Novatel OM-20000141 - Manuals

SPAN-IGM User Manual Rev 2 5 Figures 1 Primary and Secondary Lightning Protection ..................................................................................... 10 2 SPAN-IGM .........................................................................................................................

6 SPAN-IGM User Manual Rev 2 Tables 1 SPAN-IGM Cables ............................................................................................................................... 15 2 I/O Strobe Signals .................................................................................................

SPAN-IGM User Manual Rev 2 7 Customer Support NovAtel Knowledge Base If you have a technical issue, browse to the NovAtel Web site at www.novatel.com then select Support | Helpdesk and Solutions | Search Known Solutions . Through this page, you can search for general information about GNSS and other...

8 SPAN-IGM User Manual Rev 2 Notices The following notices apply to the SPAN-IGM. FCC Notices This SPAN device complies with part 15 of the FCC Rules. Operation is subject to the following two conditions: (1) this device may not cause harmful interference, and (2) this device must accept any interfe...

Notices SPAN-IGM User Manual Rev 2 9 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-IGM product. Since REACH SVHC...

10 SPAN-IGM User Manual Rev 2 Notices 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 Protection on page 10. Figure 1: Pr...

SPAN-IGM User Manual Rev 2 11 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 I...

12 SPAN-IGM User Manual Rev 2 Chapter 1 Introduction 1.2 System Components The SPAN-IGM system consists of the following components: • SPAN-IGM Integrated GNSS + INS unit This unit has 3 accelerometers, 3 gyroscopes (gyros) and a NovAtel OEM615 receiver. Excellent acquisition and re-acquisition time...

Introduction Chapter 1 SPAN-IGM User Manual Rev 2 13 1.4 Conventions The following conventions are used in this manual:  Information that supplements or clarifies text.  A caution that actions, operation or configuration may lead to incorrect or improper use of the hardware.  A warning that actio...

14 SPAN-IGM User Manual Rev 2 Chapter 2 SPAN Installation This chapter contains instructions and tips to setup your SPAN-IGM system. 2.1 Required Equipment • A SPAN-IGM integrated GNSS + INS receiver • A quality, dual frequency GNSS antenna such as the GPS-702-GG or ANT-A72GA-TW-N for airborne/high ...

SPAN Installation Chapter 2 SPAN-IGM User Manual Rev 2 15 The sections that follows outline how to set up the system’s parts and cables. For more information about the SPAN-IGM and cables, see Appendix A, Technical Specifications on page 52. 2.2.1 SPAN-IGM Cables This section outlines the NovAtel in...

16 SPAN-IGM User Manual Rev 2 Chapter 2 SPAN Installation 2.3 Hardware Set Up The following examples show the connections for a SPAN-IGM. Figure 3: Typical SPAN-IGM Set Up – Serial Port 1. Mount the GNSS antenna, as described in Mount the Antenna on page 18. 2. Mount the SPAN-IGM, as described in Mo...

SPAN Installation Chapter 2 SPAN-IGM User Manual Rev 2 17 Figure 4: Typical SPAN-IGM Set Up – USB Port 1. Mount the GNSS antenna, as described in Mount the Antenna on page 18. 2. Mount the SPAN-IGM, as described in Mount the SPAN-IGM on page 18. 3. Connect the GNSS antenna to the SPAN-IGM, as descri...

18 SPAN-IGM User Manual Rev 2 Chapter 2 SPAN Installation 2.3.1 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 locati...

SPAN Installation Chapter 2 SPAN-IGM User Manual Rev 2 19 2.3.3 Connect the Antenna to the SPAN-IGM Connect the antenna cable from the connector on the GNSS antenna to the Antenna port on the SPAN-IGM. See Figure 3, Typical SPAN-IGM Set Up – Serial Port on page 16. For best performance, use a high-q...

20 SPAN-IGM User Manual Rev 2 Chapter 2 SPAN Installation If the SPAN-IGM is installed in a vehicle, NovAtel recommends a back-up battery be placed between the receiver and its voltage supply to act as a power buffer. When a vehicle engine is started, power can dip to 9.6 VDC or cut-out to ancillary...

SPAN Installation Chapter 2 SPAN-IGM User Manual Rev 2 21 2.3.5.2 Connect a Computer Using a USB Connection The SPAN-IGM USB port is available on the AUX connector. See Figure 4, Typical SPAN-IGM Set Up – USB Port on page 17. If you are using a NovAtel interface cable (part number 01019015): 1. Conn...

22 SPAN-IGM User Manual Rev 2 Chapter 2 SPAN Installation 2.3.8 COM3 Serial Port The COM3 serial port is multiplexed with the USB port, so only one of these two ports can be enabled at a time. The USB port is enabled by default. If the system configuration requires an additional serial connection, d...

SPAN Installation Chapter 2 SPAN-IGM User Manual Rev 2 23 2.3.10 Odometer connection The SPAN-IGM provides a wheel sensor input for a Distance Measurement Instrument (DMI) through AUX connector. If you are using a NovAtel interface cable (part number 01019015): 1. Connect the interface cable to the ...

24 SPAN-IGM User Manual Rev 2 Chapter 2 SPAN Installation SPAN-IGM powers the odometer. See Appendix A, Technical Specifications on page 52 for the pin outs of the SPAN-IGM interface cable. Connect the appropriate pins to your chosen odometer. The cable requirements are shown in Table 3, Cable Conne...

SPAN Installation Chapter 2 SPAN-IGM User Manual Rev 2 25 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 SPAN-IGM enclosure. The SETIMUTOANTOFFSET parameters a...

26 SPAN-IGM User Manual Rev 2 Chapter 2 SPAN Installation 2.5 SPAN-IGM LEDs The LEDs on the SPAN-IGM provide basic receiver status information. Table 1: SPAN-IGM LEDs LED Off On Flashing Slow (1Hz) Flashing Fast (>1Hz) Power(Red) No power to unit Unit is powered on UNKNOWN or UNSUPPORTED IMU Prog...

SPAN-IGM User Manual Rev 2 27 Chapter 3 SPAN Operation Before operating your SPAN system, ensure that you have followed the installation and setup instructions in Chapter 2, SPAN Installation on page 14 . You can use the NovAtel Connect software to configure receiver settings and to monitor data in ...

28 SPAN-IGM User Manual Rev 2 Chapter 3 SPAN Operation 7. If you selected Serial , clear the Use hardware handshaking check box. 8. Click the OK button to save the new device settings. 9. Select the connection created for the SPAN-IGM from the Available Device Connections area of the Open Connection...

30 SPAN-IGM User Manual Rev 2 Chapter 3 SPAN Operation Table 4: Inertial Solution Status 3.2.1 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 o...

SPAN Operation Chapter 3 SPAN-IGM User Manual Rev 2 31 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...

32 SPAN-IGM User Manual Rev 2 Chapter 3 SPAN Operation 3.2.2 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 ...

SPAN Operation Chapter 3 SPAN-IGM User Manual Rev 2 33 Specific logs need to be collected for post-processing. See Data Collection for Post-Processing on page 36. To store data from a SPAN-IGM, connect the SPAN-IGM to a computer running NovAtel Connect or other terminal program capable of recording ...

34 SPAN-IGM User Manual Rev 2 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 VEHICLEBOD...

SPAN Operation Chapter 3 SPAN-IGM User Manual Rev 2 35 3.2.5.3 Set up a Wheel Sensor 1. Send the following commands to setup the wheel sensor. ENCLOSUREWHEELSENSOR ENABLE 1HZ SETWHEELPARAMETERS ticks circ spacing 2. Send the following commands to log the wheel sensor data. LOG TIMEDWHEELDATAB ONNEW ...

36 SPAN-IGM User Manual Rev 2 Chapter 3 SPAN Operation Table 6: Logs with Azimuth data 3.4 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...

SPAN Operation Chapter 3 SPAN-IGM User Manual Rev 2 37 3.5 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 lever arm offset to the GNSS antenna...

38 SPAN-IGM User Manual Rev 2 Chapter 4 SPAN-IGM Dual Antenna 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 the inertial error estimates and improve attitude accurac...

SPAN-IGM Dual Antenna Chapter 4 SPAN-IGM User Manual Rev 2 39 Figure 8: SPAN-IGM - Dual Antenna Installation 4.2 Configuring ALIGN with SPAN-IGM Before configuring the ALIGN solution, the SPAN-IGM and the secondary receiver MUST both be powered on and connected directly between COM 2 of the SPAN-IGM...

40 SPAN-IGM User Manual Rev 2 Chapter 4 SPAN-IGM Dual Antenna 2. Enter the lever arm from the SPAN-IGM to the secondary antenna (secondary antenna is connected to the second receiver) using the SETIMUTOANTOFFSET2 command. Abbreviated ASCII example: SETIMUTOANTOFFSET2 0.54 2.32 1.20 0.03 0.03 0.05 Al...

SPAN-IGM Dual Antenna Chapter 4 SPAN-IGM User Manual Rev 2 41 4.2.3 Unaided Alignment The unaided alignment sets the SPAN system to use only single antenna alignment options (kinematic or manual alignment). To use this alignment mode, the configuration command ALIGNMENTMODE must be sent to the recei...

42 SPAN-IGM User Manual Rev 2 Chapter 5 Reference Frames Within SPAN The reference frames that are most frequently used throughout this manual are the following: • the Local-Level Frame • the SPAN Body Frame • the Enclosure Frame • the Vehicle Frame 5.1 The Local-Level Frame (ENU) The definition of ...

Reference Frames Within SPAN Chapter 5 SPAN-IGM User Manual Rev 2 43 Table 7: Full Mapping Definitions Mapping SPAN Frame Axis SPAN Frame IMU Enclosure Frame Axis IMU Enclosure Frame 1 X Y Y Z Z X 2 X Z Y Y Z -X 3 X Z Y X Z Y 4 X X Y Z Z -Y 5 (default) X X Y Y Z Z 6 X Y Y X Z -Z Z X Y X Y Z Z X Y Z ...

44 SPAN-IGM User Manual Rev 2 Chapter 5 Reference Frames Within SPAN 5.3 The Enclosure Frame The definition of the enclosure frame is marked on the SPAN-IGM and represents how the sensors are mounted in the enclosure. If the SPAN-IGM is mounted with the z-axis (as marked on the SPAN-IGM enclosure) p...

SPAN-IGM User Manual Rev 2 45 Chapter 6 NovAtel Firmware and Software Download the most recent versions of the NovAtel firmware and receiver software from the NovAtel website at www.novatel.com Support/Firmware/Software and Manuals . OEM6 Firmware and Software NovAtel Connect PC Utilities Software B...

46 SPAN-IGM User Manual Rev 2 Chapter 6 NovAtel Firmware and Software 6.1.2 Model Upgrades Model upgrades enable purchased receiver features. Contact a local NovAtel dealer to assist in selecting the upgrade options that best suit your GNSS needs at www.novatel.com/where-to-buy . Contact NovAtel Cus...

NovAtel Firmware and Software Chapter 6 SPAN-IGM User Manual Rev 2 47 The new download package includes a signed firmware file type that uses an extension designated as “.shex” (example OEM060200RN0000.shex), as well as the latest Winload utility and What’s New file containing firmware update change...

48 SPAN-IGM User Manual Rev 2 Chapter 6 NovAtel Firmware and Software 6.3.2 Using the WinLoad Utility If opening WinLoad for the first time, ensure the file and communications settings are correct. 6.3.2.1 Open a File to Download Select File | Open. Navigate to the file to open ( Figure 12, WinLoad ...

NovAtel Firmware and Software Chapter 6 SPAN-IGM User Manual Rev 2 49 Figure 15: Searching for Card 5. If the Authorization Code window appears, enter the authorization code and click OK . See Authorization Code on page 46 for further information about the Authorization Code. Figure 16: Authorizatio...

50 SPAN-IGM User Manual Rev 2 Chapter 6 NovAtel Firmware and Software 5. Send each line of the *.SHEX file to the receiver in a SOFTLOADSREC command. The S-Records must be enclosed by quotation marks: SOFTLOADSREC "<S-RECORD>" 6. Send the SOFTLOADCOMMIT command. 7. During the loading p...

NovAtel Firmware and Software Chapter 6 SPAN-IGM User Manual Rev 2 51 6.5 Upgrading Using the AUTH Command The AUTH command authorizes the enabling (unlocking) of model features. The AUTH command is used to upgrade a new OEM6 family model, available with the same firmware version as the current mode...

52 SPAN-IGM User Manual Rev 2 Appendix A Technical Specifications This appendix details the technical specifications of the SPAN-IGM. A.1 SPAN-IGM-A1 Technical Specifications Table 8: SPAN-IGM-A1 Physical Specifications Table 9: SPAN-IGM-A1 GNSS Performance Table 10: SPAN-IGM-A1 Data Rates Table 11:...

56 SPAN-IGM User Manual Rev 2 Appendix A Technical Specifications A.3 SPAN-IGM Ports Table 20: Main Port Pinout Table 21: AUX Port Pinout Pin # Label Description 1 MIC_TX/MIC_TX+ MODE2 high or open: MIC port transmit (RS-232) MODE2 low: MIC port transmit positive (RS-422) 2 CAN+/MIC_TX- MODE2 high o...

Technical Specifications Appendix A SPAN-IGM User Manual Rev 2 57 A.4 SPAN-IGM Interface Cable The NovAtel part number for the SPAN-IGM interface cable is 01019014. This cable provides power and communication signals to the SPAN-IGM. Figure 20: SPAN-IGM Interface Cable Dimensions are in millimetres....

58 SPAN-IGM User Manual Rev 2 Appendix A Technical Specifications A.5 SPAN-IGM ALIGN Interface Cable The NovAtel part number for the SPAN-IGM ALIGN interface cable is 01019089. This cable connects a SPAN-IGM to a FlexPak6 receiver when the SPAN-IGM and FlexPak6 are connected in an dual antenna confi...

Technical Specifications Appendix A SPAN-IGM User Manual Rev 2 59 A.6 SPAN-IGM Auxiliary Port Interface Cable The NovAtel part number for the SPAN-IGM auxiliary port interface cable is 01019015. This cable provides connection for the I/O strobe inputs, odometer input, COM3 serial port and USB port. ...

60 SPAN-IGM User Manual Rev 2 Appendix B Frequently Asked Questions 1. Why don’t I have any INS logs? On start-up, the INS logs are not available until the system has solved for time. This requires that an antenna is attached, and satellites are visible, to the system. You can verify that time is so...

SPAN-IGM User Manual Rev 2 61 Appendix C 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. C.1 SPAN System C.2 Accessories and Options Part Descr...

SPAN-IGM User Manual Rev 2 62 Index A antenna 61 AUTH command 51 authorization 51 C cables 15 antenna 61 power 19 copyright 2 customer service 46 D dealer 46 driving 33 E e-mail 7 Event1 21 Event2 21 F features 46 , 51 firmware updates 46 – 47 , 51 frequently asked questions 60 G graphical user inte...