Novatel OM-20000122 user manual  Logging Restriction, Data Collection for Post-Processing

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SPAN-CPT Operation

Chapter 3

 

 

To store data from a SPAN-CPT, connect a computer. The computer should be equipped with a data storage device such as a Compact Flash Card, CD or USB stick.

Logging Restriction

Logging excessive amounts of high rate data can overload the system. When configuring the output for SPAN, NovAtel recommends that only one high rate (>50 Hz) message be configured for output at a time. It is possible to log more than one message at high rates, but doing so could have negative impacts on the system. Also, if logging 100 Hz data, always use the binary format and, if possible, the short header binary format (available on most INS logs).

For optimal performance, log only one high rate output at a time. These logs could be:

•Raw data for post processing RAWIMUXSB ONNEW (100 Hz)

-RAWIMU logs are not valid with the ONTIME trigger. The raw IMU observations contained in these logs are sequential changes in velocity and rotation. As such, you can only use them for navigation if they are logged at their full rate. See details of these logs in the SPAN on OEM6 Firmware Reference Manual (OM-20000144).

•Real time INS solution

INSPVASB ONTIME 0.01 (maximum rate equals the IMU rate)

-Other possible INS solution logs available at high rates are: INSPOSSB, INSVELSB and INSATTSB

3.7Data Collection for Post-Processing

Some operations such as aerial measurement systems do not require real time information from SPAN-CPT. These operations are able to generate the position, velocity or attitude solution post-mission in order to generate a more robust and accurate solution than is possible in real time.

In order to generate a solution in post-processing, data must be simultaneously collected at a base station and each rover. The following logs must be collected in order to successfully post-process data:

From a base:

•RANGECMPB ONTIME 1

•RAWEPHEMB ONCHANGED

•GLOEPHEMERISB ONCHANGED (if using GLONASS)

From a rover:

•RANGECMPB ONTIME 1

•RAWEPHEMB ONCHANGED

•GLOEPHEMERISB ONCHANGED (if using GLONASS)

•RAWIMUSXB ONNEW

•IMUTOANTOFFSETSB ONCHANGED

•VEHICLEBODYROTATIONB ONCHANGED

Post-processing is performed through the Waypoint Inertial Explorer® software package available from the NovAtel Waypoint Products Group. Visit our Web site at www.novatel.com/products/software/ waypoint-products/ for details.

The highest rate to request GNSS logs (RANGE, BESTPOS, RTKPOS, PSRPOS and so on) while in INS operation is 5 Hz. If the receiver is not running INS, GNSS logs can be requested at rates up to 20 Hz.

SPAN-CPT User Manual Rev 8

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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 SupportFCC Notices Industry CanadaCE Notice What is the hazard? Lightning Protection Installation and Grounding ProcedureWeee Notice Hazard ImpactPrimary and Secondary Lightning Protection Ref # Description Fundamentals of GNSS+INS IntroductionSystem Components Related Documents and InformationConventions 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 the I/O Strobe Signals Battery Isolator Auxiliary Vehicle MainBatteryConnect a Computer to the SPAN-CPT Can Bus Odometer ConnectionOdometer Requirements Cable Modification for SPAN-CPT Cable Cable Modification for Kistler WPT CableSPAN-CPT Operation Definition of Reference Frames Within SpanLocal Level Frame 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 AlignmentNavigation Mode Manual AlignmentDual Antenna Alignment Wheel Sensor Update Logic Azimuth Sources on a Span SystemCourse Over Ground Inertial Azimuth Align AzimuthLogs with Azimuth data Data Collection Solution ParametersData Collection for Post-Processing  Logging RestrictionVariable Lever Arm Enabling L-BandNovAtel Correct with TerraStar OmniSTAR Veripos Marine SubscriptionsChapter SPAN-CPT Operation SPAN-CPT Dual-Antenna InstallationPower Supply Configuring Span with Align on SPAN-CPTChapter SPAN-CPT Dual-Antenna SecondaryAlignment on a Moving Vessel Aided Transfer Alignment Alignment on a Stationary Vehicle Aided Static AlignmentUnaided Alignment Automatic Alignment Mode Automatic Alignment default Span Align Attitude UpdatesFirmware Updates and Model Upgrades Firmware UpdatesNovAtel Firmware and Software Model Upgrades Authorization CodeUpdating or Upgrading Using the WinLoad Utility Transferring Firmware FilesTypes of Firmware Files Open a File to Download Using the WinLoad UtilitySearching for Card Updating using SoftLoad CommandsSoftloadsrec S-RECORD Working with S-RecordsUpgrading Using the Auth Command Key Firmware CommandsUpgrade Procedure 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 ColorReplacement Parts Accessories and OptionsSPAN-CPT System Appendix C Frequently Asked QuestionsOM-20000122 Rev March
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