Appendix B

Frequently Asked Questions

1.Why don’t I have any INS logs?

On start-up, the INS logs are not available until the system has solved for time. This requires that an antenna is attached, and satellites are visible, to the system. You can verify that time is solved by checking the time status in the header of any standard header SPAN log such as BESTPOS. When the time status reaches FINETIME, the inertial filter starts and INS messages are available.

2.How can I access the inertial solution?

The INS/GNSS solution is available from a number of specific logs dedicated to the inertial filter. The INSPOS, INSPVA, INSVEL, INSSPD, and INSATT logs are the most commonly used logs for extracting the INS solution. These logs can be logged at any rate up to the rate of the IMU data (125 or 200 Hz). The solution can also be triggered by the mark input signal by requesting the MARKxPVA logs. Further details on these logs are available in the SPAN on OEM6 Firmware Reference Manual (OM-20000144).

3.Can I still access the GNSS-only solution while running SPAN?

The GNSS only solution used when running the OEM6 receiver without the IMU is still available when running SPAN. Logs such as PSRPOS, RTKPOS and OMNIPOS are still available. The BESTGNSSPOS log is also available to provide the best available GNSS only solution. Any non-INS logs should be logged at a maximum rate of 5 Hz when running SPAN. Only INS-specific logs documented in the SPAN on OEM6 Firmware Reference Manual (OM-20000144) should be logged at rates higher than 5 Hz when running SPAN.

4.What will happen to the INS solution when I lose GNSS satellite visibility?

When GNSS tracking is interrupted, the INS/GNSS solution bridges through the gaps with what is referred to as free-inertial navigation. The IMU measurements are used to propagate the solution. Errors in the IMU measurements accumulate over time to degrade the solution accuracy. For example, after ten seconds of GNSS outage, the horizontal position accuracy is approximately 3 m. The SPAN solution continues to be computed for as long as the GNSS outage lasts, but the solution uncertainty increases with time. This uncertainty can be monitored using the INSCOV log, see the SPAN on OEM6 Firmware Reference Manual (OM-20000144).

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Novatel OM-20000141 user manual Appendix B, Frequently Asked Questions
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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.
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