Novatel OM-20000122 user manual SPAN-CPT Operation, Definition of Reference Frames Within Span

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Chapter 3

SPAN-CPT Operation

Before operating the SPAN-CPT system, ensure that the installation and set up instructions in Chapter 2, SPAN-CPT Installation on page 13 were completed.

Use the NovAtel Connect software to configure receiver settings and to monitor data in real time, between a rover SPAN-CPT system and base station.

SPAN-CPT system output is compatible with post-processing software from NovAtel's Waypoint Products Group. For information about Waypoint, visit our Web site at www.novatel.com/products/software/ waypoint-products/.

Ensure the computer’s Control Panel Power Settings are not set to go into Hibernate or Standby modes. Data is lost if one of these modes occur during a logging session.

3.1Definition of Reference Frames Within SPAN

The reference frames most frequently used throughout this manual are:

•Local Level Frame

•SPAN Body Frame

•Enclosure Frame

•Vehicle Frame

3.1.1Local Level Frame

The definition of the local level coordinate frame is as follows:

•z-axis pointing up (aligned with gravity)

•y-axis pointing north

•x-axis pointing east

Figure 8: Local Level Frame (ENU)

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Contents SPAN-CPT Warranty Return instructions Proprietary NoticeTable of Contents Technical Specifications Figures Tables NovAtel Knowledge Base Before Contacting Customer Support Contact InformationCE Notice FCC NoticesIndustry Canada Lightning Protection Installation and Grounding Procedure What is the hazard?Weee Notice Hazard ImpactPrimary and Secondary Lightning Protection Ref # Description Introduction Fundamentals of GNSS+INSConventions System ComponentsRelated Documents and Information SPAN-CPT Installation Required EquipmentManuals SPAN-CPT HardwareHardware Set Up Typical SPAN-CPT Set Up Radio COM2Mount the Antenna Mount the SPAN-CPTConnect Power Connect the Gnss AntennaConnect a Computer to the SPAN-CPT Connect the I/O Strobe SignalsBattery Isolator Auxiliary Vehicle MainBattery Odometer Requirements Can BusOdometer Connection Cable Modification for Kistler WPT Cable Cable Modification for SPAN-CPT CableLocal Level Frame SPAN-CPT OperationDefinition of Reference Frames Within Span Span Body Frame Full Mapping DefinitionsEnclosure Frame Vehicle FrameCommunicating with the SPAN-CPT System Use NovAtel Connect to CommunicateChapter SPAN-CPT Operation Software Configuration Gnss ConfigurationSpan IMU Configuration SPAN-CPT Configuration with NovAtel ConnectReal Time Operation System Start-Up and Alignment Techniques AsciiDefault Kinematic Alignment SetimuorientationDual Antenna Alignment Navigation ModeManual Alignment Course Over Ground Wheel Sensor Update LogicAzimuth Sources on a Span System Logs with Azimuth data Inertial AzimuthAlign Azimuth Solution Parameters Data Collection Logging Restriction Data Collection for Post-ProcessingNovAtel Correct with TerraStar Variable Lever ArmEnabling L-Band Veripos Marine Subscriptions OmniSTARChapter SPAN-CPT Operation Installation SPAN-CPT Dual-AntennaConfiguring Span with Align on SPAN-CPT Power SupplyChapter SPAN-CPT Dual-Antenna SecondaryUnaided Alignment Alignment on a Moving Vessel Aided Transfer AlignmentAlignment on a Stationary Vehicle Aided Static Alignment Span Align Attitude Updates Automatic Alignment Mode Automatic Alignment defaultNovAtel Firmware and Software Firmware Updates and Model UpgradesFirmware Updates Authorization Code Model UpgradesTypes of Firmware Files Updating or Upgrading Using the WinLoad UtilityTransferring Firmware Files Using the WinLoad Utility Open a File to DownloadUpdating using SoftLoad Commands Searching for CardWorking with S-Records Softloadsrec S-RECORDUpgrade Procedure Upgrading Using the Auth CommandKey Firmware Commands Technical Specifications SPAN-CPT Technical SpecificationsHardware Specification for SPAN-CPT KVH IMU Sensor SpecificationsElectrical and Environmental Specifications Power SpecificationsSPAN-CPT Mechanical Drawings SPAN-CPT Side and Perspective ViewSPAN-CPT Top, Front and Bottom View SPAN-CPT Cable SPAN-CPT 60723108 KVH Development Terminated Cable Pin-OutFemale Male Pin Function Wire Pair Wire Color SPAN-CPT 60723107 KVH Standard Un-terminated Cable Pin-OutSPAN-CPT System Replacement PartsAccessories and Options Frequently Asked Questions Appendix COM-20000122 Rev March