Novatel OM-20000141 Azimuth Sources on a Span System, Course Over Ground, Inertial Azimuth

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SPAN Operation

Chapter 3

3.2.5.3Set up a Wheel Sensor

1. Send the following commands to setup the wheel sensor.

ENCLOSUREWHEELSENSOR ENABLE 1HZ

SETWHEELPARAMETERS ticks circ spacing

The parameters entered in the SETWHEELPARAMETERS command depend on the wheel sensor being used. See the OEM6 Family Firmware Reference Manual (OM-20000129) for more information about this command.

2.Send the following commands to log the wheel sensor data.

LOG TIMEDWHEELDATAB ONNEW

LOG WHEELSIZEB ONCHANGED

3.3Azimuth Sources on a SPAN System

The SPAN system use three different methods to calculate the azimuth.

•Course Over Ground

•Inertial Azimuth

•ALIGN Azimuth

3.3.1Course Over Ground

The course over ground azimuth is determined using the position delta between two position solutions computed by the SPAN-IGM. This is the simplest way to compute an azimuth and is done using either the 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 are available.

Course over ground azimuths are available in several different velocity logs. See Table 6, Logs with Azimuth data on page 36.

3.3.2Inertial 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 OEM6 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 6, Logs with Azimuth data on page 36.

3.3.3ALIGN 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 rate, 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 6, Logs with Azimuth data on page 36.

SPAN-IGM User Manual Rev 2

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Contents OM-20000141 Rev September SPAN-IGMReturn Instructions Proprietary Notice WarrantyTable of Contents Frequently Asked Questions Replacement Parts Figures Tables Contact Information NovAtel Knowledge Base Before Contacting Customer SupportWeee Notice FCC NoticesIndustry Canada CE NoticeActions to Mitigate Lightning Hazards Lightning Protection Installation and Grounding ProcedureWhat is the hazard? Hazard ImpactUSA Primary and Secondary Lightning Protection Ref # DescriptionFundamentals of Gnss + INS IntroductionGnss antenna PC software System ComponentsScope SPAN-IGM Integrated Gnss + INS unitConventions SPAN-IGM Hardware Span InstallationConnector Type Connections Required EquipmentNovAtel Port Purpose SPAN-IGM Cables Use a USB cable to log raw data SPAN-IGM CablesTypical SPAN-IGM Set Up Serial Port Radio Hardware Set UpTypical SPAN-IGM Set Up USB Port Radio Mount the SPAN-IGM Mount the AntennaConnect the Antenna to the SPAN-IGM Connect PowerConnect a Computer to the SPAN-IGM Connect a Computer Using a Serial ConnectionSignal Description a Connect I/O Strobe SignalsConnect a Computer Using a USB Connection O Strobe Signals8 COM3 Serial Port Enable RS-422 serial connectionsEnable the COM3 Serial Port Disable the COM3 Serial PortOdometer Requirements Odometer connectionPin M12 Connector Function J2 Wire Bundle On Cwpt Sensor Software ConfigurationGnss Configuration Span IMU ConfigurationConfigure Span with Connect Off Flashing Slow 1Hz Flashing Fast 1Hz SPAN-IGM LEDsSPAN-IGM LEDs Communicating with the Span System Span OperationChapter Span Operation INS Window in NovAtel ConnectSpan Operation Chapter Real-Time OperationAscii System Start-Up and Alignment TechniquesDual Antenna Alignment Kinematic AlignmentManual Alignment Data Collection Navigation ModeInssolutiongood Solution ParametersVehicle to Span Frame Angular Offsets Calibration Routine  Logging Restriction Important NoticeMeasurement Timing and Frequency Wheel Sensor Update LogicSpan Wheel Sensor Messages Inertial Azimuth Set up a Wheel SensorAzimuth Sources on a Span System Course Over GroundLog Azimuth Source Format Data Collection for Post-ProcessingVariable Lever Arm SPAN-IGM Dual Antenna InstallationConfiguring Align with SPAN-IGM Alignment on a Stationary Vehicle Aided Static Alignment Alignment on a Moving Vessel Aided Transfer AlignmentUnaided Alignment Span Align Attitude UpdatesAutomatic Alignment Mode Automatic Alignment default Span Body Frame Reference Frames Within SpanLocal-Level Frame ENU Span Vehicle Frame Enclosure FrameNovAtel Firmware and Software Firmware Updates and Model UpgradesFirmware Updates Model Upgrades Authorization CodeTypes of Firmware Files Updating or Upgrading Using the WinLoad UtilityTransferring Firmware Files Open a File to Download Using the WinLoad UtilitySearching for Card Updating using SoftLoad CommandsSoftloadsrec S-RECORD Working with S-RecordsXXXXXX,XXXXXX,XXXXXX,XXXXXX,XXXXXX,MODEL,EXPDATE Upgrading Using the Auth CommandUpgrade Procedure SPAN-IGM-A1 Technical Specifications Technical SpecificationsSPAN-IGM-A1 Mechanical Drawings SPAN-IGM-A1 Environmental SpecificationsSPAN-IGM-S1 Data Rates SPAN-IGM-S1 Technical SpecificationsSPAN-IGM-S1 Physical Specifications SPAN-IGM-S1 Gnss PerformanceSPAN-IGM-S1 Mechanical Drawings SPAN-IGM-S1 Environmental SpecificationsAUX Port Pinout SPAN-IGM PortsMain Port Pinout Pin # Label DescriptionUser Port SPAN-IGM Interface CableSPAN-IGM Interface Cable Pin-Out Descriptions MIC PortSPAN-IGM Align Interface Cable Pin-Out Descriptions SPAN-IGM Align Interface CableVarf Dgnd SPAN-IGM Auxiliary Port Interface CableCOM3 Port Pin # LabelsAppendix B Frequently Asked QuestionsPart Description NovAtel Part Replacement PartsAccessories and Options Span SystemIndex 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.

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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.
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