Novatel OM-20000122 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	Related Documents and Information	12
1.4	Conventions	12
2 SPAN-CPT Installation		13
2.1	Required Equipment	13
	2.1.1 Manuals	13
	2.1.2 SPAN-CPT Hardware	13
2.2	Hardware Set Up	14
	2.2.1 Mount the Antenna	15
	2.2.2 Mount the SPAN-CPT	15
	2.2.3 Connect the GNSS Antenna	16
	2.2.4 Connect Power	16
	2.2.5 Connect a Computer to the SPAN-CPT	17
	2.2.6 Connect the I/O Strobe Signals	17
	2.2.7 CAN Bus	18
	2.2.8 Odometer Connection	18
3 SPAN-CPT Operation		20
3.1	Definition of Reference Frames Within SPAN	20
	3.1.1 Local Level Frame	20
	3.1.2 SPAN Body Frame	21
	3.1.3 Enclosure Frame	22
	3.1.4 Vehicle Frame	22
3.2	Communicating with the SPAN-CPT System	23
	3.2.1 Use NovAtel Connect to Communicate	23
	3.2.2 INS Window in NovAtel Connect	24
3.3	Software Configuration	25
	3.3.1 GNSS Configuration	25
	3.3.2 SPAN IMU Configuration	25
3.4	Real Time Operation	26
	3.4.1 System Start-Up and Alignment Techniques	27
	3.4.2 Navigation Mode	29
	3.4.3 Vehicle to SPAN-CPT Frame Angular Offsets Calibration Routine	29
	3.4.4 SPAN-CPT Wheel Sensor	30
3.5	Azimuth Sources on a SPAN System	30
	3.5.1 Course Over Ground	30
	3.5.2 Inertial Azimuth	31
	3.5.3 ALIGN Azimuth	31
3.6	Data Collection	32
3.7	Data Collection for Post-Processing	33
3.8	Variable Lever Arm	34
3.9	Enabling L-Band	34
	3.9.1 NovAtel CORRECT™ with TerraStar™	34
	3.9.2 Veripos Marine Subscriptions	35
	3.9.3 OmniSTAR	35

SPAN-CPT User Manual Rev 8 3