the vehicle to IMU frame angular offsets using the RVBCALIBRATE routine See also Vehicle to SPAN Frame Angular Offsets Calibration Routine on page 69 D Regardless of system configuration and IMU orientation the SETIMUORIENTATION and VEHICLEBODYROTATION commands must be sent to the receiver before starting a kinematic alignment The kinematic alignment begins when the receiver has a good GNSS position fine time is solved the configuration parameters have been set and a GNSS velocity of at least 5 m s 18 km h is observed During kinematic alignment keep the vehicle roll at less then 10 Straight line driving is best 5 m s is the default alignment velocity If a different alignment velocity is required it c
154. osures carry the CE mark Hereby NovAtel Inc declares that SPAN is in compliance with the essential requirements radio performance electromagnetic compatibility and electrical safety and other relevant provisions of Directive 1999 5 EC EMC Directive 2004 108 EC and the RoHS Recast Directive 2011 65 EU Therefore the equipment is labeled with the following CE marking CE The Declaration of Conformity may be obtained from NovAtel Inc 1120 68th Ave N E Calgary Alberta Canada T2E 8S5 WEEE Notice If you purchased your SPAN product in Europe please return it to your dealer or supplier at the end of its life The objectives of the European Community s environment policy are in particular to preserve protect and improve the quality of the environment protect human health and utilise natural resources prudently and rationally Sustainable development advocates the reduction of wasteful consumption of natural resources and the prevention of pollution Waste electrical and electronic equipment WEEE is a regulated area Where the generation of waste cannot be avoided it should be reused or recovered for its material or energy WEEE products may be recognized by their wheeled bin label Si REACH NovAtel strives to comply with the EU Directive EC 1907 2006 on chemicals and their safe use as per the Registration Evaluation Authorization and Restriction of Chemical substances REACH for its products including the SPAN products Sin
155. otection device may be used to shunt a large portion of the transient energy to the building ground reducing the over voltage condition as quickly as possible 3 Primary lightning protection must be provided by the operator customer according to local building codes as part of the extra building installation 4 To ensure compliance with clause 7 Connection to Cable Distribution Systems of EN 60950 1 Safety for Information Technology Equipment a secondary lightning protection device must be used for in building equipment installations with external antennas The following device has been approved by NovAtel Inc Polyphaser Surge Arrestor DGXZ 24NFNF B If this device is not chosen as the primary lightning protection device the device chosen must meet the following requirements e UL listed or equivalent in country of installation for example TUV VDE and so on for lightning surge protection The primary device must be capable of limiting an incoming surge to 10kV 5 The shield of the coaxial cable entering the building should be connected at a grounding plate at the building s entrance The lightning protection devices should have their chassis grounded to the same ground near to the building s entrance 6 The primary and secondary lightning protections should be as close to the building s entrance as possible Where feasible they should be mounted onto the grounding plate itself See Figure 1 Primary and Secondary Lightning
156. ovides power to the IMU from an external power source enables input and output between the receiver and the IMU enables input from an optional odometer See also i MU FSAS Odometer Cabling on page 113 Figure 50 IMU FSAS Interface Cable with Odometer Dimensions in millimetres P3 eau 3x 100 210 mm P2 eW 150 230 mm 5x 1250 230 mm P1 eD J1 END VIEW DB9 FEMALE mi me SE PIN A Nom a J2 SIDE view PIN 5 p 9 N Ee Dal KT P4 END VIEW SPAN on OEM6 User Manual Rev 10 111 Appendix A Technical Specifications Table 52 IMU FSAS Cable with Odometer Pinout MIL C 38999 III Power J1 Female P4Male Function Comments Connector Pin 4 mm plugs 1 Vin Color black Power ground 22 viet Label Vin 2 ODO_AN Odometer input A opto coupler 2 to 6 V RS 422 compatible 4 ODO_A Odometer input A opto coupler 2 to 6 V RS 422 compatible 3 Vin Color red 11 to 34 VDC 21 Vin Labe
157. pacts on the system Also if logging 100 200 Hz data always use the binary format and if possible the short header binary format available on most INS logs For optimal performance log only one high rate output at a time These logs could be e Raw data for post processing RAWIMUXSB ONNEW output rate depends on IMU see Table 1 SPAN Compatible IMU Models on page 20 RAWIMU logs are not valid with the ONTIME trigger The raw IMU observations contained in these logs are sequential changes in velocity and rotation As such you can only use them for navigation if they are logged at their full rate See details of these logs in the SPAN on OEMG Firmware Reference Manual OM 2000144 Real time INS solution IMURATEPVA ONNEW or IMURATEPVAS ONNEW These logs require asynchronous logging to be enabled See ASYNCHINSLOGGING in the SPAN on OEM6 Firmware Reference Manual OM 2000144 Other possible INS solution logs available at high rates are INSPVASB INSPOSSB INSVELSB INSATTSB Specific logs need to be collected for post processing See Data Collection for Post Processing on page 76 To store data from an OEM6 receiver connect the receiver to a computer running NovAtel Connect or other terminal program capable of recording data 3 3 3 1 Onboard Data Logging SPAN systems with an OEM6368 or ProPak6 receiver contain 4 GB of memory for onboard data storage Data can be logged to internal memory and downloaded for post pro
158. path interference For a discussion on multipath refer to An Introduction to GNSS available at www novatel com an introduction to gnss Ensure the antenna cannot move due to dynamics 2 2 2 Mount the IMU 36 Mount the IMU in a fixed location where the distance from the IMU to the GNSS antenna phase center is constant Ensure that the orientation with respect to the vehicle and antenna is also constant For attitude output to be meaningful the IMU should be mounted such that the positive Z axis marked on the IMU enclosure points up and the Y axis points forward through the front of the vehicle in the direction of track Also it is important to measure the distance from the IMU to the antenna the Antenna Lever Arm on the first usage on the axis defined on the IMU enclosure See Lever Arm Calibration Routine on page 68 See also Appendix A Technical Specifications on page 84 for dimensional drawings of the IMU enclosures SPAN on OEM6 User Manual Rev 10 SPAN Installation Chapter 2 Ensure the IMU cannot move due to dynamics and that the distance and relative direction between the antenna and the IMU is fixed See SPAN IMU Configuration on page 54 measurements when using the SETIMUTOANTOFFSET command must be as accurate as possible or at least more accurate than the GNSS positions being used For example a 10 cm error in recording the antenna offset will result in at least a 10 cm error in the output Millimeter accuracy is
159. pplied radio device to COM 1 optional for real time differential operation SPAN on OEM6 User Manual Rev 10 25 Chapter 2 SPAN Installation 26 2 1 2 2 FlexPak6 to ISA 100 or ISA 100C Set Up Example Figure 7 Basic Set Up FlexPak6 to ISA 100 or ISA 100C Radio optional for Real Time Differential operation 5 Gs 5 T T t Connect the antenna to the receiver Connect the M12 connector male 4 pin of the interface cable to the ISA 100 or ISA 100C universal enclosure Connect the DB9 connector of the interface cable to the COM 2 port of the receiver Connect pin 5 to pin 9 on the I O port of the FlexPak6 This changes the COM2 protocol to RS 422 Connect the M12 connector female 5 pin of the IMU power cable to the power connector qe on the IMU Connect a user supplied power supply to the IMU power cable refer to Table 7 IMU Power Supply on page 40 Connect a user supplied power supply to the receiver Connect a user supplied computer for set up and mon
160. preferred The offset from the IMU to the antenna and or a user point device must remain constant especially for RTK or DGPS data Ensure the IMU antenna and user point device are bolted in one position perhaps by using a custom bracket The closer the antenna is to the IMU the more accurate the position solution Also your 2 2 3 Mount the OEMG Receiver The steps required to mount the OEM6 receiver vary depending on the type of OEM6 receiver card or enclosure you are using See the OEMG Family Installation and Operation User Manual OM 20000128 or ProPak6 User Manual OM 20000148 for information about mounting an OEMG receiver 2 2 4 Connect the Antenna to the OEM6 Receiver Connect the GNSS antenna to the receiver using a high quality coaxial cable Fora ProPak6 receiver connect the antenna cable from the connector on the antenna to the ANT or ANT1 port on the ProPak6 See Figure 11 Basic Set Up ProPak6 to LN 200 HG1700 LCI 1 or IMU FSAS on page 30 Figure 12 Basic Set Up ProPak6 to ISA 100 or ISA 100C on page 31 Figure 13 Basic Set Up ProPak6 to IMU CPT on page 32 or Figure 15 Basic Set Up ProPak6 to IMU IGM on page 34 ForaFlexPak6 receiver connect the antenna cable from the connector on the antenna to the Antenna port on the FlexPak6 See Figure 6 Basic Set Up FlexPak6 to LN 200 HG1700 or LCI 1 on page 25 Figure 7 Basic Set Up FlexPak6 to ISA 100 or ISA 100C on page 26 Figure 8
161. puter without additional interface circuitry OEM638 e Use COM6 for connection to the UIC serial port To use COM6 the port must be changed to RS 422 levels Refer to the OEM6 Family Installation and Operation User Manual for information about changing COMG to RS 422 levels D For information about the OEM6 receiver card connectors and pinouts refer to the OEM6 Family Installation and Operation User Manual 2 Connect a computer for monitoring and configuration to the OEM6 receiver Refer to the OEM6 Family Installation and Operation User Manual for information about connecting data communications equipment to an OEMG receiver 2 4 4 52 Connect Power to the UIC and OEMG receiver OEM615 OEM617 and OEM628 A separate power supply is required for the OEM6 family receiver For information about the power supply requirements refer to the Technical Specifications appendix for the receiver card in the OEM6 Family Installation and Operation User Manual OM 20000128 D OEM638 FlexPak6 and ProPak6 The same power supply can be used for the UIC and the receiver if the power supply provides 10 to 34 V DC and can provide enough power for both devices For information about the power supply requirements refer to the Technical Specifications appendix for the receiver in the OEM6 Family Installation and Operation User Manual OM 20000128 or the ProPak6 User Manual OM 20000148 Using a cust
162. ration Chapter 3 3 2 Communicating with the SPAN System Install the NovAtel OEM6 PC Utilities NovAtel Connect and Convert4 on the computer you intend to use to configure and monitor the SPAN system Alternatively you can use a terminal emulator program such as HyperTerminal to communicate with the receiver To access and download the most current version of the NovAtel Connect PC Utilities go to the NovAtel website at www novatel com support search items PC 20Software Refer to the NovAtel Connect Help file for more details on NovAtel Connect The Help file is accessed by choosing Help from the main menu in NovAtel Connect This procedure describes communicating with the SPAN system using a serial or USB connection For information about communicating with the SPAN system using an Ethernet connection see the OEM6 Family Installation and Operation User Manual OM 20000128 To enable communication from your computer to the SPAN system using NovAtel Connect 1 Launch NovAtel Connect from the Start menu folder specified during the installation process The default location is Start Programs NovAtel Connect NovAtel Connect 2 To define a new connection select New Connection from the Device menu The New Connection window appears If a connection is already defined for the SPAN system choose Open Connection and skip to step 9 E New Connection Name spaN_OEM6 Device Type Type usB
163. re utility The NovAtel Connect screen shots in this manual may differ from your version of NovAtel Connect SPAN on OEM6 User Manual Rev 10 55 Chapter 2 SPAN Installation 1 SPAN basic configuration Select Wizards SPAN Alignment from the NovAtel Connect toolbar This wizard takes you through the steps to complete a coarse or kinematic alignment select the type of IMU and configure the receiver port connected to the IMU to accept IMU data E SPAN OEM6 SPAN Alignment Wizard IMU type and port selection Please select the IMU model and the serial port it is connected to ty IMU UNKNOWN 2 5 2 8 Configuration for Alignment A coarse alignment routine requires the vehicle to remain stationary for at least 1 minute If that is not possible an alternate kinematic alignment routine is available The kinematic or moving alignment is performed by estimating the attitude from the GNSS velocity vector and injecting it into the SPAN filter as the initial system attitude See also System Start Up and Alignment Techniques on page 65 for more details on coarse and kinematic alignments The ADIS 16488 IMU CPT IMU IGM HG1930 and STIM300 IMUs cannot perform coarse alignments as these IMUs cannot accurately measure Earth rotation For these IMUs the default alignment routine is the kinematic alignment Refer to Kinematic Alignment on page 65 If a stationary alignment is required refer to Manual Alig
164. receiver Connect a user supplied computer for set up and monitoring to the USB port Jo mF o Connect a user supplied radio device to COM1 optional for real time differential operation SPAN on OEM6 User Manual Rev 10 33 Chapter 2 SPAN Installation 2 1 2 10 ProPak6 to IMU IGM Set Up Example Figure 15 Basic Set Up ProPak6 to IMU IGM ech Radio optional for Real Time Differential operation xi Hel Ei cl III Connect the antenna to the receiver Connect the DB 15HD connector of the interface cable to the MAIN connector on the IMU IGM Connect the DB9 connector of the interface cable to the COM3 IMU port of the receiver Connect the IMU power to the IMU interface cable refer to Table 7 IMU Power Supply on page 40 Connect a user supplied power supply to the receiver Connect a user supplied computer for set up and monitoring to the USB port Db cO Gc S qe Connect a user supplied radio device to COM1 optional for real time differential operation 34 SPAN on OEM6 User Manual Rev 10 SPAN Installation Chapter 2 2 1 3 SPAN Cables This section outlines the cables used to connect the receiver to the IMU For information about the other
165. rning B7 RESETIMUx Output Reset IMU B8 GND Power Digital ground B9 NOGOx B10 DIO2 B11 GND Power Digital ground B12 IMU EVENT IN B13 IMU EVENT OUT B14 GND Power Digital ground B15 TXC B16 TXC B17 SYNC B18 SYNC B19 TXD B20 TXD B21 GND Power Digital ground B22 5 25V Output Power Positive 5 25 VDC supply B23 5 25V Output Power Positive 5 25 VDC supply B24 GND Power Digital ground B25 5 25V Output Power Negative 5 25 VDC supply a All signal I O are at LVTTL levels not 5V tolerant SPAN on OEM6 User Manual Rev 10 Technical Specifications Appendix A A 14 Receivers For technical specifications for the OEM615 OEM617 OEM628 OEM638 and FlexPak6 see the OEM6 Family Installation and Operation User Manual For technical specifications for the ProPak6 see the ProPak6 User Manual SPAN on OEM6 User Manual Rev 10 161 Appendix B HG1700 IMU in Universal Enclosure Important Assemble in accordance with applicable industry standards Ensure all ESD C3 measures are in place in particular use a ground strap before exposing or handling any electronic items including the IMU Take care to prevent damaging or marring painted surfaces O rings sealing surfaces and the IMU The following procedure provides the necessary information to install the HG1700 sensor into the Universal Enclosure NovAtel part number 01018589 both illustrated below The steps required for this procedure are Disassemble t
166. s 8 40 3 30 a 9 oto 49 X Qi om 95 80 Q in S x2 CG o Dimensions in mm Cross hatched areas indicate keepout areas intended for NovAtel circuitry NovAtel reserves the right to modify components and component placements inside cross hatched keepout zones while maintaining design form fit and function SPAN on OEM6 User Manual Rev 10 157 Appendix A Technical Specifications A 13 2 UIC Electrical and Environmental Table 102 UIC Electrical Specifications ELECTRICAL UIC Input Voltage 10 VDC 34 VDC Power Consumption 4 W8 IMU Data Interfaces UART and SDLC over RS 422 a At 12 VDC input Table 103 UIC Electrical and Environmental Specifications ENVIRONMENTAL Operating Temperature 40 C to 75 C 40 F to 167 F Storage Temperature 55 C to 90 C 67 F to 194 F Random Vibe MIL STD 810G Cat 24 7 7 g RMS Sine Vibe IEC 60068 2 6 Bump IEC 68 2 29 25 g Shock MIL STD 810G 40 g A 13 3 UIC Connectors Table 104 UIC Connectors Mating Connector Connector Description Part Number Part number Molex Electronics Molex Electronics J102 16 pin UIC to receiver communication connector 98464 G61 16LF 90311 016LF FCI Electronics FCI Electronics J1401 50 pin UIC to IMU communication connector LTMM 125 02 L D SQT 125 01 L D Samtec Samtec a A filter module similar to Delta FL 75L07 in series with the power ca
167. s see the OEM6 Family Installation and Operation User Manual OM 20000128 Figure 16 Basic Set Up MIC in Stack Up Configuration IMU Ref Connector Part Number Mating Connector Description 43650 0313 43645 0300 Connects to the MIC power supply 1 P101 Molex Molex This connection provides power to the MIC and the OEM615 receiver user supplied cable 2 P601 53780 2070 51146 2000 Connects to HG1700 HG1900 HG1930 and STIM300 Molex Molex IMUs NovAtel supplied cable kit 3 P701 53780 1070 51146 1000 Connects to ADIS 16488 IMUs Molex Molex NovAtel supplied cable kit 4 P301 501571 3007 501189 3010 Connects the MIC and OEM615 communication signals Molex Molex to the user system user supplied cable 5 J301 ASP 163577 01 N A Connects to the main connector P1101 on an OEM615 Samtec receiver J301 is on the bottom of the MIC card 42 SPAN on OEM6 User Manual Rev 10 SPAN Installation Chapter 2 2 3 1 1 Mount the OEM615 Receiver and MIC 1 2 3 Mount the GNSS antenna See Mount the Antenna on page 36 Use the standoffs supplied with the MIC card to secure the OEM615 to its mounting location See Figure 17 Mount the MIC on the OEM615 on page 44 See the OEM6 Family Installation and Operation User Manual OM 20000128 for information about mounting printed circuit boards C The part number for the st
168. sensor counts are available by logging the timed wheel data log with the onchanged trigger log timedwheeldatab onnew Set parameters for your installation using the SETWHEELPARAMETERS command Refer to the SPAN on OEMG Firmware Reference Manual OM 20000144 for information about this command SPAN on OEM6 User Manual Rev 10 SPAN Operation Chapter 3 3 6 2 3 Wheel Sensor Interface for IMU IGM users IMU IGM accepts TTL level input pulses from a wheel sensor through the AUX connector For information about the connections available on the AUX connector see MU IGM Ports on page 130 To enable wheel sensor data on an IMU IGM see the ENCLOSUREWHEELSENSOR command in the SPAN on OEMG Firmware Reference Manual OM 20000144 The SPAN IGM Auxiliary Port interface cable 01019015 can be used to connect the wheel sensor inputs to the IMU IGM However when this cable is used with an IMU IGM only the wheel sensor inputs are available The other connectors on this cable do not have connections to the IMU or receiver 3 7 Azimuth Sources on a SPAN System The SPAN system use three different methods to calculate the azimuth e Course Over Ground Inertial Azimuth e ALIGN Azimuth 3 71 Course Over Ground The course over ground azimuth is determined using the position delta between two position solutions computed by the OEM receiver This is the simplest way to compute an azimuth and is done using either the
169. sisse nennen nnn nennen nennen nennen nnns 36 6 OEMG Family Receiver Card Power Requirements AAA 39 7 IMU Power Supply ER NEESS deed da viene rel abe cident ATC 40 8 COM Port Recommendattons sess nnne nennen nnns nsns snas sanis nnn 52 9 VIC Status RE 53 10 Enable INS Commande 54 11 IMU IGM LEDS cs irc ent Rete eed c E eve oe ee DE DEL cede desea bee ee 57 12 IMU ISA 100 and IMU ISA 100C LEDS AAA 57 13 Full Mapping Nell e 59 14 Inertial Solution Status EE 64 15 INS LED States n dE ex diee EENS EE 64 16 Solution ParaMeteS AEN 67 17 Valid Event Inputs and Outputs for Timed Sensor Triggers AA 72 18 Logs with Azimuth Catal cats sic iret eremo epp e e p Eu bn ce ane 76 19 ALN ALIGN EED States ze euer dn Mons id DESEN dE eege nh ea es 80 20 Universal IMU Enclosure Physical Specifications EE 84 21 HG1700 AG58 IMU Performance AAA 87 22 HG1700 AG62 IMU Performance AAA 87 23 EN200 IMD Performiarice eec aee etii es 88 24 LGIA IMU Performan EE 88 25 Universal IMU Enclosure Electrical Specifications AA 89 26 Universal IMU Enclosure Environmental Specifications ssssssssseressssesoerrerrnrnnnrnnnneenrnne 89 27 Universal IMU Enclosure Interface Cable Pinouts EE 90 28 Universal IMU Enclosure Interface Cable Pinouts eeeeeeeeee eene 91 29 HG1700 IMU Physical Specifications EEN 92 30 HG1700 Enclosure Side Dimensions eene 93 31 HG1700 AG58 IMU Performance 94 32 HG1700 AG62 IMU Performance 94
170. specifies that the maximum pulse frequency for a wheel sensor input to SPAN is 1 MHz SPAN on OEM6 User Manual Rev 10 113 Appendix A Technical Specifications You can use our interface cable with the ODO connector to plug directly into the iMWS With the WPT first modify the cable provided with the WPT The cable modification is shown in Table 53 Cable Modification for Kistler WPT Connect the female DB9 connector to the male ODO end of the ilMU FSAS interface cable 8 pin M12 connector on the Kistler cable Table 53 Cable Modification for Kistler WPT Female DB9 connector Pin 1 GND External Pin 2 Up Input Power Pin 3 Signal A Pin 6 Pin 4 Signal A inverted Pin 7 Pin 5 Signal B Pin 3 Pin 6 Signal B inverted Pin 1 Pin 7 Reserved No change Pin 8 a This modification is for the Kistler WPT 8 pin M12 plug cable number 14865 b The WPT requires power to operate which is not supplied through the P4 connector on the IMU FSAS interface cable Pins 1 and 2 should therefore be connected to an external power supply 10 to 30 VDC Kistler provides an M12 to DB9 cable for use with the WPT However certain revisions of this cable to do not bring through all four signal inputs The IMU FSAS odometer interface requires all four signal inputs to operate correctly See your WPT documentation for cable details 114 SPAN on OEM6 User Manual Rev 10 Technical Specificatio
171. stallation Figure 17 Mount the MIC on the OEM615 Xx P301 Communication Connector J301 on bottom of MIC to P1101 on OEM615 P701 IMU Connector P101 Power Connector T P601 IMU Connector OEM615 Main Connector For connection to MIC only Antenna Connecto MCX female 2 3 1 2 Connect the IMU to the MIC 1 Attach the IMU mounting Printed Circuit Board PCB to the IMU Ensure all the pins on the header are aligned with the holes on the mating connector An IMU mounting PCB is not used with the STIM300 IMU 2 Mount the IMU See Mount the IMU on page 36 Connect the IMU to MIC interface cable to the IMU Connect the IMU to MIC interface cable to the IMU connector on the MIC Use the 10 pin locking connector P701 for the ADIS IMUs See Figure 18 Connect the ADIS IMU to the MIC OEM Cable Kit 01019007 on page 45 Use the 20 pin locking connector P601 for the HG1700 HG1900 HG1930 or STIM300 IMU See Figure 19 Connect the HG1700 IMU to the MIC OEM Cable Kit 01018868 on page 45 Figure 20 Connect the HG1900 IMU to the MIC OEM Cable Kit 01018871 on page 45 Figure 21 Connect the HG1930 IMU to the MIC OEM Cable Kit 01018869 on page 45 or Figure 22 Connect the STIM300 IMU to the MIC OEM Cable Kit 01019174 on page 46 40 SPAN on OEMG User Manual Rev 10 SPAN Installation MIC MIC MIC MIC P301 Chapter 2 Figure 18 Connect the ADIS IM
172. tal Table 25 Universal IMU Enclosure Electrical Specifications ELECTRICAL IMU Power Consumption HG1700 AG58 9 W max HG1700 AG62 8 W max LN 200 16 W typical LCI 1 16W typical IMU Input Voltage 12 to 28 V DC all IMUs Receiver Power Consumption 1 8 W typical for all IMUs Input Output Connectors MIL C 38999 III 22 pin all IMUs IMU Interface RS 232 or RS 422 Table 26 Universal IMU Enclosure Environmental Specifications ENVIRONMENTAL Temperature HG1700 AG58 HG1700 AG62 Operating 30 C to 60 C Storage 45 C to 80 C LN 200 Operating 30 C to 60 C Storage 45 C to 80 C LCI 1 Operating 40 C to 60 C Storage 40 C to 71 C Humidity Operates at 95 RH non condensing all IMUs SPAN on OEM6 User Manual Rev 10 89 Appendix A A 1 4 Universal IMU Enclosure Interface Cable Technical Specifications The NovAtel part number for the Universal IMU Enclosure interface cable is 01018977 see Figure 35 Universal IMU Enclosure Interface Cable This cable provides power to the IMU from an external power source and enables communication between the receiver and the IMU Figure 35 Universal IMU Enclosure Interface Cable 1400 mm Dimensions in millimetres P PIN 5 _ J1
173. tal Table 33 HG17000 Electrical Specifications ELECTRICAL IMU Power Consumption IMU H58 9 W max IMU H62 8 W max IMU Input Voltage 12 to 28 V DC Receiver Power Consumption 1 8 W typical System Power Consumption 13 8 W typical Input Output Connectors MIL C 38999 IIl 22 pin all IMUs IMU Interface RS 232 or RS 422 Appendix A Table 34 HG17000 Environmental Specifications ENVIRONMENTAL IMU Temperature Operating 30 C to 60 C 22 F to 140 F Storage 45 C to 80 C 49 F to 176 F Humidity 95 non condensing A 2 4 Interface Cable for the HG1700 IMU The IMU interface cable provides power to the IMU from an external power source and enables communication between the receiver and IMU The HG1700 IMU uses the Universal IMU Enclosure Interface cable see Universal IMU Enclosure Interface Cable on page 90 or the Universal IMU cable see Universal IMU Cable on page 91 SPAN on OEM6 User Manual Rev 10 95 Appendix A Technical Specifications A3 LN 200 IMU single connector enclosure Table 35 LN 200 IMU Physical Specifications PHYSICAL IMU Enclosure Size 135 mm x 153 mm x 130 mm 5 315 x 6 024 x 5 118 IMU Size 89 mm D x 85 mm H 3 504 D x 3 346 H IMU Weight 3 kg 6 6 Ib A 3 14 LN 200 IMU Mechanical Drawings Figure 38 LN 200 IMU Enclosure Top Bottom Dimensions and Center of Navigation
174. tatus field changes to INS SOLUTION GOOD This indicates that the estimated azimuth standard deviation is below the preset value If it increases above the preset value the status changes to INS HIGH VARIANCE 3 3 1 1 Coarse Alignment The coarse alignment is the default alignment routine for SPAN The alignment starts as soon as a GNSS solution is available the receiver has computed fine time and the IMU is connected and configured The vehicle must remain stationary for the alignment to happen During the coarse alignment accelerometer and gyro measurements are averaged over a period of time to measure Earth rotation and gravity From these averaged measurements initial estimates of roll pitch and heading are computed Because the coarse alignment uses averaged sensor output the vehicle must remain stationary for the duration of the alignment which is approximately 45 seconds The attitude estimates solved by the alignment are larger than the system specified attitude accuracy and vary upon the characteristics of the sensor and the geographic latitude of the system Attitude accuracy converges with motion after the coarse alignment is complete see Navigation Mode on page 67 The ADIS 16488 IMU CPT IMU IGM HG1930 and STIM300 IMUs cannot perform coarse alignments as these IMUs cannot accurately measure Earth rotation For these IMUs the default alignment routine is the kinematic alignment Refer to Kinematic Alignment on page 65 If a
175. tems with an OEM638 and ProPak6 receiver have configurable output strobes Each strobe is synchronous with GNSS time and can be configured for pulse length and polarity 2 All SPAN receivers accept input pulses events Each event signal can be configured for positive or negative polarity Time or a solution position velocity attitude can be generated and output with each input pulse 3 4 1 Configuring a Synchronous Output Pulse 70 The EVENTOUTCONTROL command see the OEM6 Family Firmware Reference Manual OM 20000129 is used to configure an output strobe The ProPak6 has three output strobe lines MARK1 through MARK3 and the OEM638 has seven output strobe lines MARK1 through MARK7 Each of these output strobe lines can be configured independently The event strobes toggle between 3 3 V and 0 V Each strobe can supply 24 mA The pulse consists of two states an active state and a not active state The start of the active state is synchronized with the top of the GNSS time second and the polarity of the signal indicates whether the active period is 3 3 V or 0 V The not active period immediately follows the active period and has the alternate voltage Each output strobe can be configured in the following ways Polarity The polarity defines the signal state of the active portion of the signal A positive polarity dictates that the active portion of the signal is in a high state 3 3 V Active Period Width The activ
176. ter Peripheral updates can also be supplied wheel sensor for displacement updates or an external receiver for heading updates 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 The amount of dynamics required for filter convergence vary by the alignment quality IMU quality and maneuvers performed 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 HIGH VARIANCE When the accuracy converges again the INS status continues as INS SOLUTION GOOD 3 3 3 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 shown in Table 16 Solution Parameters Table 16 Solution Parameters Parameter Logs INSPOS or INSPOSS INSPOSX or INSPVA or INSPVAS INSPVAX INSVEL or INSVELS Velocity INSSPD or INSSPDS INSVELX or INSPVAX INSPVA or INSPVAS INSATT or INSATTS Attitude INSPVA or INSPVAS INSATTX or INSPVAX Solution Uncertainty INSCOV or INSCOVS Position a These logs contain variance information and are therefore large logs Use a low logging rate 20 Hz only Note that the position velocity and attitude are available together in the INSPVA INS
177. test If a software update has been performed the board can take up to 70 seconds at startup to SPAN on OEM6 User Manual Rev 10 Appendix A Technical Specifications A 12 4 HG1930 IMU to MIC Cable Assembly The NovAtel part number for the HG1930 IMU to MIC interface cable is 01018827 Figure 77 HG1930 IMU to MIC Cable Assembly This cable provides power to the IMU and enables communication between the MIC and the IMU Figure 77 HG1930 IMU to MIC Cable Assembly 600 0 20 0 zi P2 to MIC P1 to IMU PCB 20 Ten p zs V Notch indicates Pin 1 end of connector DEE Eeer LES lmnmmmmumumumumusuzmsm Dimensions in millimetres Table 99 HG1930 IMU to MIC Cable Assembly P1 IMU Cable End FCI MINITEK P2 MIC Cable End Pin Pin 15 16 13 14 Ke CO Oil oy BR C N CO eo N oO BR w oO eo NIJ on For more information refer to the IMU documentation provided by Honeywell 154 SPAN on OEM6 User Manual Rev 10 Technical Specifications Appendix A A 12 5 HG1700 and HG1900 IMU to MIC Cable Assembly The NovAtel part number for the HG1700 and HG1900 IMU to MIC interface cable is 01018828 Figure 78 HG1700 and HG1900 IMU to MIC Cable Assembly This cable provides power to the IMU and ena
178. the OEM6 Heceiver enne nnns nnn 2 2 6 Connect VO Strobe Signals 3 2 rrr ree rater eb been 2 2 f Connect POWE i usce ex t pv em TER er n EE era d d o Tope OE Van RET rere TRAY M POE rea AE REG 2 2 8 Connect the Additional Communication Ports on a brobakp aaeannnnnnonnnnnnnnnennenene 2 2 9 Gonn ct the CAN BUS iiec cn el rec trei ENNER 23 MIC Set le EE 2 3 1 Install a MIC in a Stack Up Configuration eesseeeeneeeeennm 2 3 2 Install a MIC in a Standalone MIC Set Up 2 4 UIC Set Lp red ED ee sid eti db A ci ERE Legere MERDA 2 4 1 Mount the SPAN System Components sess 2 4 2 Connect the IMU to the UIG iiiisieci cs ec serit rt rore ccr rario n ER Ye re ERR RR PES aaia 2 4 3 Connect the UIC to a receiver nnne nennen nennen nnn nnne nnns nnn nan 2 4 4 Connect Power to the UIC and OEM6 receiver nen 2 45 UIG Status RRE 2 5 Software Corfig fatlon 5 i eee nd d ete A Reb s dt 2 5 1 GNSS Configuration cni ig tete Ded c rade t rH EE e E E e eet 2 5 2 SPAN IMU Configuration AE 26 IMU LEDS S en eteg dagegen eeneg dE AA Seed Neger 3 SPAN Operation 3 1 Definition of Reference Frames Within GPDAN AAA 3 1 1 The Local Level Frame EN 3 12 The Ee Vgl EE D The Enclosure Frames E 3 14 The Vehicle Framie rice e RERO ERE UE DE e EOERER Exe EE Repo pe Reda 3 2 Communicating with the SPAN System AAA 3 2 1 INS Window in NovAtel Connect 3 3 Real Time OperatiOr iiit eit
179. the SPAN receiver can be configured to accept a wheel sensor signal directly Any of available event input lines can be used but only one can be used at a time the system does not support multiple wheel sensors This method only supports A mode directionless and not A B directional mode of operation for the wheel sensor The receiver automatically accumulates the wheel sensor ticks calculates a distance traveled and applies the constraint information in the SPAN GNSS INS filter To connect the wheel sensor to the SPAN system connect Signal A from the wheel sensor to one of the event input lines on the SPAN receiver For information about the event input lines refer to the OEM6 Family Installation and Operation User Manual OM 20000128 or the ProPak6 User Manual OM 20000148 The event input line must be configured for wheel sensor input using the SETWHEELSOURCE command and the size of the wheel and the number of ticks per revolution must be set using the SETWHEELPARAMETERS command For example if you have your wheel sensor connected to event input 2 with a 2 m circumference wheel and 2000 pulses per revolution the configuration commands would be SETWHEELSOURCE MARK2 POSITIVE SETWHEELPARAMETERS 2000 2 0 0 001 For information about the SETWHEELSOURCE command see the SPAN on OEMG Firmware Reference Manual OM 20000144 3 6 2 Wheel S
180. the sky The inertial solution is computed separately from the GNSS solution The GNSS solution is available from the SPAN system through the GNSS specific logs even without SPAN running The integrated GNSS INS solution is available through special INS logs documented in the SPAN on OEM6 Firmware Reference Manual OM 20000144 The IMU raw data is available at the maximum rate of output of the IMU 100 125 or 200 Hz Because of this high data rate a shorter header format was created These shorter header logs are defined with an S RAWIMUSXB rather than RAWIMUXB We recommend you use these logs instead of the standard header logs to save throughput on the COM port Status of the inertial solution can be monitored using the inertial status field in the INS logs see Table 14 Inertial Solution Status on page 64 SPAN on OEM6 User Manual Rev 10 63 Chapter 3 SPAN Operation Table 14 Inertial Solution Status Binary ASCII Description IMU logs are present but the alignment routine has not started g INSINROTNE INS is inactive 1 INS_ALIGNING INS is in alignment mode The INS solution is still being computed but the azimuth solution uncertainty has exceeded the threshold The default threshold is IMU dependent The solution is still valid but you should monitor the solution uncertainty in the INSCOV log You may encounter this state during times when the GNSS used to aid the INS is absent P 3 INS_SOLUTION_GOOD The INS f
181. tion The final assembled unit is shown in Figure 105 Final Assembly Figure 105 Final Assembly Centre of Navigation Labels should Product be here circle icon for LN 200 Identification Label Logo on E i SPAN on OEM6 User Manual Rev 10 177 Appendix D HG1700 IMU in SPAN HG Enclosure The following procedure provides the necessary information to install the HG1700 sensor into the SPAN HG Enclosure NovAtel part number 01017898 The steps required for this procedure are Disassemble the SPAN HG Enclosure Install the HG1700 Sensor Unit Make Electrical Connections Reassemble the SPAN HG Enclosure O Ensure you use a ground strap before installing the internal circuit boards Do NOT scratch any surfaces of the unit Figure 106 Required Parts Reference Description 1 SPAN IMU Enclosure 2 HG1700 Flex Cable 3 HG1700 Sensor Unit 178 SPAN on OEM6 User Manual Rev 10 HG1700 IMU in SPAN HG Enclosure Appendix D D 1 Disassemble the SPAN IMU Enclosure The SPAN IMU disassembly steps are as follows 1 Remove the six bolts from the top cover using a hex key as shown in Figure 107 Bolts and Hex Key Figure 107 Bolts and Hex Key Set aside the bolts with their sealing washers Lift the top cover off the tube body and set it aside as shown in Figure 108 Lift Top Cover Tube Body and 3 Ring Spacer Screws on page 179 Lift the tube body away from its base plate and set it asid
182. tion equations are computed 58 SPAN on OEM6 User Manual Rev 10 SPAN Operation Chapter 3 Table 13 Full Mapping Definitions E SPAN Frame IMU Enclosure IMU Enclosure Mapping Axis SAN EME Frame Axis Frame X Y 1 Y X Y 5 default ow N lt x x x x x x x N N N N N N lt lt lt lt lt lt lt x N lt x x N N lt N N lt lt x x x lt N x lt N Z SPAN on OEM6 User Manual Rev 10 59 Chapter 3 SPAN Operation 3 1 3 The Enclosure Frame The definition of the enclosure frame is defined on the IMU and represents how the sensors are mounted in the enclosure If the IMU is mounted with the z axis as marked on the IMU enclosure pointing up the IMU enclosure frame is the same as the SPAN frame The origin of this frame is not the enclosure center but the center of Navigation sensor center Figure 27 The Enclosure Frame VIII a Lane or N NAVIGATION OFFSETS 3 1 4 The Vehicle Frame The definition of the vehicle frame is as follows e z axis points up through the roof of the vehicle perpendicular to the ground e y axis points out the front of the vehicle in the direction of travel e x axis completes the right handed system out the right hand side of the vehicle when facing forward Z Figure 28 Vehicle Frame 60 SPAN on OEM6 User Manual Rev 10 SPAN Ope
183. to a SPAN receiver 23 DGND Power 24 USER_TXD2 Output In board stackup with OEM615 this is the access to the OEM615 COM port In standalone no connect 25 USER_RXD2 Input In board stackup with OEM615 this is the access to the OEM615 COM port In standalone no connect 26 DGND Power Digital ground 27 PV Output Access to OEM615 Only available in board stackup with OEM615 position valid In standalone no connect 28 DGND Power Digital ground 29 1PPS Output Access to OEM615 1PPS Only available in board stackup with OEM615 In standalone no connect 30 CAN2TX Output CAN transmit data Only available in board stackup with OEM615 In standalone no connect a All signal I O with the exception of USB port are at LVTTL levels b The USB port is enabled by default and the COM port is disabled by default If you enable the COMG port the USB port is disabled c To switch to COMG send the following commands MARKCONTROL markl disable INTERFACEMODE com3 novatel novatel d The VARF output is enabled by default and the CAN1RX input is disabled by default If you disable VARF the CAN1RX input is enabled e The Event2 input is enabled by default and the CAN1TX output is disabled by default If you disable EVENT2 the CAN1TX output is enabled f The Event input is enabled by default and the COMG port is disabled by default If you enable the COMG port the Event1 input is disabled
184. ts against over voltage over current and high temperature conditions provides automatic reset circuit protection The 12 V automotive adapter contains a 6 A fuse If an alternate power connection is used a user supplied 6 A slow blow fuse in a suitable holder must be used to protect both the power supply and your warranty See the OEMG Family Installation and Operation User Manual OM 20000128 or ProPak6 User Manual OM 20000148 for details The car adapter is not recommended for use if your power source is greater than 12 V There is always a drop in voltage between the power source and the power port due to cable loss Improper selection of wire gauge can lead to an unacceptable voltage drop at the SPAN system A paired wire run represents a feed and return line Therefore a 2 metre wire pair represents a total wire path of 4 metres For a SPAN system operating from a 12 V system a power cable longer than 2 1 m 7 ft should not use a wire diameter smaller than 24 AWG SPAN on OEM6 User Manual Rev 10 39 Chapter 2 SPAN Installation If the receiver is installed in a vehicle it is recommended that a dedicated battery be provided for the receiver that is isolated from the engine starter battery When a vehicle engine is started the voltage on the starter battery can dip to 9 6 VDC or cut out to ancillary equipment causing the receiver and IMU to lose lock and calibration settings from Vehicle Altern
185. updated any time anywhere without any mechanical procedures whatsoever Firmware upgrades can include changes in the software model to enable additional features or signals For example a model with L1 L2 only capabilities can be upgraded to a model with L1 L2 and NovAtel CORRECT with RTK in only a few minutes in your office instead of the days or weeks that would be required if the receiver had to be sent to a service depot All that is required to unlock the additional features is a special authorization code Refer to the OEM6 Family Installation and Operation User Manual OM 20000128 for further details on this topic Some of the IMUs used with SPAN are housed in an enclosure with a PCB board to handle power communication and data timing See Appendix A Technical Specifications on page 84 for details 1 3 Related Documents and Information This manual contains sufficient information about the installation and operation of the SPAN system It is beyond the scope of this manual to provide details on service or repair Contact your local NovAtel dealer for any customer service related inquiries see Customer Support on page 13 The OEM6 receiver utilizes a comprehensive user interface command structure which requires communications through its communications ports The SPAN specific commands and logs are described in the SPAN on OEMG Firmware Reference Manual OM 20000 144 For descriptions of the other commands and logs available with OEM
186. ure 12 Basic Set Up ProPak6 to ISA 100 or ISA 100C on page 31 Figure 13 Basic Set Up ProPak6 to IMU CPT on page 32 Figure 14 Basic Set Up ProPak6 to IMU KVH1750 on page 33 or Figure 15 Basic Set Up ProPak6 to IMU IGM on page 34 The COM3 IMU port should be used to connect to the IMU For a system with a FlexPak6 receiver and an IMU in a Universal IMU Enclosure Connect the IMU interface cable from the IMU to the COM 1 or COM 2 port on the FlexPak6 See Figure 6 Basic Set Up FlexPak6 to LN 200 HG1700 or LCI 1 on page 25 For a system with a FlexPak6 receiver and an IMU ISA 100 or IMU ISA 100C Connect the IMU interface cable from the IMU to the COM 2 port on the FlexPak6 See Figure 7 Basic Set Up FlexPak6 to ISA 100 or ISA 100C on page 26 To use an IMU ISA 100 or IMU ISA 100C IMU with the FlexPak6 COM2 port you must short pin 5 to pin 9 on the FlexPak6 I O port This changes the COM2 protocol to RS 422 For a system with a FlexPak6 receiver and an IMU FSAS IMU CPT or IMU KVH1750 Connect a FlexPak Y Adapter cable to the COM 2 and I O ports on the FlexPak6 receiver Then connect the IMU interface cable from the IMU to the FlexPak Y Adapter cable See Figure 8 Basic Set Up FlexPak6 to IMU FSAS on page 27 or Figure 9 Basic Set Up FlexPak6 to IMU CPT or IMU KVH1750 on page 28 For a system with a FlexPak6 receiver and an IMU IGM e Connect the IMU interface cable 01019016 from th
187. ut and applies a displacement update to the GNSS INS Kalman filter in order to constrain the position error growth during GNSS outages SPAN also automatically estimates the size of the wheel to mitigate small changes in the size of the wheel due to hardware changes or environmental conditions Wheel sensor information can be input into the system using one of two separate methods The wheel sensor is connected directly to one of the event input lines available on the SPAN receiver available only on ProPak6 receivers The wheel sensor ticks are accumulated by the IMU and then passed on to the SPAN receiver For IMU FSAS and IMU CPT users the wheel sensor is integrated via the IMU and wheel velocity commands are not required See also iIMU FSAS Odometer Cabling on page 113 For IMU ISA 100 and IMU ISA 100C user the wheel sensor is connected to the Wheel Sensor port using the optional Wheel Sensor Cable 60723137 or a custom cable See A 4 7 IMU ISA 100C Wheel Sensor Cable on page 106 for information about the Wheel Sensor Cable and the Wheel Sensor port pinout For IMU IGM A1 and IMU IGM S1 users the wheel sensor can be connected to the AUX port on the enclosure using the Auxiliary Interface Cable 01019015 SPAN on OEM6 User Manual Rev 10 73 Chapter 3 SPAN Operation 3 6 14 Wheel Sensor Updates Using the Event Input Lines This section applies only to systems with OEM638 and ProPak6 receivers The event input lines on
188. ution SOLTYPE L1 FLOAT SOLTYPE NARROW FLOAT or SOLTYPE WIDE FLOAT Green solid ALIGN has fixed solution SOLTYPE L1 INT SOLTYPE NARROW INT 80 SPAN on OEM6 User Manual Rev 10 SPAN on OEM6 Dual Antenna Chapter 4 4 2 Configuring ALIGN with SPAN on OEM6 Before configuring the ALIGN solution the two receivers MUST both be powered on and connected directly between COM 2 of the SPAN receiver and COM 2 of the second receiver through either a null modem cable or an appropriate radio connection The rover receiver must be an ALIGN capable model such as D2S Z00 000 running the latest OEM6 firmware version To enable the dual antenna ALIGN solution to aid the INS alignment and provide heading updates the offset between the antennas and the IMU must be known This is achieved by entering lever arms to both antennas using the SETIMUTOANTOFFSET and SETIMUTOANTOFFSET2 commands To configure SPAN with ALIGN Aiding 1 Enterthe lever arm from the IMU to the primary antenna primary antenna is connected to the SPAN receiver or the ANT1 port on a ProPak6 using the SETIMUTOANTOFFSET command Abbreviated ASCII example SETIMUTOANTOFFSET 0 54 0 32 1 20 0 03 0 03 0 05 2 Enter the lever arm from the IMU to the secondary antenna secondary antenna is connected to the second receiver or the ANT2 port on a ProPak6 using the SETIMUTOANTOFFSET2 command Abbreviated ASCII example SETIMUTOANTOFFSET2 0 54 2 32
189. verly optimistic i e err on the side of a larger standard deviation Specify the limits of the calibration through the LEVERARMCALIBRATE command The calibration can be limited by time or accuracy of the lever arm It is recommended that the calibration is limited by a minimum of 600 seconds To monitor the calibration log BESTLEVERARM using the ONCHANGED trigger Perform an initial system alignment using one of the methods described in System Start Up and Alignment Techniques on page 65 Start to move the system The lever arm is not observable while the system is stationary Immediately drive a series of maneuverer such as figure eights The turns should alternate between directions and you should make an equal number of turns in each direction Some height variation in the route is also useful for providing observability in the Z axis When the calibration is complete either because the specified time has passed or the accuracy requirement has been met the BESTLEVERARM log outputs the solved lever arm To save a calibrated lever arm for subsequent start ups issue the SAVECONFIG command after calibration is complete If the IMU or GNSS antenna are re mounted re run the calibration routine to compute an accurate lever arm 3 3 5 For information about the logs and commands used in this procedure refer to the SPAN on OEMG Firmware Reference Manual OM 20000144 Vehicle to SPAN Frame Angular Offsets Calibration Routine
190. washers 4 each from the LN 200 IMU Add three washers under each of the original washers and fasten the IMU to the enclosure base as shown in Figure 99 Install LN 200 IMU to Base Use thread locking fluid on each screw Figure 99 Install LN 200 IMU to Base SPAN on OEM6 User Manual Rev 10 173 Appendix C LN 200 IMU in Universal Enclosure 2 Using along 3 mm hex bit install the IMU bracket SDLC to the base as shown in Figure 100 Install Bracket to Base Use thread locking fluid on each M4 screw Figure 100 Install Bracket to Base Access for long hex bit 3 Connect the cable harness to the board assembly and IMU routing it as shown in Figure 101 Making Connections Ensure latching of the cable connector housings and fasten the 6 32 screw at the IMU end using a 5 32 hex bit Do not use thread locking fluid and do not overtighten Figure 101 Making Connections CONNECTI CONNECT Make sure the tape of the harness is positioned for maximum protection 174 SPAN on OEM6 User Manual Rev 10 LN 200 IMU in Universal Enclosure Appendix C 4 While carefully holding the body over the bracket connect the internal cable harness to the board assembly as shown in Figure 102 Connect Internal Cable Harness Figure 102 Connect Internal Cable Harness SPAN on OEM6 User Manual Rev 10 175 Appendix C LN 200 IMU
191. xis SPAN on OEM6 User Manual Rev 10 139 Appendix A Technical Specifications A 10 2 OEM IMU ISA 100C Sensor Specifications Table 81 OEM IMU ISA 100C IMU Performance GYROSCOPE PERFORMANCE Input range 495 deg sec Bias stability 20 5 deg hr Scale factor repeatability lt 100 ppm Scale factor non linearity lt 100 ppm Angular random walk 0 012 deg Vhr Range 10g Bias repeatability gt 1250 ug Scale factor repeatability lt 100 ppm Scale factor non linearity lt 100 ppm Velocity random walk lt 100 ug Hz DATA RATE IMU Measurement 200 Hz a Amaximum data rate of 400 Hz is available on specific models of OEM IMU ISA 100C A 10 3 OEM IMU ISA 100C Electrical and Environmental Table 82 OEM IMU ISA 100C Electrical Specifications ELECTRICAL Input Power 3 3 V 5 25 V 15 V 15 V optional Power consumption lt 10 W typical 16 W maximum Connector 44 pin HD D Sub male Table 83 OEM IMU ISA 100C Environmental Specifications ENVIRONMENTAL Temperature operational 40 C to 71 C 140 SPAN on OEM6 User Manual Rev 10 Technical Specifications Appendix A A 10 4 OEM IMU ISA 100C IMU to UIC Cable Assembly The NovAtel part number for the OEM IMU ISA 100C IMU to UIC interface cable is 01019393 Figure 71 OEM IMU ISA 100C IMU to UIC Cable Assembly This cable provides power to the IMU and enables communication between the UIC and the IMU Fi

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