Figure 18: Align Translation Offset - Novatel SMART7 Installation And Operation Manual

SMART7 with SPAN Operation
If the distances measured in this example were X Offset = 1.5 m, Y Offset = 1 m and Z Offset =
0 m, the following values would be entered, based on the IMU Body Frame:
x = 1.5
l
y = 1.0
l
z = 0
l
The translational offsets are entered using the SETINSTRANSLATION command. For this
example, the command to enter these offsets is:
SETINSTRANSLATION ANT2 1.5 1.0 0
The measurements for the translational offsets should be done as accurately as pos-
sible, preferably to within millimeters especially for RTK operation. Any error in the off-
sets will translate into an error in the INS position.
By default, the translational offsets are entered in the IMU Body frame. However, in some sys-
tems the IMU Body frame may not be known precisely. For these cases, the
SETINSTRANSLATION command has an option that allows the offsets to be entered relative to
the Vehicle frame. In these cases, the rotation from the IMU Body frame to the Vehicle frame
(RBV) is used to rotate offsets into the default IMU Body frame as required. To achieve the best
results, this means that the RBV rotation must be known very precisely. Typically this is
achieved through the SPAN RBV Calibration procedure. See Body to Vehicle Frame Rotation Cal-
ibration Routine on page 71 or Multi-Line Body to Vehicle Frame Rotation Calibration Routine on
page 72 for information about this calibration procedure.
SMART7 Installation and Operation User Manual 0C

Figure 18: ALIGN Translation Offset

55