Novatel OM-20000122 user manual Span Align Attitude Updates

Chapter 4 SPAN-CPT Dual-Antenna

4.2.4Automatic Alignment Mode - Automatic Alignment (default)

Automatic Alignment Mode Selection is the default setting for a SPAN receiver. This mode is designed to allow alignment of the system as quickly as possible, using either an aided transfer alignment (Alignment on a Moving Vessel - Aided Transfer Alignment on page 39); a kinematic alignment (Default Kinematic Alignment on page 28); or a manual alignment (Manual Alignment on page 29).

The first available technique will be used, regardless of its relative quality. If you wish to guarantee a specific technique is used, or use an aided static alignment, you must select the desired alignment mode manually. No additional configuration is required to use this alignment routine.

4.3SPAN ALIGN Attitude Updates

The INS heading updates are used to help constrain the azimuth drift of the INS solution whenever possible. This is of the greatest value with lower-quality IMUs and in environments with low dynamics where the attitude error is less observable. Slow moving marine or train applications are good examples of the intended use. By providing an external heading source, the solution drift can be constrained in these environments.

You can monitor the heading update status as outlined in the INSUPDATE command in the SPAN on OEM6 Firmware Reference Manual (OM-20000144).

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