Novatel OM-20000141 user manual

SPAN-IGM™

User Manual

OM-20000141 Rev 2 September 2013

Contents

Main SPAN-IGM User Manual Warran ty Return Instructions Proprietary Notice Table of Contents Customer Support 7 Notices 8 1 Introduction 11 2 SPAN Installation 14 3 SPAN Operation 27 4 SPAN-IGM Dual Antenna 38 6 NovAtel Firmware and Software 45 A Technical Specifications 52 Index 62 B Frequently Asked Questions 60 C Replacement Parts 61 Figures Tab le s Customer Support NovAtel Knowledge Base Before Contacting Customer Support Contact Information Notices FCC Notices Industry Canada CE Notice WEEE Notice REACH Lightning Protection Installation and Grounding Procedures Page Chapter 1 Introduction 1.1 Fundamentals of GNSS + INS 1.2 System Components 1.3 Scope Page Chapter 2 SPAN Installation 2.1 Required Equipment 2.2 SPAN-IGM Hardware 2.2.1 SPAN-IGM Cables 2.3 Hardware Set Up Page 2.3.1 Mount the Antenna 2.3.2 Mount the SPAN-IGM 2.3.3 Connect the Antenna to the SPAN-IGM 2.3.4 Connect Power 2.3.5 Connect a Computer to the SPAN-IGM 2.3.6 Connect I/O Strobe Signals 2.3.7 CAN Bus 2.3.8 COM3 Serial Port 2.3.9 Enable RS-422 serial connections 2.3.10 Odometer connection 2.4 Software Configuration 2.4.1 GNSS Configuration 2.4.2 SPAN IMU Configuration Page 2.5 SPAN-IGM LEDs Chapter 3 SPAN Operation 3.1 Communicating with the SPAN System 3.1.1 INS Window in NovAtel Connect 3.2 Real-Time Operation 3.2.1 System Start-Up and Alignment Techniques Page 3.2.2 Navigation Mode 3.2.3 Data Collection 3.2.4 Vehicle to SPAN Frame Angular Offsets Calibration Routine Logging Restriction Important Notice 3.2.5 SPAN Wheel Sensor Messages 3.3 Azimuth Sources on a SPAN System 3.3.1 Course Over Ground 3.3.2 Inertial Azimuth 3.3.3 ALIGN Azimuth 3.4 Data Collection for Post-Processing 3.5 Variable Lever Arm Chapter 4 SPAN-IGM Dual Antenna 4.1 Installation 4.2 Configuring ALIGN with SPAN-IGM 4.2.1 Alignment on a Moving Vessel - Aided Transfer Alignment 4.2.2 Alignment on a Stationary Vehicle - Aided Static Alignment 4.2.3 Unaided Alignment 4.2.4 Automatic Alignment Mode - Automatic Alignment (default) 4.3 SPAN ALIGN Attitude Updates Chapter 5 5.1 The Local-Level Frame (ENU) 5.2 The SPAN Body Frame Page 5.3 The Enclosure Frame 5.4 The Vehicle Frame Chapter 6 NovAtel Firmware and Software 6.1 Firmware Updates and Model Upgrades 6.1.1 Firmware Updates 6.1.2 Model Upgrades 6.2 Authorization Code ENTER Updating or Upgrading Using the WinLoad Utility 6.3 Updating or Upgrading Using the WinLoad Utility 6.3.1 Transferring Firmware Files 6.3.2 Using the WinLoad Utility 6.4 Updating using SoftLoad Commands 6.4.1 Working with S-Records 6.5 Upgrading Using the AUTH Command 6.5.1 Upgrade Procedure Appendix A Technical Specifications A.1 SPAN-IGM-A1 Technical Specifications A.1.1 SPAN-IGM-A1 Mechanical Drawings A.2 SPAN-IGM-S1 Technical Specifications A.2.1 SPAN-IGM-S1 Mechanical Drawings A.3 SPAN-IGM Ports A.4 SPAN-IGM Interface Cable A.5 SPAN-IGM ALIGN Interface Cable A.6 SPAN-IGM Auxiliary Port Interface Cable Appendix B Frequently Asked Questions Appendix C Replacement Parts C.1 SPAN System C.2 Accessories and Options Index