Body To Vehicle Frame Rotation Calibration Routine - Novatel SMART7 Installation And Operation Manual

SMART7 with SPAN Operation
The GNSS-only solution is still available through the GNSS-only logs such as RTKPOS and
PSRPOS. Refer to the
and output can be at rates of up to the rate of the IMU data.
The highest rate that you should request GNSS logs (RANGE, BESTPOS, RTKPOS,
PSRPOS, and so on) while in INS operation is 5 Hz. If the receiver is not running INS (no
IMU is attached), GNSS logs can be requested at rates up to 20 Hz.
Ensure that all windows, other than the Console, are closed in NovAtel Connect and then
use the SAVECONFIG command to save settings in NVM. Otherwise, unnecessary data
logging occurs and may overload your system.
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 100/200 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
l
RAWIMUXSB ONNEW
RAWIMU logs are not valid with the ONTIME trigger. The raw IMU observations
l
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. Refer
to the
details.
Real time INS solution (not available on SMART7)
l
IMURATEPVA ONNEW or IMURATEPVAS ONNEW
(These logs require asynchronous logging to be enabled. See
ASYNCHINSLOGGING command in the
Manual.)
Other possible INS solution logs available at high rates are: INSPVASB,
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INSPOSSB, INSVELSB, INSATTSB
Specific logs need to be collected for post-processing. See Data Collection for Post Processing on
page 76.
To store data from an OEM7 receiver, connect the receiver to a computer running NovAtel Con-
nect or other terminal program capable of recording data.

4.5.5 Body to Vehicle Frame Rotation Calibration Routine

Kinematic alignment requires that the rotational offset between the vehicle and IMU Body frame
(RBV) is known. If the angles are simple (that is, a simple rotation about one axis) the values
SMART7 Installation and Operation User Manual 0C
Agriculture Commands and Logs Reference
Agriculture Commands and Logs Reference Manual
Manual. INS-only data logging
for log and command
OEM7 Commands and Logs Reference
71