![](/images/new-backgrounds/1252587/2525875x1.webp)
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 | Scope | 12 |
1.4 | Conventions | 13 |
2 SPAN Installation | 14 | |
2.1 | Required Equipment | 14 |
2.2 | 14 | |
| 2.2.1 | 15 |
2.3 | Hardware Set Up | 16 |
| 2.3.1 Mount the Antenna | 18 |
| 2.3.2 Mount the | 18 |
| 2.3.3 Connect the Antenna to the | 19 |
| 2.3.4 Connect Power | 19 |
| 2.3.5 Connect a Computer to the | 20 |
| 2.3.6 Connect I/O Strobe Signals | 21 |
| 2.3.7 CAN Bus | 21 |
| 2.3.8 COM3 Serial Port | 22 |
| 2.3.9 Enable | 22 |
| 2.3.10 Odometer connection | 23 |
2.4 | Software Configuration | 24 |
| 2.4.1 GNSS Configuration | 24 |
| 2.4.2 SPAN IMU Configuration | 24 |
2.5 | 26 | |
3 SPAN Operation | 27 | |
3.1 | Communicating with the SPAN System | 27 |
| 3.1.1 INS Window in NovAtel Connect | 28 |
3.2 | 29 | |
| 3.2.1 System | 30 |
| 3.2.2 Navigation Mode | 32 |
| 3.2.3 Data Collection | 32 |
| 3.2.4 Vehicle to SPAN Frame Angular Offsets Calibration Routine | 33 |
| 3.2.5 SPAN Wheel Sensor Messages | 34 |
3.3 | Azimuth Sources on a SPAN System | 35 |
| 3.3.1 Course Over Ground | 35 |
| 3.3.2 Inertial Azimuth | 35 |
| 3.3.3 ALIGN Azimuth | 35 |
3.4 | Data Collection for | 36 |
3.5 | Variable Lever Arm | 37 |
4 | 38 | |
4.1 | Installation | 38 |
4.2 | Configuring ALIGN with | 39 |
| 4.2.1 Alignment on a Moving Vessel - Aided Transfer Alignment | 40 |
| 4.2.2 Alignment on a Stationary Vehicle - Aided Static Alignment | 40 |
| 4.2.3 Unaided Alignment | 41 |
| 4.2.4 Automatic Alignment Mode - Automatic Alignment (default) | 41 |
4.3 | SPAN ALIGN Attitude Updates | 41 |
5 Reference Frames Within SPAN | 42 | |
5.1 | The | 42 |
5.2 The SPAN Body Frame | 42 |
3 |