SPAN OperationChapter 3

Logging Restriction Important Notice

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 125 or 200 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 (125 or 200 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 0.005 (maximum rate equals the IMU rate)

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

Specific logs need to be collected for post-processing. See Data Collection for Post-Processingon page 36.

To store data from a SPAN-IGM, connect the SPAN-IGM to a computer running NovAtel Connect or other terminal program capable of recording data.

3.2.4Vehicle to SPAN Frame Angular Offsets Calibration Routine

Kinematic alignment requires that the angular offset between the vehicle and SPAN frame is known approximately. If the angles are simple (that is, a simple rotation about one axis) the values can easily be entered manually through the VEHICLEBODYROTATION command. If the angular offset is more complex (that is, rotation is about 2 or 3 axis), then the calibration routine provides a more accurate estimation of the values. The vehicle to SPAN frame angular offset calibration requires RTK GPS. The steps for the calibration routine are:

1.Apply power to the SPAN-IGM.

2.Configure the IMU, see SPAN IMU Configuration on page 24.

3.Ensure that an accurate lever arm has been entered into the system.

4.Allow the system to complete an alignment, see System Start-Up and Alignment Techniques on page 30.

5.Enable the vehicle to body calibration using the RVBCALIBRATE ENABLE command.

6.Start to move the system. Movement of the system is required for the observation of the angular offsets.

Drive a series of manoeuvres such as figure eights if the driving surface is not level, or a straight course if on level ground (remember that most roads have a crown resulting in a constant roll of a few degrees). Avoid driving on a surface with a constant, non-zero, slope to prevent biases in the computed angles. Vehicle speed must be greater than 5 m/s (18 km/hr) for the calibration to complete.

SPAN-IGM User Manual Rev 2

33

Page 32 Page 34
Page 33
Image 33
Novatel OM-20000141  Logging Restriction Important Notice, Vehicle to Span Frame Angular Offsets Calibration Routine
Page 32 Page 34

OM-20000141 specifications

The Novatel OM-20000141 is a high-performance multi-GNSS (Global Navigation Satellite System) receiver designed for various applications including precision agriculture, autonomous vehicles, and surveying. This state-of-the-art device combines cutting-edge technologies to provide accurate and reliable positioning data, making it an indispensable tool for professionals in fields that rely on geolocation.

One of the standout features of the Novatel OM-20000141 is its multi-frequency support, allowing it to receive signals from GPS, GLONASS, Galileo, and BeiDou systems. This capability significantly enhances the accuracy and reliability of positioning information, particularly in challenging environments where signal interference can occur. By utilizing multiple frequencies, the OM-20000141 can mitigate errors caused by atmospheric disturbances and multi-path signals, resulting in improved precision.

In addition to its multi-GNSS capabilities, the receiver incorporates advanced RTK (Real-Time Kinematic) technology, enabling centimeter-level accuracy. This is particularly beneficial for applications that require pinpoint geolocation, such as precision agriculture, where farmers need to optimize crop yields and resource usage. The RTK technology allows users to achieve real-time positioning corrections, making it a vital tool for surveying and construction projects that demand high precision.

The Novatel OM-20000141 also features built-in connectivity options, including Bluetooth and USB interfaces, facilitating seamless integration with other devices and systems. This connectivity is crucial for enabling real-time data sharing and remote monitoring, enhancing the usability of the device in various operational environments.

Robustness is another significant characteristic of the OM-20000141. Designed to withstand harsh conditions, the receiver features a durable housing that protects it from dust, moisture, and extreme temperatures. This resilience ensures that the device operates effectively in all weather conditions, making it suitable for outdoor applications.

Furthermore, the receiver is equipped with intelligent positioning algorithms that optimize performance in urban canyons and dense foliage areas, where traditional GNSS receivers may struggle. By leveraging these algorithms, the OM-20000141 can maintain reliable positioning even in challenging environments.

Overall, the Novatel OM-20000141 stands out as a versatile and reliable GNSS receiver, merging advanced technologies to deliver high accuracy and reliability. Its exceptional features make it an invaluable asset for professionals in various industries, enhancing their ability to achieve precise geolocation and optimize their operations.
Top Page Image Contents