Inertial Azimuth; Align Azimuth; Table 13: Logs With Azimuth Data - Novatel SMART7 Installation And Operation Manual

SMART7 with SPAN Operation
Course over ground azimuths are available in several different velocity logs. See Table 13: Logs
with Azimuth Data below.

4.6.2 Inertial Azimuth

The inertial azimuth computed by the SPAN inertial navigation filter. It uses the sensors in the
IMU to compute the azimuth of the IMU (this can be rotated to another reference if desired). For
more information, see the SETINSROTATION command in the
Logs Reference Manual.
This azimuth is the one provided in the majority of the INS logs available to a SPAN user. See
Table 13: Logs with Azimuth Data below.

4.6.3 ALIGN Azimuth

On SPAN systems with dual antennas, an azimuth is available from the dual antenna baseline.
This is the same azimuth that is used as an update to the SPAN solution. It is noisier than the
inertial azimuth and is available at a much lower rate, but will have a stable mean. This azimuth
is computed from the master antenna to the rover antenna based on how the antennas are ori-
ented on the vehicle.
There is a specific subset of logs that output this azimuth. See Table 13: Logs with Azimuth Data
below.
Log
BESTGNSSVEL
BESTVEL
GPHDT
GPVTG
HEADING2
INSATT / INSATTS /
INSATTX
INSPVA / INSPVAS /
INSPVAX
INSSPD
PASHR
SMART7 Installation and Operation User Manual 0C

Table 13: Logs with Azimuth Data

Log
Format
Course Over Ground
NovAtel
From the best GNSS only solution
Course Over Ground
NovAtel
From the best system solution which could be either
GNSS or INS
NMEA ALIGN
Course Over Ground
NMEA
From the best system solution which could be either
GNSS or INS
NovAtel ALIGN
NovAtel Inertial
NovAtel Inertial
Course Over Ground
NovAtel
Computed using the INS solution only
NMEA Inertial
Agriculture Commands and
Azimuth Source
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