Definition Of Reference Frames Within Span; The Local-Level Frame (Enu) - Novatel SMART7 Installation And Operation Manual

SMART7 with SPAN Operation
using the high accuracy GNSS solution, the IMU errors can be modeled and mitigated. Con-
versely, the continuity and relative accuracy of the INS solution enables faster GNSS signal reac-
quisition and RTK solution convergence.
The advantages of using SPAN technology are its ability to:
Provide a full attitude solution (roll, pitch and azimuth)
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Provide continuous solution output (in situations when a GNSS-only solution is impossible)
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Provide faster signal reacquisition and RTK solution resolution (over stand-alone GNSS
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because of the tightly integrated GNSS and INS filters)
Output high-rate (up to the IMU data rate depending on your logging selections) position,
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velocity and attitude solutions for high-dynamic applications, see also Logging Restriction
Important Notice on page 71
Use raw phase observation data (to constrain INS solution drift even when too few satellites
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are available for a full GNSS solution)
For more information about GNSS and INS, refer to
to-gnss/

4.2 Definition of Reference Frames Within SPAN

The reference frames that are most frequently used throughout the SPAN documentation are the
following:
The Local-Level Frame (ENU) below
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The IMU Body Frame on the next page
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The Vehicle Frame on the next page
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The User Output Frame on page 53
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4.2.1 The Local-Level Frame (ENU)

The definition of the local level coordinate frame is as follows:
z-axis – pointing up (aligned with gravity)
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y-axis – pointing north
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x-axis – pointing east
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SMART7 Installation and Operation User Manual 0C
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