Novatel OM-20000141 user manual Table of Contents

Table of Contents
Customer Support		7
Notices		8
1 Introduction		11
1.1	Fundamentals of GNSS + INS	11
1.2	System Components	12
1.3	Scope	12
1.4	Conventions	13
2 SPAN Installation		14
2.1	Required Equipment	14
2.2 SPAN-IGM Hardware		14
	2.2.1 SPAN-IGM Cables	15
2.3	Hardware Set Up	16
	2.3.1 Mount the Antenna	18
	2.3.2 Mount the SPAN-IGM	18
	2.3.3 Connect the Antenna to the SPAN-IGM	19
	2.3.4 Connect Power	19
	2.3.5 Connect a Computer to the SPAN-IGM	20
	2.3.6 Connect I/O Strobe Signals	21
	2.3.7 CAN Bus	21
	2.3.8 COM3 Serial Port	22
	2.3.9 Enable RS-422 serial connections	22
	2.3.10 Odometer connection	23
2.4	Software Configuration	24
	2.4.1 GNSS Configuration	24
	2.4.2 SPAN IMU Configuration	24
2.5 SPAN-IGM LEDs		26
3 SPAN Operation		27
3.1	Communicating with the SPAN System	27
	3.1.1 INS Window in NovAtel Connect	28
3.2	Real-Time Operation	29
	3.2.1 System Start-Up and Alignment Techniques	30
	3.2.2 Navigation Mode	32
	3.2.3 Data Collection	32
	3.2.4 Vehicle to SPAN Frame Angular Offsets Calibration Routine	33
	3.2.5 SPAN Wheel Sensor Messages	34
3.3	Azimuth Sources on a SPAN System	35
	3.3.1 Course Over Ground	35
	3.3.2 Inertial Azimuth	35
	3.3.3 ALIGN Azimuth	35
3.4	Data Collection for Post-Processing	36
3.5	Variable Lever Arm	37
4 SPAN-IGM Dual Antenna		38
4.1	Installation	38
4.2	Configuring ALIGN with SPAN-IGM	39
	4.2.1 Alignment on a Moving Vessel - Aided Transfer Alignment	40
	4.2.2 Alignment on a Stationary Vehicle - Aided Static Alignment	40
	4.2.3 Unaided Alignment	41
	4.2.4 Automatic Alignment Mode - Automatic Alignment (default)	41
4.3	SPAN ALIGN Attitude Updates	41
5 Reference Frames Within SPAN		42
5.1	The Local-Level Frame (ENU)	42
5.2 The SPAN Body Frame		42

SPAN-IGM User Manual Rev 2 3