Novatel OM-20000122 user manual Enclosure Frame, Vehicle Frame

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Chapter 3	SPAN-CPT Operation

3.1.3Enclosure Frame

The definition of the enclosure frame is defined on the SPAN-CPT and represents how the sensors are mounted in the enclosure. If the SPAN-CPT is mounted with the z-axis (as marked on the SPAN-CPT) pointing up, the enclosure frame is the same as the SPAN frame.

The origin of this frame is not the enclosure center, but the Center of Navigation (sensor center).

Figure 9: SPAN-CPT Center of Navigation

+X

+Y

+Z

+X

					Center of Navigation indicators
					Center of Navigation indicators

			Although the SPAN-CPT is a rugged product, the gyros inside are sensitive and can be
			damaged by environmental shocks such as vibration, bumps and rapid temperature
			changes.

3.1.4		Vehicle Frame

The definition of the vehicle frame is as follows:

•z-axis points up through the roof of the vehicle perpendicular to the ground

•y-axis points out the front of the vehicle in the direction of travel

•x-axis completes the right-handed system (out the right-hand side of the vehicle when facing forward)

Use the VEHICLEBODYROTATION command to enter the rotation into the system and use the RVBCALIBRATE command to calculate this rotation. See the SPAN on OEM6 Firmware Reference Manual (OM-20000144) for information about these commands.

Figure 10: Vehicle Frame

Z

Y

X

22	SPAN-CPT User Manual Rev 8

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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 InformationIndustry Canada FCC NoticesCE Notice Weee Notice Lightning Protection Installation and Grounding ProcedureWhat is the hazard? Hazard ImpactPrimary and Secondary Lightning Protection Ref # Description Introduction Fundamentals of GNSS+INSRelated Documents and Information System ComponentsConventions Manuals SPAN-CPT InstallationRequired Equipment SPAN-CPT HardwareHardware Set Up Typical SPAN-CPT Set Up Radio COM2Mount the Antenna Mount the SPAN-CPTConnect Power Connect the Gnss AntennaBattery Isolator Auxiliary Vehicle MainBattery Connect the I/O Strobe SignalsConnect a Computer to the SPAN-CPT Odometer Connection Can BusOdometer Requirements Cable Modification for Kistler WPT Cable Cable Modification for SPAN-CPT CableDefinition of Reference Frames Within Span SPAN-CPT OperationLocal Level Frame Span Body Frame Full Mapping DefinitionsEnclosure Frame Vehicle FrameCommunicating with the SPAN-CPT System Use NovAtel Connect to CommunicateChapter SPAN-CPT Operation Span IMU Configuration Software ConfigurationGnss Configuration SPAN-CPT Configuration with NovAtel ConnectReal Time Operation System Start-Up and Alignment Techniques AsciiDefault Kinematic Alignment SetimuorientationManual Alignment Navigation ModeDual Antenna Alignment Azimuth Sources on a Span System Wheel Sensor Update LogicCourse Over Ground Align Azimuth Inertial AzimuthLogs with Azimuth data Solution Parameters Data Collection Logging Restriction Data Collection for Post-ProcessingEnabling L-Band Variable Lever ArmNovAtel Correct with TerraStar Veripos Marine Subscriptions OmniSTARChapter SPAN-CPT Operation Installation SPAN-CPT Dual-AntennaChapter SPAN-CPT Dual-Antenna Configuring Span with Align on SPAN-CPTPower Supply SecondaryAlignment on a Stationary Vehicle Aided Static Alignment Alignment on a Moving Vessel Aided Transfer AlignmentUnaided Alignment Span Align Attitude Updates Automatic Alignment Mode Automatic Alignment defaultFirmware Updates Firmware Updates and Model UpgradesNovAtel Firmware and Software Authorization Code Model UpgradesTransferring Firmware Files Updating or Upgrading Using the WinLoad UtilityTypes of Firmware Files Using the WinLoad Utility Open a File to DownloadUpdating using SoftLoad Commands Searching for CardWorking with S-Records Softloadsrec S-RECORDKey Firmware Commands Upgrading Using the Auth CommandUpgrade Procedure Hardware Specification for SPAN-CPT Technical SpecificationsSPAN-CPT Technical Specifications 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-OutAccessories and Options Replacement PartsSPAN-CPT System Frequently Asked Questions Appendix COM-20000122 Rev March