Gnss Configuration; Span Configuration - Novatel SMART7 Installation And Operation Manual

SMART7 with SPAN Operation
While this is the minimum amount of information required, additional information is typically
needed for SPAN systems. The following commands are commonly used to configure SPAN sys-
tems.
Common User Settings
IMU to output position
offset
IMU to output frame
rotation
IMU to secondary antenna
lever arm
Minimum alignment
velocity

4.4.2 GNSS Configuration

The GNSS configuration can be set up for different accuracy levels such as single point, SBAS,
DGPS, PPP and RTK. Refer to the SMART7 Operation on page 30 for details on DGPS, RTK, L-
Band or SBAS setup and operation.
With no additional configuration, the system operates in single point mode.

4.4.3 SPAN Configuration

Configure SPAN Manually below
l
SPAN Configuration with NovAtel Connect on the next page
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SPAN Configuration with NovAtel Web User Interface on the next page
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Configure SPAN Manually
To enable INS as part of the SPAN system using software commands:
The SMART7 must be mounted with a clear view of the sky and tracking satellites
for operation.
1. Issue the SETINSROTATION command, using the RBV parameter, to enter the Euler Angle
rotation from the IMU Body frame of the SMART7 to the Vehicle frame. See the
SETINSROTATION command in the
more information.
Accurate knowledge of the rotational offset between the IMU Body frame and the Vehicle
frame (the RBV rotation) is critical to correctly computing an attitude solution, and is
required before a Kinematic alignment is possible.
The SETINSROTATION parameters are (where the standard deviation fields are optional):
RBV x_rotation y_rotation z_rotation [x_stdev] [y_stddev] [z_stdev]
The order of rotations is Z-X-Y. All rotations are right handed.
SMART7 Installation and Operation User Manual 0C
Appropriate Command
SETINSTRANSLATION USER
SETINSROTATION USER
SETINSTRANSLATION ANT2
SETALIGNMENTVEL
Agriculture Commands and Logs Reference Manual
Notes
Default output position is at the IMU
center
Default output frame is the vehicle
frame
Only required if the SMART7 is part of
an ALIGN system.
for
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