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OPERATE THE SPAN SYSTEM
The system is ready to go once it is powered and the GNSS and INS are configured using the previously
shown commands.
Observe the status of the system in the NovAtel Connect INS Window or in the status field of any of the
INS solution logs (for example INSPOS, INSVEL, INSATT and INSPVA).
If performing a kinematic alignment, move the vehicle forward at a speed faster than 5 m/s. The following
status stages may be observed:
• The status changes from INS_INACTIVE through DETERMINING_ORIENTATION,
WAITING_INITIALPOS and INS_ALIGNING as the initial alignment routine starts.
• The status changes to INS_ALIGNMENT_COMPLETE when the alignment is complete. After some
motion (stops, starts and turns), the attitude solution converges to within specifications and the status
changes to INS_SOLUTION_GOOD.
• The status may occasionally change to INS_SOLUTION_FREE. This status indicates that the inertial
solution has detected poor quality GNSS positions from the receiver due to limited satellite visibility or
high multi-path conditions. The inertial filter may choose to disregard this information and wait for the
GNSS quality to improve. The solution is still valid during these times, it is simply a notification that the
GNSS+INS solution is more reliable than the GNSS-only solution.
DATA LOGGING
An extensive set of logs are available to capture data (refer to the Logs section of the OEM7 User
Documentation (docs.novatel.com/OEM7)). Logs can be directed to any of the SPAN CPT7
communication ports and can be automatically generated at regular intervals or when new or changed
data becomes available. Data can also be collected using NovAtel Connect.
Refer to the OEM7 User Documentation (docs.novatel.com/OEM7) for details on logging.
Log SPAN Data
Raw GNSS, IMU and navigation data (position, velocity, attitude) are available from the system as ASCII or
binary logs.
Data can be collected using the Logging window of NovAtel Connect or sent out a receiver communication
port to user supplied data collection software.
For real-time applications, the GNSS+INS solution is available through the SPAN logs listed in the OEM7
User Documentation (docs.novatel.com/OEM7) including INSPOS, INSVEL, INSATT and INSPVA. These
logs can be collected at rates up to the IMU data rate; however, there are some rate restrictions. Refer to
the Data Collection section in the SPAN Operation section of the OEM7 User Documentation
(docs.novatel.com/OEM7).
SPAN CPT7 POST PROCESSING
Post-mission data processing refers to cases where GNSS data collected by the receiver is processed
after the entire data collection session is complete.
SPAN CPT7 output is compatible with post-processing software from NovAtel's Waypoint
Group. For details, see
www.novatel.com/Products/Waypoint
Software.
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