OPERATE THE SPAN SYSTEM
The system is ready to go once it is powered and the INS and GNSS are configured using the previously shown commands.
Observe the status of the system in the NovAtel Connect INS Window or in the status field of any of the INS solution logs (for example INSPOS, INSVEL, INSATT and INSPVA).
INS data is available once there is a good GNSS solution. Therefore, an antenna must be connected for the system to function.
If performing a static alignment, allow the system to be stationary for at least 1 minute after the GNSS solution is computed for its initial system alignment. If performing a kinematic alignment, move the vehicle forward at a speed faster than 5 m/s. The following status stages may be observed:
| Table 2: Inertial Solution Status | ||
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Binary | ASCII | Description | |
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0 | INS_INACTIVE | IMU logs are present, but the alignment routine has not | |
started; INS is inactive. | |||
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1 | INS_ALIGNING | INS is in alignment mode. | |
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| The INS solution is still being computed but the azimuth | |
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| solution uncertainty has exceed 2 degrees. The solution | |
2 | INS_HIGH_VARIANCE | is still valid but you should monitor the solution | |
uncertainty in the INSCOV log. You may encounter this | |||
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| state during times when the GNSS, used to aid the INS, | |
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| is absent. | |
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3 | INS_SOLUTION_GOOD | The INS filter is in navigation mode and the INS solution | |
is good. | |||
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| The INS filter is in navigation mode and the GNSS | |
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| solution is suspected to be in error. | |
6 | INS_SOLUTION_FREE | This may be due to multipath or limited satellite visibility. | |
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| The inertial filter has rejected the GNSS position and is | |
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| waiting for the solution quality to improve. | |
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| The INS filter is in navigation mode, but not enough | |
7 | INS_ALIGNMENT_COMPLETE | vehicle dynamics have been experienced for the system | |
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| to be within specifications. | |
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8 | DETERMINING_ORIENTATION | INS is determining the IMU axis aligned with gravity. | |
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| The INS filter has determined the IMU orientation and is | |
9 | WAITING_INITIALPOS | awaiting an initial position estimate to begin the | |
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| alignment process. | |
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