Novatel OM-20000122 user manual Navigation Mode, Manual Alignment, Dual Antenna Alignment

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SPAN-CPT Operation

Chapter 3

 

 

3.4.1.2Manual Alignment

If the attitude of your vehicle (roll, pitch, azimuth) is known, enter the attitude information using the SETINITATTITUDE command. Details of this command are in the SPAN on OEM6 Firmware Reference Manual (OM-20000144).

3.4.1.3Dual Antenna Alignment

SPAN can also use information available from a NovAtel Dual Antenna ALIGN® solution to perform an alignment. Refer to Chapter 4, SPAN-CPTDual-Antennaon page 37 for details.

3.4.2Navigation Mode

Once the alignment routine has successfully completed, SPAN enters navigation mode.

SPAN computes the solution by accumulating velocity and rotation increments from the IMU to generate position, velocity and attitude. SPAN models system errors by using a filter. The GNSS solution, phase observations and automatic zero velocity updates (ZUPTs) provide updates to the filter. Peripheral updates can also be supplied; wheel sensor for displacement updates or an external receiver for heading updates.

Following the alignment, the attitude is coarsely defined, especially in heading. Vehicle dynamics, specifically turns, stops and starts, allow the system to observe the heading error and allows the heading accuracy to converge. The amount of dynamics required for filter convergence vary by the alignment quality, IMU quality, and maneuvers performed. The INS Status field changes to INS_SOLUTION_GOOD once convergence is complete. If the attitude accuracy decreases, the INS Status field changes to INS_HIGH_VARIANCE. When the accuracy converges again, the INS status continues as

INS_SOLUTION_GOOD.

3.4.3Vehicle to SPAN-CPT Frame Angular Offsets Calibration Routine

Kinematic fast alignment requires the angular offset between the vehicle and the SPAN-CPT frame is known approximately. If the angles are simple (that is, a simple rotation about one axis), the values can easily be entered manually through the VEHICLEBODYROTATION command. If the angular offset is more complex (rotation is about 2 or 3 axis), then the calibration routine may provide a more accurate estimation of the values.

The steps for the calibration routine are:

1.Apply power to the SPAN-CPT (see Appendix A, Technical Specifications on page 48).

2.Configure the SPAN-CPT (see SPAN IMU Configuration on page 25).

3.Ensure an accurate lever arm is entered into the system.

4.Allow the system to complete an alignment (see the System Start-Up and Alignment Techniques on page 27).

5.Enable the vehicle to body calibration using the RVBCALIBRATE ENABLE command. See the SPAN on OEM6 Firmware Reference Manual (OM-20000144).

6.Start to move the system under good GNSS conditions. Movement of the system under good GNSS conditions is required for the observation of the angular offsets.

Vehicle speed must be greater than 5 m/s (18 km/hour) for the calibration to complete. Drive straight on a level surface if possible.

7.When the solved angles are verified (after approximately 30 seconds), the calibration stops and the VEHICLEBODYROTATION log provides the solved values. Log VEHICLEBODYROTATION using the ONNEW trigger to monitor the progress of the calibration.

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Contents SPAN-CPT Return instructions Proprietary Notice WarrantyTable of Contents Technical Specifications Figures Tables Contact Information NovAtel Knowledge Base Before Contacting Customer SupportCE Notice FCC NoticesIndustry Canada What is the hazard? Lightning Protection Installation and Grounding ProcedureWeee Notice Hazard ImpactPrimary and Secondary Lightning Protection Ref # Description Fundamentals of GNSS+INS IntroductionConventions System ComponentsRelated Documents and Information Required Equipment SPAN-CPT InstallationManuals SPAN-CPT HardwareTypical SPAN-CPT Set Up Radio COM2 Hardware Set UpMount the SPAN-CPT Mount the AntennaConnect the Gnss Antenna Connect PowerConnect a Computer to the SPAN-CPT Connect the I/O Strobe SignalsBattery Isolator Auxiliary Vehicle MainBattery Odometer Requirements Can BusOdometer Connection Cable Modification for SPAN-CPT Cable Cable Modification for Kistler WPT CableLocal Level Frame SPAN-CPT OperationDefinition of Reference Frames Within Span Full Mapping Definitions Span Body FrameVehicle Frame Enclosure FrameUse NovAtel Connect to Communicate Communicating with the SPAN-CPT SystemChapter SPAN-CPT Operation Gnss Configuration Software ConfigurationSpan IMU Configuration SPAN-CPT Configuration with NovAtel ConnectReal Time Operation Ascii System Start-Up and Alignment TechniquesSetimuorientation Default Kinematic AlignmentDual Antenna Alignment Navigation ModeManual Alignment Course Over Ground Wheel Sensor Update LogicAzimuth Sources on a Span System Logs with Azimuth data Inertial AzimuthAlign Azimuth Data Collection Solution ParametersData Collection for Post-Processing  Logging RestrictionNovAtel Correct with TerraStar Variable Lever ArmEnabling L-Band OmniSTAR Veripos Marine SubscriptionsChapter SPAN-CPT Operation SPAN-CPT Dual-Antenna InstallationPower Supply Configuring Span with Align on SPAN-CPTChapter SPAN-CPT Dual-Antenna SecondaryUnaided Alignment Alignment on a Moving Vessel Aided Transfer AlignmentAlignment on a Stationary Vehicle Aided Static Alignment Automatic Alignment Mode Automatic Alignment default Span Align Attitude UpdatesNovAtel 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-RecordsUpgrade Procedure Upgrading Using the Auth CommandKey Firmware Commands SPAN-CPT Technical Specifications Technical SpecificationsHardware Specification for SPAN-CPT KVH IMU Sensor SpecificationsPower Specifications Electrical and Environmental SpecificationsSPAN-CPT Side and Perspective View SPAN-CPT Mechanical DrawingsSPAN-CPT Top, Front and Bottom View SPAN-CPT 60723108 KVH Development Terminated Cable Pin-Out SPAN-CPT CableFemale Male SPAN-CPT 60723107 KVH Standard Un-terminated Cable Pin-Out Pin Function Wire Pair Wire ColorSPAN-CPT System Replacement PartsAccessories and Options Appendix C Frequently Asked QuestionsOM-20000122 Rev March
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