Novatel Complete Guide to INS Installation and Configuration

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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 Connections for Kistler CWPT Sensor on page 24.

Kistler provides an M12 to DB9 cable for use with the CWPT odometer. However, certain revisions of this cable to do not bring through all four signal inputs. SPAN-IGM requires all four signal inputs to operate correctly. See your CWPT documentation for cable details.

Table 3: Cable Connections for Kistler CWPT Sensor

8-pin M12 Connector

Function

J2 Wire Bundle

on CWPT Sensor

 

 

 

 

 

Pin 1

GND

DGND

 

 

 

Pin 2

+UB (Input Power)

WS-OUT

Pin 3

Signal A

ODM_A+

 

 

 

Pin 4

Signal A inverted

ODM_A-

 

 

 

Pin 5

Signal B

ODM_B+

 

 

 

Pin 6

Signal B inverted

ODM_B-

 

 

 

Pin 7

Reserved

 

 

 

Pin 8

 

 

 

 

 

The SPAN-IGM-S1 supports only the A signals from the wheel sensor. It does not process the B signals.

2.4Software Configuration

2.4.1GNSS Configuration

The GNSS configuration can be set up for different accuracy levels such as single point, SBAS, DGPS and RTK (RTCA, RTCM, RTCM V3 and CMR). Refer to the OEM6 Family Installation and Operation User Manual for details on DGPS, RTK, L-band or SBAS setup and operation.

With no additional configuration, the system operates in single point mode.

2.4.2SPAN IMU Configuration

You can configure the IMU portion of the SPAN system using software commands or the NovAtel Connect software utility.

A GNSS antenna must be connected and tracking satellites for operation.

2.4.2.1Configure SPAN Manually

Follow these steps to enable INS as part of the SPAN system using software commands:

1.Issue the SETIMUTOANTOFFSET command to enter the distance from the SPAN-IGM to the GNSS antenna, see the SPAN on OEM6 Firmware Reference Manual (OM-20000144).

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SPAN-IGM User Manual Rev 2

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Contents SPAN-IGM OM-20000141 Rev SeptemberWarranty Return Instructions Proprietary NoticeTable of Contents Frequently Asked Questions Replacement Parts Figures Tables NovAtel Knowledge Base Before Contacting Customer Support Contact InformationFCC Notices Industry CanadaCE Notice Weee NoticeLightning Protection Installation and Grounding Procedure What is the hazard?Hazard Impact Actions to Mitigate Lightning HazardsPrimary and Secondary Lightning Protection Ref # Description USAIntroduction Fundamentals of Gnss + INSSystem Components ScopeSPAN-IGM Integrated Gnss + INS unit Gnss antenna PC softwareConventions Span Installation Connector Type ConnectionsRequired Equipment SPAN-IGM HardwareSPAN-IGM Cables  Use a USB cable to log raw dataSPAN-IGM Cables NovAtel Port PurposeHardware Set Up Typical SPAN-IGM Set Up Serial Port RadioTypical SPAN-IGM Set Up USB Port Radio Mount the Antenna Mount the SPAN-IGMConnect Power Connect the Antenna to the SPAN-IGMConnect a Computer Using a Serial Connection Connect a Computer to the SPAN-IGMConnect I/O Strobe Signals Connect a Computer Using a USB ConnectionO Strobe Signals Signal Description aEnable RS-422 serial connections Enable the COM3 Serial PortDisable the COM3 Serial Port 8 COM3 Serial PortOdometer connection Odometer RequirementsSoftware Configuration Gnss ConfigurationSpan IMU Configuration Pin M12 Connector Function J2 Wire Bundle On Cwpt SensorConfigure Span with Connect SPAN-IGM LEDs SPAN-IGM LEDsOff Flashing Slow 1Hz Flashing Fast 1Hz Span Operation Communicating with the Span SystemINS Window in NovAtel Connect Chapter Span OperationReal-Time Operation Span Operation ChapterSystem Start-Up and Alignment Techniques AsciiKinematic Alignment Manual AlignmentDual Antenna Alignment Navigation Mode InssolutiongoodSolution Parameters Data Collection Logging Restriction Important Notice Vehicle to Span Frame Angular Offsets Calibration RoutineWheel Sensor Update Logic Span Wheel Sensor MessagesMeasurement Timing and Frequency Set up a Wheel Sensor Azimuth Sources on a Span SystemCourse Over Ground Inertial AzimuthData Collection for Post-Processing Log Azimuth Source FormatVariable Lever Arm Installation SPAN-IGM Dual AntennaConfiguring Align with SPAN-IGM Alignment on a Moving Vessel Aided Transfer Alignment Alignment on a Stationary Vehicle Aided Static AlignmentSpan Align Attitude Updates Automatic Alignment Mode Automatic Alignment defaultUnaided Alignment Reference Frames Within Span Local-Level Frame ENUSpan Body Frame Span Enclosure Frame Vehicle FrameFirmware Updates and Model Upgrades Firmware UpdatesNovAtel Firmware and Software Authorization Code Model UpgradesUpdating or Upgrading Using the WinLoad Utility Transferring Firmware FilesTypes of Firmware Files Using the WinLoad Utility Open a File to DownloadUpdating using SoftLoad Commands Searching for CardWorking with S-Records Softloadsrec S-RECORDUpgrading Using the Auth Command Upgrade ProcedureXXXXXX,XXXXXX,XXXXXX,XXXXXX,XXXXXX,MODEL,EXPDATE Technical Specifications SPAN-IGM-A1 Technical SpecificationsSPAN-IGM-A1 Environmental Specifications SPAN-IGM-A1 Mechanical DrawingsSPAN-IGM-S1 Technical Specifications SPAN-IGM-S1 Physical SpecificationsSPAN-IGM-S1 Gnss Performance SPAN-IGM-S1 Data RatesSPAN-IGM-S1 Environmental Specifications SPAN-IGM-S1 Mechanical DrawingsSPAN-IGM Ports Main Port PinoutPin # Label Description AUX Port PinoutSPAN-IGM Interface Cable SPAN-IGM Interface Cable Pin-Out DescriptionsMIC Port User PortSPAN-IGM Align Interface Cable SPAN-IGM Align Interface Cable Pin-Out DescriptionsSPAN-IGM Auxiliary Port Interface Cable COM3 PortPin # Labels Varf DgndFrequently Asked Questions Appendix BReplacement Parts Accessories and OptionsSpan System Part Description NovAtel PartIndex Index OM-20000141 Rev September

OM-20000141 specifications

The Novatel OM-20000141 is a high-performance multi-GNSS (Global Navigation Satellite System) receiver designed for various applications including precision agriculture, autonomous vehicles, and surveying. This state-of-the-art device combines cutting-edge technologies to provide accurate and reliable positioning data, making it an indispensable tool for professionals in fields that rely on geolocation.

One of the standout features of the Novatel OM-20000141 is its multi-frequency support, allowing it to receive signals from GPS, GLONASS, Galileo, and BeiDou systems. This capability significantly enhances the accuracy and reliability of positioning information, particularly in challenging environments where signal interference can occur. By utilizing multiple frequencies, the OM-20000141 can mitigate errors caused by atmospheric disturbances and multi-path signals, resulting in improved precision.

In addition to its multi-GNSS capabilities, the receiver incorporates advanced RTK (Real-Time Kinematic) technology, enabling centimeter-level accuracy. This is particularly beneficial for applications that require pinpoint geolocation, such as precision agriculture, where farmers need to optimize crop yields and resource usage. The RTK technology allows users to achieve real-time positioning corrections, making it a vital tool for surveying and construction projects that demand high precision.

The Novatel OM-20000141 also features built-in connectivity options, including Bluetooth and USB interfaces, facilitating seamless integration with other devices and systems. This connectivity is crucial for enabling real-time data sharing and remote monitoring, enhancing the usability of the device in various operational environments.

Robustness is another significant characteristic of the OM-20000141. Designed to withstand harsh conditions, the receiver features a durable housing that protects it from dust, moisture, and extreme temperatures. This resilience ensures that the device operates effectively in all weather conditions, making it suitable for outdoor applications.

Furthermore, the receiver is equipped with intelligent positioning algorithms that optimize performance in urban canyons and dense foliage areas, where traditional GNSS receivers may struggle. By leveraging these algorithms, the OM-20000141 can maintain reliable positioning even in challenging environments.

Overall, the Novatel OM-20000141 stands out as a versatile and reliable GNSS receiver, merging advanced technologies to deliver high accuracy and reliability. Its exceptional features make it an invaluable asset for professionals in various industries, enhancing their ability to achieve precise geolocation and optimize their operations.