Page 1: Installation And Operation
OEM7 SPAN Installation and Operation User Manual OEM7 SPAN Installation and Operation User Manual v14 January 2020...
Page 2: Proprietary Notice
Revision Date: January 2020 Firmware Version: 7.07.03 / OM7MR0703RN0000 Warranty NovAtel Inc. warrants that its GNSS products are free from defects in materials and workmanship, subject to the conditions set forth on our web site: www.novatel.com/products/warranty/ and for the following time periods: ®...
Page 3: Table Of Contents
Chapter 3 SPAN Operation 3.1 Definition of Reference Frames Within SPAN 3.1.1 The Local-Level Frame (ENU) 3.1.2 The IMU Body Frame 3.1.3 The Vehicle Frame 3.1.4 The User Output Frame 3.2 SPAN Translations and Rotations OEM7 SPAN Installation and Operation User Manual v14...
Page 4 3.10 Firmware Updates and Model Upgrades 3.11 Variable Lever Arm 3.11.1 Reference Frame Description 3.11.2 How to Use Variable Lever Arm 3.12 Relative INS 3.12.1 Configure Relative INS Chapter 4 SPAN with Dual Antenna 4.1 Installation OEM7 SPAN Installation and Operation User Manual v14...
Page 5 A.6.4 IMU-ISA-100C Electrical and Environmental A.6.5 IMU Enclosure Interface Cable A.6.6 IMU Enclosure Power Cable A.6.7 IMU Enclosure Wheel Sensor Cable A.7 IMU-KVH1750 A.7.1 IMU-KVH1750 Mechanical Drawings A.7.2 IMU-KVH1750 Sensor Specifications A.7.3 IMU-KVH1750 Electrical and Environmental OEM7 SPAN Installation and Operation User Manual v14...
Page 6 A.15.2 OEM-IMU-ISA-100C Sensor Specifications A.15.3 OEM-IMU-ISA-100C Electrical and Environmental A.15.4 OEM-IMU-ISA-100C IMU to UIC Cable Assembly A.16 OEM-IMU-STIM300 A.16.1 OEM-IMU-STIM300 Mechanical Drawings A.16.2 OEM-IMU-STIM300 Sensor Specifications A.16.3 OEM-IMU-STIM300 Electrical and Environmental A.16.4 OEM-IMU-STIM300 Direct Connection OEM7 SPAN Installation and Operation User Manual v14...
Page 7 D.4 Re-Assemble the SPAN IMU Enclosure APPENDIX E LN-200 IMU in SPAN IMU Enclosure E.1 Disassemble the SPAN IMU Enclosure E.2 Install the LN-200 Sensor Unit E.3 Make the Electrical Connections E.4 Re-Assemble the SPAN IMU Enclosure OEM7 SPAN Installation and Operation User Manual v14...
Page 8 APPENDIX F Frequently Asked Questions APPENDIX G Importance of Antenna Selection APPENDIX H Accessories and Replacement Parts OEM7 SPAN Installation and Operation User Manual v14...
Page 9 Figure 30: DMI to PwrPak7 Setup Figure 31: DMI to IMU Setup Figure 32: DMI to UIC Setup Figure 33: DMI through Intermediate Processor Setup Figure 34: Sample Configuration Figure 35: Operating Gimbal OEM7 SPAN Installation and Operation User Manual v14...
Page 10 Figure 66: IMU-ENC-LN200 Center of Navigation Figure 67: IMU-µIMU-IC Dimensions Figure 68: IMU-µIMU-IC Center of Navigation Figure 69: LN-200 IMU Enclosure Top/Bottom Dimensions and Center of Navigation Figure 70: LN-200 Enclosure Side Dimensions Figure 71: ADIS-16488 Dimensions OEM7 SPAN Installation and Operation User Manual v14...
Page 11 Figure 103: OEM-IMU-LN200 IMU to UIC Cable Assembly Figure 104: Required Parts Figure 105: Remove Base Figure 106: Disconnect Wiring Harness from Enclosure Body Figure 107: Remove IMU Mounting Plate and Bracket OEM7 SPAN Installation and Operation User Manual v14...
Page 12 Figure 138: Bolts and Hex Key Figure 139: Lift Top Cover and Tube Body Figure 140: SPAN IMU Re-Assembly Figure 141: Attach Wiring Harness Figure 142: Attach Samtec Connector Figure 143: LN-200 SPAN IMU OEM7 SPAN Installation and Operation User Manual v14...
Page 13 Figures Figure 144: Plot of Good and Poor Antenna Phase Center Variation over Elevation Angle 0-90° OEM7 SPAN Installation and Operation User Manual v14...
Page 14 Table 25: Valid Event Inputs and Outputs for Timed Sensor Triggers Table 26: Wheel Sensor Maximum Pulse Rates Table 27: Kistler to NovAtel Wheel Sensor Cable Connections Table 28: DMI Command and Log Capatibility Table 29: Logs with Azimuth Data...
Page 15 Table 65: IMU-IGM Interface Cable Pinout Descriptions Table 66: Connectors Table 67: Maximum Cable Length Table 68: IMU-ISA-100C Physical Specifications Table 69: IMU-ISA-100C IMU Performance Table 70: IMU-ISA-100C Electrical Specifications Table 71: IMU-ISA-100C Environmental Specifications OEM7 SPAN Installation and Operation User Manual v14...
Page 16 Table 102: OEM-IMU-ADIS-16488 Environmental Specifications Table 103: Receiver to ADIS-16488 Pin Connections Table 104: ADIS-16488 IMU-to-MIC Cable Pinout Table 105: OEM-IMU-EG320N Physical Specifications Table 106: OEM-IMU-EG320N Performance Table 107: OEM-IMU-EG320N Electrical Specifications OEM7 SPAN Installation and Operation User Manual v14...
Page 17 Table 139: HG1700-AG62 IMU Performance Table 140: LN200 IMU Performance Table 141: Universal IMU Enclosure Electrical Specifications Table 142: Universal IMU Enclosure Environmental Specifications Table 143: Universal IMU Enclosure Interface Cable Pinouts OEM7 SPAN Installation and Operation User Manual v14...
Page 18 Table 164: OEM-IMU-HG1900 IMU to UIC Cable Pinout Table 165: OEM-IMU-LN200 IMU to UIC Cable Pinout Table 166: OEM7 Receivers Table 167: SPAN Compatible IMUs Table 168: GNSS Antennas Table 169: IMU Interface Cables Table 170: GNSS Antenna Cables OEM7 SPAN Installation and Operation User Manual v14...
Page 19: Receiver Card Notices
European Union (EU) Hereby, NovAtel Inc. declares that the radio equipment type OEM7 GNSS receiver is in compliance with Dir- ective 2014/53/EU The full text of the EU Declaration of Conformity may be obtained from the NovAtel website at: www.nova-...
Page 20 PARLIAMENT AND THE COUNCIL of 18 December 2006 concerning the Registration, Evaluation, Author- ization and Restriction of Chemicals (REACH). The Candidate List of Substances of Very High Concern (SVHC) published by the European Chemical Agency (ECHA) is available at https://echa.europa.eu/candidate- list-table. OEM7 SPAN Installation and Operation User Manual v14...
Page 21 4. To ensure safe operation, a secondary lightning protection device must be used for in-building equipment installations with external antennas. The following device has been approved by NovAtel Inc.: Polyphaser - Surge Arrestor DGXZ+36NFNF-A...
Page 22 These installation instructions are the minimum requirements for receiver and antenna installations. Where applicable, follow the electrical codes for the country of installation. Examples of country codes include: USA National Electrical Code (NFPA 70) Canada Canadian Electrical Code (CSA C22.1) UK British Standard (BS7671) OEM7 SPAN Installation and Operation User Manual v14...
Page 23 A caution that actions, operation or configuration may lead to incorrect or improper use of the hardware. A warning that actions, operation or configuration may result in regulatory noncompliance, safety issues or equipment damage. OEM7 SPAN Installation and Operation User Manual v14...
Page 24: Customer Support
Customer Support NovAtel Knowledge Base If you have a technical issue, visit the NovAtel Support page at www.novatel.com/support. Through the Support page, you can contact Customer Support, find papers and tutorials or download current manuals and the latest firmware. Before Contacting Customer Support...
Page 25: Contact Information
If you are having a hardware problem, send a list of the troubleshooting steps taken and the results. Contact Information Log a support request with NovAtel Customer Support using one of the following methods: Log a Case and Search Knowledge: Website: www.novatel.com/support...
Page 26: Chapter 1 Oem7 Span Overview
Table 2: SPAN-Compatible IMUs on page 28. GNSS antenna The GNSS receiver is connected to the IMU with an RS-232, RS-422 or SPI link. A NovAtel GNSS antenna must also be connected to the receiver to track GNSS signals. After the IMU enclosure, GNSS antenna and appropriate power supplies are attached, and a few simple configuration commands are entered, the SPAN sys- tem will be ready to navigate.
Page 27: Models And Features
The INS Model character indicates which features are enabled by the model. The INS options are explained in Table 1: INS Options below. Table 1: INS Options Functionality Meaning Description Model Inheritance Standard SPAN functionality. SPAN Enabled This model enables most SPAN functionality. OEM7 SPAN Installation and Operation User Manual v14...
Page 28: Imu Grade
IMU Grade NovAtel Part Name IMU Name IMU-CPT KVH CPT IMU IMU-H1930-CA50 Honeywell HG1930-CA50 IMU-IGM-A1 Analog Devices ADIS16488 OEM-IMU-ADIS-16488 IMU-IGM-S1 Sensonor STIM300 OEM-IMU-STIM300 OEM-IMU-EG320N Epson G320N OEM-IMU-EG370N Epson G370N OEM-IMU-HG4930 Honeywell HG4930-AN01 OEM7 SPAN Installation and Operation User Manual v14...
Page 29: Related Documents And Information
This manual contains information about the installation and operation of the SPAN system. It is beyond the scope of this manual to provide details on service or repair. Contact your local NovAtel dealer for any customer service related inquiries, see Customer Support on page 24.
Page 30: Chapter 2 Span Installation
LN-200 IMU in SPAN IMU Enclosure on page 304. For information about installing a SPAN CPT7, refer to SPAN CPT7 Installation and Operation User Manual For information about installing a SMART7-S, refer to SMART7 Installation and Operation User Manual OEM7 SPAN Installation and Operation User Manual v14...
Page 31: Oem7 Receiver Card Installation
The following diagram shows a typical SPAN installation using an OEM7 receiver card and an IMU in an enclos- ure. Figure 1: Typical Installation of a SPAN System with an OEM7 Receiver Card Complete the following steps to set up your NovAtel SPAN system. OEM7 SPAN Installation and Operation User Manual v14...
Page 32: Selecting A Gnss Antenna
Each antenna has an environmentally sealed radome and all meet the European Union’s Restriction of Hazardous Substances (RoHS) and Waste Electrical and Electronic Equipment (WEEE). If a non-NovAtel GNSS antenna is chosen, a typical antenna LNA gain between 26 dB to 30 dB is recommended in a rover station application.
Page 33: Mounting The Gnss Antenna
Chapter 2 SPAN Installation 2.5 m and 5 m antenna cable with an SMA connector on one end and a TNC connector on the other (NovAtel part numbers 60723177 and 60723178) The SMA to TNC cables (60723177 and 60723178) are not recommended for permanent outdoor use.
Page 34: Mount The Imu
The mounting screws should be torqued to 42 to 45 in-lbs. For information about securing the IMU Enclosure using the mounting plate, refer to Secure an IMU Enclosure Using the Mounting Plate on the next page. OEM7 SPAN Installation and Operation User Manual v14...
Page 35 2. Secure the mounting plate to the IMU Enclosure using the 4 screws (M6 x 8 mm) included with the mounting plate. 3. Secure the IMU Enclosure mounting plate to the mounting location using 4 M6 screws. OEM7 SPAN Installation and Operation User Manual v14...
Page 36: Connect The Imu To The Oem7 Receiver Card
IMU enclosure communicate with the OEM7 receiver using a serial port. IMUs not contained in an IMU enclosure communicate with the OEM7 receiver either through an interface card (MIC or UIC) or direct connection (SPI or Serial). OEM7 SPAN Installation and Operation User Manual v14...
Page 37 PwrPak7 OEM-IMU-ADIS16488 OEM7600, OEM7700, OEM7720 SPI port OEM-IMU-EG320N OEM7600, OEM7700, OEM7720 SPI port OEM-IMU-EG370N OEM7600, OEM7700, OEM7720 SPI port OEM719, OEM729, OEM7600, OEM7700, OEM7720, OEM-IMU-HG1900 PwrPak7 OEM-IMU-HG1930 OEM719, OEM729, OEM7600, OEM7700, OEM7720 OEM7 SPAN Installation and Operation User Manual v14...
Page 38 For information about the interface requirements for the OEM7 receiver card, see the OEM7 Installation and Oper- ation User Manual. For information about the interface to the IMU, refer to the technical specifications of the IMU in IMU Technical Specifications on page 134. OEM7 SPAN Installation and Operation User Manual v14...
Page 39 The exception is COM1 on the OEM729 which provides either RS-232 or RS-422 signal levels. If using a KVH1750 IMU not purchased through NovAtel, the baud rate of the IMU must be changed to 460,800 bps and the output method changed to MSYNC,EXT. For information about changing these parameters, see KVH1750 Baud Rate Conversion on page 52.
Page 40 OEM7 Installation and Operation User Manual. a 3.3 VDC (±0.3 VDC) regulated power supply Refer to the following table for the location of the power supply connections. OEM7 SPAN Installation and Operation User Manual v14...
Page 41 Do not connect – – Do not connect SPI_ SCLK SPI Serial Clock SCLK SPI_ SPI Data Output MISO SPI_ SPI Data Input MOSI SPI_nCS SPI Chip Select EVENT_ DIO1 Synchronization signal OUT2 OEM7 SPAN Installation and Operation User Manual v14...
Page 42 Do not connect – – Do not connect For the location of the receiver pins, refer to the OEM7 Installation and Operation User Manual. For more information about the OEM-IMU-ADIS-16488, see OEM-IMU-ADIS-16488 on page 205. OEM7 SPAN Installation and Operation User Manual v14...
Page 43 3.3 VDC (±0.15 VDC) regulated power supply See Table 5: Receiver to EG320N/EG370N Pin Connections on the next page for the location of the power supply connections. Figure 4: EG320N/EG370N Pin Locations OEM7 SPAN Installation and Operation User Manual v14...
Page 44 – 3.3 VDC power supply – – 3.3 VDC power supply – – 3.3 VDC power supply DRDY EVENT_ Data Ready (GPIO1) GPIO2 EVENT_ External Trigger (EXT) OUT2 – – Digital ground OEM7 SPAN Installation and Operation User Manual v14...
Page 45 This connector mates with the connector on the OEM-IMU-STIM300. See Figure 5: OEM-IMU-STIM300 Pin Out on the next page for the IMU connector pin out. a RS-422 serial port connection to the OEM7 receiver OEM7 SPAN Installation and Operation User Manual v14...
Page 46 3.3V levels is required. OEM7720: 29 – – – Do not connect – – – Do not connect – – – Do not connect 5V Pwr – – – 5 VDC power supply OEM7 SPAN Installation and Operation User Manual v14...
Page 47 A circuit to convert from 5V logic to 3.3V levels is required. – – Do not connect – – Do not connect – – Do not connect 5V Pwr – – 5 VDC power supply OEM7 SPAN Installation and Operation User Manual v14...
Page 48 2 x 7 header This connector mates with the connector on the OEM-IMU-HG4930. The recommended connectors are: Table 8: OEM-IMU-HG4930 Mating Connector OEM-IMU-HG4930 Connector Mating Connector SAMTEC CLT-107-01-S-D 2 x 7 header DigiKey CLT-107-01-S-D-ND OEM7 SPAN Installation and Operation User Manual v14...
Page 49 OEM7700: Pin 24 OEM7720: Pin 24 – Do not connect – Do not connect – Do not connect – Do not connect – Do not connect – Do not connect – Do not connect OEM7 SPAN Installation and Operation User Manual v14...
Page 50 – Do not connect – Do not connect OEM729: Pin 18 SER_DATA_ COM1_ OUT_H RXD+ Serial Data High Output (RS-485) OEM729: Pin 15 SER_DATA_ COM1_ OUT_L RXD- Serial Data Low Output (RS-485) OEM7 SPAN Installation and Operation User Manual v14...
Page 51 – Do not connect – – – Do not connect – – – Do not connect – – – Do not connect SER_ COM2_ DATA_ Serial Data High Output (RS-485) 422RX+ OUT_H OEM7 SPAN Installation and Operation User Manual v14...
Page 52 This method requires a direct connection to the IMU at 921,600 baud over RS-422. Make sure the RS-422 link used is capable of 921,600 baud as not all serial ports are capable of that rate. OEM7 SPAN Installation and Operation User Manual v14...
Page 53: Connect Power
MIC Installation on page 56 for information about connecting and powering the MIC and IMU. If you are using an OEM IMU (ISA-100C, HG1900, LN200 or µIMU) and a UIC, see UIC Installation on page 67 for information about connecting and powering the UIC and IMU. OEM7 SPAN Installation and Operation User Manual v14...
Page 54 For most IMUs, connect the power leads on the IMU interface cable to the IMU power supply. For an IMU in the IMU Enclosure (IMU-HG1900, IMU-ISA-100C, IMU-ENC-LN200 or IMU-µIMU-IC), connect the IMU Power Cable (NovAtel part # 60723136) from the IMU to the IMU power supply. OEM7 SPAN Installation and Operation User Manual v14...
Page 55 Details about the IMU ports and cables can be found in IMU Technical Specifications on page 134. OEM7 SPAN Installation and Operation User Manual v14...
Page 56: Mic Installation
Chapter 2 SPAN Installation 2.2 MIC Installation For an IMU that cannot communicate directly to a NovAtel OEM7 receiver (e.g. SDLC/HDLC), an interface card is required for communication. The MEMS Interface Card (MIC) provides this communication between an OEM7 receiver card and the IMU.
Page 57 Connects to the main connector (P1701) on an OEM719 J301 receiver. J301 is on the bottom of the MIC card (Samtec) For information about the MIC connectors and pin-outs, see MIC Connectors on page 262. OEM7 SPAN Installation and Operation User Manual v14...
Page 58 The space between the OEM719 and the MIC is limited. The height of the MCX connector must not exceed 8.65 mm. 4. Align the mating connector (J301) on the MIC with the 20-pin header (P1701) on the OEM719. OEM7 SPAN Installation and Operation User Manual v14...
Page 59 Use the 20 pin locking connector (P601) for the HG1700, HG1900, HG1930 or STIM300 IMU. See Figure 8: Connect the HG1900 IMU to the MIC (OEM Cable Kit: 01018871) on the next page, Fig- OEM7 SPAN Installation and Operation User Manual v14...
Page 60 (ADIS-16488 = SPI, STIM300 = serial RS-422). If using the MIC connection is necessary, the following diagrams detail the cable connection parts between the MIC and IMU. Figure 10: Connect the ADIS-16488 IMU to the MIC (OEM Cable Kit: 01019007) OEM7 SPAN Installation and Operation User Manual v14...
Page 61: Install A Mic In A Standalone Configuration
Use a twisted pair for the USB port connection and keep the wires as short as possible. 2.2.2 Install a MIC in a Standalone Configuration In a standalone configuration, the MIC is mounted separately from the OEM7 receiver. OEM7 SPAN Installation and Operation User Manual v14...
Page 62 Connects to ADIS-16488 IMUs. P701 (Molex) (Molex) (NovAtel supplied cable) 501571-3007 501189-3010 Connects the MIC serial port to the OEM7 receiver. P301 (Molex) (Molex) (user supplied cable) ASP-163577-01 J301 This connector is not used. (Samtec) OEM7 SPAN Installation and Operation User Manual v14...
Page 63 Connect the IMU to the MIC 1. Attach the IMU mounting Printed Circuit Board (PCB) to the IMU. Ensure all the pins on the header are aligned with the holes on the mating connector. OEM7 SPAN Installation and Operation User Manual v14...
Page 64 The ADIS-16488 and STIM-300 are capable of a direct connection with OEM7 receivers, when a proper connection is available (ADIS-16488 = SPI, STIM300 = serial RS-422). If using the MIC connection is necessary, the following diagrams detail the cable connection parts between the MIC and IMU. OEM7 SPAN Installation and Operation User Manual v14...
Page 65 LVCMOS levels and are signal level compatible with the MIC serial port. OEM729 COM1 on the OEM729 receiver can use RS-232 levels (default) or RS-422 levels and is not signal level compatible with the MIC serial port. OEM7 SPAN Installation and Operation User Manual v14...
Page 66 See MIC Connectors on page 262 for pinout information for the power connector. 2. Using a customer supplied wiring harness, connect power to the OEM7 receiver. See the OEM7 Installation and Operation User Manual for information about connecting power to the receiver. OEM7 SPAN Installation and Operation User Manual v14...
Page 67: Uic Installation
Chapter 2 SPAN Installation 2.3 UIC Installation For an IMU that cannot communicate directly to a NovAtel OEM7 receiver (e.g. SDLC/HDLC), an interface card is required for communication. The Universal Interface Controller (UIC) provides this communication between an OEM7 receiver card and the IMU, specifically an IMU that has higher power requirements.
Page 68: Mount The Span System Components
The amount of board deflection (bow and twist) must not exceed 0.75%. For example, on the UIC which is 100 mm long and 113 mm wide, the deflection along the length must not exceed 0.75 mm and the deflection along the width must not exceed 0.85 mm. OEM7 SPAN Installation and Operation User Manual v14...
Page 69: Connect The Imu To The Uic
A separate power supply is required for the OEM7 receiver. For information about the power supply requirements, refer to the Technical Specifications appendix for the receiver card in the OEM7 Install- ation and Operation User Manual. OEM7 SPAN Installation and Operation User Manual v14...
Page 70: Uic Status Leds
UIC is transmitting communication UIC is transmitting and data from the data to the receiver, Data between UIC receiving data without receiver, but not but not receiving and GNSS errors. transmitting data. data. receiver. OEM7 SPAN Installation and Operation User Manual v14...
Page 71: Pwrpak7 Installation
The following diagram shows a typical SPAN installation using a PwrPak7 and an IMU in an enclosure. Figure 19: Typical Installation of a SPAN System with a PwrPak7 Complete the following steps to set up your NovAtel SPAN system. 1. Mount the GNSS antenna.
Page 72: Connect The Imu To The Pwrpak7
IMU baud rate, see KVH1750 Baud Rate Conversion on page 52. NovAtel IMU Interface Cables An interface cable is available from NovAtel for each IMU supported by OEM7 receivers. The interface cables provide access to the IMU power and communication signals. For information about these cables, refer to the applicable IMU in the IMU Technical Specifications on page 134.
Page 73 Table 16: Additional IMU to PwrPak7 Connections IMU Connector PwrPak7 DB26 COM PORTS Signal Name Signal Name IMU-CPT External Clock Input EVENT_OUT1 IMU-KVH1750 MSync EVENT_OUT1 IMU-FSAS DAS(+) EVENT_OUT1 IMU-STIM300D Time of Validity EVENT_IN2 OEM7 SPAN Installation and Operation User Manual v14...
Page 74: Pwrpak7-E1/Pwrpak7-E2 Installation
The following diagram shows a typical SPAN installation using a PwrPak7-E1 or PwrPak7-E2. Figure 20: Typical Installation of a SPAN System with a PwrPak7-E1 Complete the following steps to set up your NovAtel SPAN system. 1. Mount the GNSS antenna.
Page 75: Imu Leds
Enclosure. initialization. up or boot up or initialization. initialization. The IMU-IGM must be connected to a GNSS receiver before the state of these LEDs can change to On. OEM7 SPAN Installation and Operation User Manual v14...
Page 76 IMU Enclosure is communication transmitting and receiving data from transmitting data to between IMU receiving data without the receiver, but not the receiver, but not Enclosure and errors. transmitting data. receiving data. GNSS receiver. OEM7 SPAN Installation and Operation User Manual v14...
Page 77: Chapter 3 Span Operation
Before operating your SPAN system, ensure that you have followed the installation and setup instructions in SPAN Installation on page 30. You can use the NovAtel Connect software to configure receiver settings and to monitor data in real-time, between a rover SPAN system and base station.
Page 78: The Imu Body Frame
– points up through the roof of the vehicle perpendicular to the ground y-axis – points out the front of the vehicle in the direction of travel x-axis – completes the right-handed system (out the right-hand side of the vehicle when facing forward) OEM7 SPAN Installation and Operation User Manual v14...
Page 79: The User Output Frame
The translational offsets are measured in three directions, X axis, Y axis and Z axis, typically relative to the IMU Body frame. Translational offsets can also be entered relative to the Vehicle frame. OEM7 SPAN Installation and Operation User Manual v14...
Page 80 By default, the translational offsets are entered in the IMU Body Frame. However, in some systems the IMU Body Frame may not be known precisely. For these cases, the SETINSTRANSLATION command has an OEM7 SPAN Installation and Operation User Manual v14...
Page 81: Rotational Offsets
X, IMU Y equals Vehicle Y, IMU Z equals Vehicle Z). You must rotate from the IMU Body frame to the Vehicle frame. You must rotate in the order Z, X, Y. Positive rotation is defined according to the right hand rule. OEM7 SPAN Installation and Operation User Manual v14...
Page 82: Software Configuration
The GNSS configuration can be set up for different accuracy levels such as single point, SBAS, DGNSS, PPP and RTK. Refer to the OEM7 Installation and Operation User Manual for details on DGNSS, RTK, L-Band OEM7 SPAN Installation and Operation User Manual v14...
Page 83: Ins Profiles
INS profile for fixed wing aircraft None None INS profile for walking or backpack FOOT None None applications INS profile for Vertical Take Off and VTOL Landing aircraft (helicopter, quadcopter, None None etc.) OEM7 SPAN Installation and Operation User Manual v14...
Page 84: Span Configuration For Receiver Cards
SPAN Configuration with NovAtel Web User Interface on page 88 Minimum Recommended Configuration When configuring your OEM7 SPAN system for first time use, the following is the minimum amount of inform- ation required to ensure proper operation of a SPAN system.
Page 85 CONNECTIMU SPI EPSON_G320 EG320N CONNECTIMU SPI EPSON_G320_200HZ EG370N CONNECTIMU SPI EPSON_G370 HG1700 AG11 CONNECTIMU COMx HG1700_AG11 When the ADIS16488 is connected using a MIC. When the ADIS16488 is connected directly to an OEM7 receiver. OEM7 SPAN Installation and Operation User Manual v14...
Page 86 ANT2 parameter, to enter the distance from the IMU to the secondary GNSS antenna. When the STIM300 is connected using a MIC. When the STIM300 is connected directly to an OEM7 receiver. OEM7 SPAN Installation and Operation User Manual v14...
Page 87 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. OEM7 SPAN Installation and Operation User Manual v14...
Page 88: Span Configuration For Pwrpak7
SPAN Configuration with NovAtel Connect NovAtel Connect provides a wizard that takes you through the steps required to configure a SPAN system. For information about using the SPAN Configuration wizard in NovAtel Connect, refer to the help file available within NovAtel Connect.
Page 89 Table 21: Enable INS Commands IMU Type CONNECTIMU command ADIS-16488 CONNECTIMU COMx ADIS16488 HG1700 AG11 CONNECTIMU COMx HG1700_AG11 HG1700 AG17 CONNECTIMU COMx HG1700_AG17 HG1700 AG58 CONNECTIMU COMx HG1700_AG58 When the ADIS16488 is connected using a MIC. OEM7 SPAN Installation and Operation User Manual v14...
Page 90 E1, PwrPak7D-E1, PwrPak7-E2 or PwrPak7D-E2 to the antenna): ANT1 x_offset y_offset z_offset [x_stdev] [y_stdev] [z_stdev] When the STIM300 is connected using a MIC. When the STIM300 is connected directly to the PwrPak7. OEM7 SPAN Installation and Operation User Manual v14...
Page 91 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. OEM7 SPAN Installation and Operation User Manual v14...
Page 92: Importance Of Rbv Calibration
SPAN Configuration with NovAtel Connect NovAtel Connect provides a wizard that takes you through the steps required to configure a SPAN system. For information about using the SPAN Configuration wizard in NovAtel Connect, refer to the help file available within NovAtel Connect.
Page 93 These parameters are estimated in the background when the system is fully converged, however it is always bet- ter to have this measured as precisely as possible before mission critical data is collected. OEM7 SPAN Installation and Operation User Manual v14...
Page 94: Real-Time Operation
For a more rigorous check of the INS solution, examine bit 6 of the Extended Solution SOLUTION_ Status word. The Extended Solution Status word is available in several logs, GOOD including INSATTX log, INSPOSX log, INSSTDEV log, INSSTDEVS log, INSVELX log and INSUPDATESTATUS log OEM7 SPAN Installation and Operation User Manual v14...
Page 95: System Start-Up And Alignment Techniques
If vehicle movement is detected, any ongoing static coarse alignment will be reset, and the INS Status field will report MOTION_DETECT. 8. After an alignment is completed, the INS Status field changes to INS_ALIGNMENT_COMPLETE. The OEM7 SPAN Installation and Operation User Manual v14...
Page 96 While it is possible to lower the minimum speed required for kinematic alignment to take place, the higher the value, the more closely the course-over-ground estimate will match the vehicle heading. OEM7 SPAN Installation and Operation User Manual v14...
Page 97: Ins Seed / Fast Ins Initialization
This transition can be observed by monitoring the INS Status field in the INS logs. Dual Antenna Alignment SPAN can also use heading information available from a NovAtel Dual Antenna ALIGN solution to rapidly per- form an alignment. Refer to SPAN with Dual Antenna on page 129 for details.
Page 98 Alignment Type: Bits 26-28 These bits indicate how the INS system reached INS_ALIGNMENT_COMPLETE. When the INS system aligns using saved INS solution data from NVM, bits 26-28 will be set to 101 OEM7 SPAN Installation and Operation User Manual v14...
Page 99: Navigation Mode
Table 24: Solution Parameters below: Table 24: Solution Parameters Parameter Logs INSPOS or INSPOSS Position INSPOSX or INSPVAX INSPVA or INSPVAS INSVEL or INSVELS Velocity INSSPD or INSSPDS INSVELX or INSPVAX INSPVA or INSPVAS OEM7 SPAN Installation and Operation User Manual v14...
Page 100 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.
Page 101: Lever Arm Calibration Routine
Specific logs need to be collected for post-processing. See Data Collection for Post Processing on page 121. To store data from an OEM7 receiver, connect the receiver to a computer running NovAtel Connect or other ter- minal program capable of recording data. On PwrPak7 receivers, you can also collect data on internal memory.
Page 102: Body To Vehicle Frame Rotation Calibration Routine
Vehicle speed must be greater than 5 m/s (18 km/hr) for the calibration to complete. 8. When the calibration is complete, either because the accuracy requirement has been met, or the calibration OEM7 SPAN Installation and Operation User Manual v14...
Page 103: Multi-Line Body To Vehicle Frame Rotation Calibration Routine
This is done by running independent calibrations over the same ground path in oppos- ite directions; averaging the results cancels out the effect of any terrain induced roll. A minimum of two iterations are required. Additional iteration pairs can be executed for increased reliability. OEM7 SPAN Installation and Operation User Manual v14...
Page 104 7. When the end of the available distance is reached, stop the vehicle. Halt the ongoing calibration by sending the INSCALIBRATE command again: INSCALIBRATE RBV STOP 8. At this point INSCALSTATUS will report a source status of CALIBRATED. Turn the vehicle around and OEM7 SPAN Installation and Operation User Manual v14...
Page 105: Synchronizing External Equipment
A constant time bias in nanoseconds can be applied to each event pulse. Typically this is used to account for a transmission delay. Time Guard (t_guard): The time guard specifies the minimum number of milliseconds between pulses. This is used to coarsely filter the input pulses. OEM7 SPAN Installation and Operation User Manual v14...
Page 106: Adding Timed Sensor Triggers
Event_In. Three sensor slots are available for use, but may be limited to less depending on the hardware platform used. Table 25: Valid Event Inputs and Outputs for Timed Sensor Triggers Valid Event Outputs Valid Event Inputs MARK1 MARK1 MARK2 MARK2 MARK3 MARK3 MARK4 MARK4 OEM7 SPAN Installation and Operation User Manual v14...
Page 107: Configuring The Software
TAGGEDMARK1PVA log should be requested ONNEW to capture the data. 3.7 Distance Measurement Instrument A Distance Measurement Instrument (DMI) can provide additional accuracy and reliability to a NovAtel SPAN solution. Typically, a DMI measures the distance traveled and represents the measurement using digital pulses. For a land vehicle, where a DMI is also known as a wheel sensor, the pulses are referred to as wheel ticks.
Page 108: Dmi Connection
Chapter 3 SPAN Operation NovAtel products that support quadrature encoding also accept a single channel DMI input. In the case of a single channel, only the A+/A- differential wire pair is connected. A single channel provides benefit to the SPAN solution by measuring only the distance traveled without regard for direction.
Page 109 SPAN systems require at a minimum the A+ and A- sig- nals for distance. All four signal inputs are required to measure both distance and direction correctly. See your WPT documentation for cable details. OEM7 SPAN Installation and Operation User Manual v14...
Page 110: Dmi Connected To A Pwrpak7
Chapter 3 SPAN Operation Table 27: Kistler to NovAtel Wheel Sensor Cable Connections Kistler Cable PwrPak7 IMU Enclosure IMU-FSAS M12 Connector M12 Connector All I/O Cable Female DB9 on NovAtel Cable Signal Wire Label Wire Color Pin 1 External External...
Page 111 PwrPak7 Installation and Operation User Manual for the required input voltages. To connect a DMI: 1. Connect the PwrPak7 All I/O Cable, or custom interface cable, to the HD26 COM PORT connector on the PwrPak7. OEM7 SPAN Installation and Operation User Manual v14...
Page 112: Dmi Connected To An Imu
A DMI can be connected to the following IMUs: IMU-ISA-100C IMU-ENC-LN200 IMU-HG1900 IMU-µIMU-IC IMU-IGM-A1 IMU-IGM-S1 IMU-FSAS IMU-CPT Figure 31: DMI to IMU Setup on the next page shows an overview of a DMI connected to the IMU. OEM7 SPAN Installation and Operation User Manual v14...
Page 113 To connect a DMI to the IMU: 1. Install the SPAN system using the instructions in OEM7 Receiver Card Installation on page 31 or PwrPak7 Installation on page 71. 2. Connect the wheel sensor to the IMU. OEM7 SPAN Installation and Operation User Manual v14...
Page 114: Dmi Connected To A Uic
When a UIC is used to connect one of the following IMUs to an OEM7 receiver, the UIC can also be used to con- nect a DMI to the SPAN system. OEM-IMU-ISA-100C OEM-IMU-LN200 OEM-IMU-HG1900 OEM-IMU-µIMU Figure 32: DMI to UIC Setup on the next page shows an overview of a DMI connected to the UIC. OEM7 SPAN Installation and Operation User Manual v14...
Page 115 2. Connect the DMI to the UIC wiring harness. 3. Connect an external power supply to the DMI. The power required for the DMI depends on the DMI used. Refer to the DMI user documents for more inform- ation. OEM7 SPAN Installation and Operation User Manual v14...
Page 116: Dmi Connected To An Intermediate Processor
3.7.7 DMI Connected to an Intermediate Processor NovAtel’s OEM7 receiver cards do not handle DMI encoded signals natively. If using a receiver card, an inter- mediate processor is required to convert DMI pulses into NovAtel commands (RAWDMI).
Page 117 In the following example, 1000 wheel ticks have been accumulated on DMI1. RAWDMI 1000 0 0 0 1 3. Send the following commands to log the DMI data available in the receiver. LOG DMICONFIGA ONCHANGED LOG RAWDMIA ONNEW OEM7 SPAN Installation and Operation User Manual v14...
Page 118: Dmi Command Compatibility
For information about the commands and logs used in this procedure , refer to the OEM7 Commands and Logs Reference Manual. 3.7.8 DMI Command Compatibility With the introduction of the new streamlined command and log set for DMI use, legacy commands and logs have been deprecated. OEM7 SPAN Installation and Operation User Manual v14...
Page 119: Dmi Troubleshooting
The receiver is being powered. The DMI has been enabled through a DMICONFIG command. The receiver has the latest NovAtel Firmware, available from the NovAtel website (www.novatel.com). The receiver has a valid SPAN model for use with DMI. Further electrical troubleshooting may be required to verify signal integrity. In many cases, note the following.
Page 120: Course Over Ground
BESTVEL NovAtel From the best system solution which could be either GNSS or GPHDT NMEA ALIGN Course Over Ground GPVTG NMEA From the best system solution which could be either GNSS or OEM7 SPAN Installation and Operation User Manual v14...
Page 121: Data Collection For Post Processing
HEADING2B ONNEW (if using ALIGN dual antenna solution) ® Post processing is performed through the Waypoint Inertial Explorer software package available from the NovAtel Waypoint Products Group. Visit our Web site at www.novatel.com for details. OEM7 SPAN Installation and Operation User Manual v14...
Page 122: Firmware Updates And Model Upgrades
Model upgrades enable features on the receiver and may be purchased through NovAtel authorized dealers. Contact your local NovAtel dealer first for more information. To locate a dealer in your area visit Where to Buy | Dealer Network on the NovAtel web site at www.novatel.com/where-to-buy/sales-offices/...
Page 123 Figure 35: Operating Gimbal on the next page shows the gimbal in operation; the gimbal platform has moved rel- ative to the mount body frame. The gimbal frame and IMU Body frame move together, as does the user output (or mark output) frame. Figure 34: Sample Configuration OEM7 SPAN Installation and Operation User Manual v14...
Page 124: How To Use Variable Lever Arm
1 to 50 Hz. If an INPUTGIMBALANGLE command is not received for over 1 second then the system will return to using the static lever arm. In addition to using the variable lever arm internally, the following information is available to the user. OEM7 SPAN Installation and Operation User Manual v14...
Page 125 Vehicle frame. This command relates the IMU Body frame (b) to the Mount Body frame (m). This SETINSROTATION information is required for interpreting the rotation angles from the VARIABLELEVERARM log correctly. OEM7 SPAN Installation and Operation User Manual v14...
Page 126: Relative Ins
3.12 Relative INS NovAtel's Relative INS technology generates a position, velocity and full attitude vector between two SPAN sys- tems. One is the Master receiver and the other is the Rover receiver. Once configured, the Master receiver begins transmitting corrections to the Rover receiver. Relative information is created and the system begins filling the RELINSPVA log and SYNCRELINSPVA log on the Rover receiver.
Page 127: Configure Relative Ins
To configure Relative INS using the RELINSAUTOMATION command, the master and rover receivers must be communicating using a COM port. If the master and rover are communicating via an ICOM port, the RELINSCONFIG command must be used. OEM7 SPAN Installation and Operation User Manual v14...
Page 128 Chapter 3 SPAN Operation The Model option must be present on both the rover and master for the Relative INS feature to be enabled. The master and rover receiver must be using the same datum. OEM7 SPAN Installation and Operation User Manual v14...
Page 129: Chapter 4 Span With Dual Antenna
COM port (e.g. Ethernet), contact NovAtel Customer Support. The two receivers need to be set up as shown in the example in Figure 37: SPAN - Two Receiver Dual Antenna Installation on the next page. OEM7 SPAN Installation and Operation User Manual v14...
Page 130 ALIGN solution without an additional receiver. Set up a SPAN system with a dual antenna receiver as shown in Figure 38: SPAN - Single Receiver Dual Antenna Installation on the next page. Figure 37: SPAN - Two Receiver Dual Antenna Installation OEM7 SPAN Installation and Operation User Manual v14...
Page 131: Configuring Align With Span
COM2 is the default COM port for ALIGN. If the default COM ports are changed using the INSALIGNCONFIG command, connect the COM ports that are specified by the INSALIGNCONFIG command. OEM7 SPAN Installation and Operation User Manual v14...
Page 132: Configuring Span With Align
This calibration refines the IMU to antenna baseline angular offset from the initial estimate derived from the input lever arms. Refer to INSCALIBRATE command for details. The different alignment routines are described in the following sections: OEM7 SPAN Installation and Operation User Manual v14...
Page 133: Aided Transfer Alignment - Align Injected Azimuth
You can monitor the heading update status as outlined in the INSUPDATESTATUS log in the OEM7 Com- mands and Logs Reference Manual. OEM7 SPAN Installation and Operation User Manual v14...
Page 134: Appendix A Imu Technical Specifications
UIC - Universal IMU Controller on page 271 For technical specifications for the SPAN compatible receivers and the PwrPak7-E1, see the OEM7 Installation and Operation User Manual PwrPak7 Installation and Operation User Manual. OEM7 SPAN Installation and Operation User Manual v14...
Page 135: Hg1700 Imu (Single-Connector Enclosure)
See the following sections for more information about the HG1700 IMU. HG1700 IMU Mechanical Drawings on the next page HG1700 IMU Performance on page 138 HG1700 Electrical and Environmental on page 139 Interface Cable for the HG1700 IMU on page 139 OEM7 SPAN Installation and Operation User Manual v14...
Page 136: Hg1700 Imu Mechanical Drawings
A.1.1 HG1700 IMU Mechanical Drawings The dimensions in the following diagrams are in millimeters. Figure 39: HG1700 Top/Bottom Dimensions OEM7 SPAN Installation and Operation User Manual v14...
Page 137 The center of Navigation, shown on the HG1700 label, for the internal IMU is the same as the enclosure center. The enclosure center measurements are labeled as IMU Enclosure Center in these figures. OEM7 SPAN Installation and Operation User Manual v14...
Page 138: Hg1700 Imu Performance
150 ppm Angular Random Walk 0.5 °/√hour Accelerometer Performance Accelerometer Range ±50 g Accelerometer Linearity 500 ppm Accelerometer Scale Factor 300 ppm Accelerometer Bias 2.0 mg Data Rate IMU Measurement 100 Hz OEM7 SPAN Installation and Operation User Manual v14...
Page 139: Hg1700 Electrical And Environmental
The IMU interface cable provides power to the IMU from an external power source and enables communication between the receiver and IMU. The HG1700 IMU uses the Universal IMU Enclosure Interface cable (see Univer- sal IMU Enclosure Interface Cable on page 256). OEM7 SPAN Installation and Operation User Manual v14...
Page 140: Imu-Cpt
See the following sections for more information about the IMU-CPT. IMU-CPT Mechanical Drawings on the next page IMU-CPT Sensor Specifications on page 143 IMU-CPT Electrical and Environmental on page 144 IMU-CPT Cable on page 145 OEM7 SPAN Installation and Operation User Manual v14...
Page 141: Imu-Cpt Mechanical Drawings
APPENDIX A IMU Technical Specifications A.2.1 IMU-CPT Mechanical Drawings The dimensions in the following diagrams are in inches and millimeters (in square brackets). Figure 41: IMU-CPT Side and Perspective View OEM7 SPAN Installation and Operation User Manual v14...
Page 142 APPENDIX A IMU Technical Specifications Figure 42: IMU-CPT Top, Front and Bottom View OEM7 SPAN Installation and Operation User Manual v14...
Page 143: Imu-Cpt Sensor Specifications
Scale Factor Error (Total) 4000 ppm, 1σ Temperature Dependent SF Variation 1000 ppm, 1σ Accelerometer Noise 55 μg/√Hz @ 1σ Bandwidth 50 Hz Accelerometer Bias ±10 g Data Rate IMU Measurement 100 Hz OEM7 SPAN Installation and Operation User Manual v14...
Page 144: Imu-Cpt Electrical And Environmental
8 g rms, 20 Hz -2 KHz Shock, operational 7g 6-10 msec, 1/2 sine Shock, non-operational 60 g 6-10 msec, 1/2 sine Altitude -1000 to 50,000 ft. Humidity 95% at 35°C, 48 hrs MTBF ≥ 10,500 hours OEM7 SPAN Installation and Operation User Manual v14...
Page 145: Imu-Cpt Cable
APPENDIX A IMU Technical Specifications A.2.4 IMU-CPT Cable The NovAtel part number for the IMU-CPT cable is 01018966. This cable provides power to the IMU from an external power source and enables communication between the receiver and the IMU. Figure 43: IMU-CPT Development Terminated Cable...
Page 146 APPENDIX A IMU Technical Specifications Table 42: Connectors Connector Description MIL-DTL 38999, 37 connector, plug DB-9, female Table 43: Maximum Cable Length RS-422 IMU-CPT < 1.5 meters OEM7 SPAN Installation and Operation User Manual v14...
Page 147: Imu-Fsas
See the following sections for more information about the IMU-FSAS. IMU-FSAS Mechanical Drawings on the next page IMU-FSAS Performance on page 151 IMU-FSAS Electrical and Environmental on page 151 Interface Cable for IMU-FSAS on page 152 IMU-FSAS Cable with Wheel Sensor on page 152 OEM7 SPAN Installation and Operation User Manual v14...
Page 148: Imu-Fsas Mechanical Drawings
APPENDIX A IMU Technical Specifications A.3.1 IMU-FSAS Mechanical Drawings The dimensions in the following diagrams are in millimeters. Figure 44: IMU-FSAS Top Dimensions Figure 45: IMU-FSAS Bottom Dimensions OEM7 SPAN Installation and Operation User Manual v14...
Page 149 APPENDIX A IMU Technical Specifications Figure 46: IMU-FSAS Side Dimensions OEM7 SPAN Installation and Operation User Manual v14...
Page 150 APPENDIX A IMU Technical Specifications Figure 47: IMU-FSAS Center of Navigation OEM7 SPAN Installation and Operation User Manual v14...
Page 151: Imu-Fsas Performance
13.8 W (typical) Input/Output Connectors MIL-C-38999-III IMU Interface RS-422 Table 47: IMU-FSAS Environmental Specifications Environmental Operating Temperature -40°C to +71°C (-40°F to 160°F) Storage Temperature -40°C to +85°C (-40°F to 185°F) Humidity 95% non-condensing OEM7 SPAN Installation and Operation User Manual v14...
Page 152: Interface Cable For Imu-Fsas
A.3.5 IMU-FSAS Cable with Wheel Sensor The NovAtel part number for the IMU-FSAS cable with Wheel Sensor is 01018388 (see Figure 48: IMU-FSAS Interface Cable with Wheel Sensor below). This cable: provides power to the IMU from an external power source...
Page 153 422(+) Reserved DGND Digital ground DGND Digital ground Wheel sensor input B(+), ODO_B opto-coupler: +2 to +6 V (RS-422 compatible) Wheel sensor input B(-), ODO_ opto-coupler: +2 to +6 V (RS-422 compatible) OEM7 SPAN Installation and Operation User Manual v14...
Page 154 The tables below provide recommendations for creating custom cables to replace the IMU-FSAS cable with Wheel Sensor (01018388). Table 49: Connectors Connector Description DB-9, female MIL-DTL-38999 III, plug DB-9, male Table 50: Maximum Cable Length RS-422 iIMU-FSAS < 1.5 meters OEM7 SPAN Installation and Operation User Manual v14...
Page 155: Imu-Hg1900
See the following sections for more information about the IMU-HG1900. IMU-HG1900 Mechanical Drawings on the next page IMU-HG1900 Sensor Specifications on page 158 IMU-HG1900 Electrical and Environmental on page 159 IMU-HG1900 Cables on page 159 OEM7 SPAN Installation and Operation User Manual v14...
Page 156: Imu-Hg1900 Mechanical Drawings
APPENDIX A IMU Technical Specifications A.4.1 IMU-HG1900 Mechanical Drawings The dimensions in the following diagrams are in millimeters. Figure 49: IMU-HG1900 Dimensions OEM7 SPAN Installation and Operation User Manual v14...
Page 157 APPENDIX A IMU Technical Specifications Figure 50: IMU-HG1900 Center of Navigation OEM7 SPAN Installation and Operation User Manual v14...
Page 158: Imu-Hg1900 Sensor Specifications
Angular random walk 0.09 °/√hour Accelerometer Performance Range ±30 g Linearity 500 ppm Scale factor 300 ppm Bias repeatability 1 mg Bias in-run stability 0.7 mg Data Rate IMU Measurement 100 Hz OEM7 SPAN Installation and Operation User Manual v14...
Page 159: Imu-Hg1900 Electrical And Environmental
The IMU-HG1900 uses the IMU Enclosure Power Cable. Refer to IMU Enclosure Power Cable on page 178 for details about this cable. IMU-HG1900 Wheel Sensor Cable The IMU-HG1900 uses the IMU Enclosure Wheel Sensor Cable. Refer to IMU Enclosure Wheel Sensor Cable on page 179 for details about this cable. OEM7 SPAN Installation and Operation User Manual v14...
Page 160: Imu-Igm
See the following sections for more information about the IMU-IGM-A1 or IMU-IGM-S1 IMUs. IMU-IGM Mechanical Drawings on the next page IMU-IGM Ports on page 163 IMU-IGM Sensor Specifications on page 165 IMU-IGM Electrical and Environmental on page 166 IMU-IGM Interface Cable on page 167 OEM7 SPAN Installation and Operation User Manual v14...
Page 161: Imu-Igm Mechanical Drawings
The center of navigation is at the location marked by the axis labels on the enclosure and indicated on the drawing above. It is not at the depression in the enclosure cover. The dimensions in the drawing are in millimeters. OEM7 SPAN Installation and Operation User Manual v14...
Page 162 The center of navigation is at the location marked by the axis labels on the enclosure and indicated on the drawing above. It is not at the depression in the enclosure cover. The dimensions in the drawing are in millimeters. OEM7 SPAN Installation and Operation User Manual v14...
Page 163: Imu-Igm Ports
Pin # Label Description ODM_A+ Wheel sensor input A positive Wheel sensor input B positive ODM_B+ (No connection on IMU-IGM-S1) Reserved Reserved WS_VOUT Wheel sensor output voltage (12 VDC) DGND Digital ground OEM7 SPAN Installation and Operation User Manual v14...
Page 164 Wheel sensor input A negative Wheel sensor input B negative ODM_B- (No connection on IMU-IGM-S1) Reserved Reserved DGND Digital ground Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved DGND Digital ground OEM7 SPAN Installation and Operation User Manual v14...
Page 165: Imu-Igm Sensor Specifications
0.5 °/hour Angular Random Walk 0.15 °/√hour Accelerometer Performance Accelerometer Range ± 10 g In Run Accelerometer Bias Stability 0.05 mg Velocity Random Walk 0.07 m/s/√hour Data Rate IMU Measurement 125 Hz OEM7 SPAN Installation and Operation User Manual v14...
Page 166: Imu-Igm Electrical And Environmental
Electrical Input Voltage 10 - 30 VDC Power consumption <4.6 W (typical) Table 64: IMU-IGM-S1 Environmental Spe- cifications Environmental Temperature, operational -40°C to +65°C Temperature, storage -50°C to +80°C Humidity 95% Non-condensing OEM7 SPAN Installation and Operation User Manual v14...
Page 167: Imu-Igm Interface Cable
APPENDIX A IMU Technical Specifications A.5.5 IMU-IGM Interface Cable The NovAtel part number for the IMU-IGM interface cable is 01019016. This cable provides power to the IMU-IGM and communication signals between the IMU-IGM and the OEM7 family receiver. Figure 53: IMU-IGM Interface Cable The dimensions in this drawing are in millimeters.
Page 168 The tables below provide recommendations for creating custom cables to replace the IMU-IGM interface cable (01019016). Table 66: Connectors Connector Description DB-15HD, male DB-9, female Table 67: Maximum Cable Length RS-232 RS-422 IMU-IGM-A1, IMU-IGM-S1 < 1.2 meters < 50 meters OEM7 SPAN Installation and Operation User Manual v14...
Page 169: Imu-Isa-100C
Optional Side Mounting Holes on page 172 IMU-ISA-100C Performance on page 174 IMU-ISA-100C Electrical and Environmental on page 175 IMU Enclosure Interface Cable on page 176 IMU Enclosure Power Cable on page 178 IMU Enclosure Wheel Sensor Cable on page 179 OEM7 SPAN Installation and Operation User Manual v14...
Page 170: Imu-Isa-100C Mechanical Drawings
APPENDIX A IMU Technical Specifications A.6.1 IMU-ISA-100C Mechanical Drawings The dimensions in the following diagrams are in millimeters. Figure 54: IMU-ISA-100C Dimensions OEM7 SPAN Installation and Operation User Manual v14...
Page 171 APPENDIX A IMU Technical Specifications Figure 55: IMU-ISA-100C Center of Navigation OEM7 SPAN Installation and Operation User Manual v14...
Page 172: Optional Side Mounting Holes
IMU enclosure. To access these holes, the NovAtel label must be removed from the side of the enclosure. A small notch on the side of enclosure allows you to insert a small flat blade screw under the label to start lifting the label.
Page 173 APPENDIX A IMU Technical Specifications Figure 56: Optional Side Mounting Holes OEM7 SPAN Installation and Operation User Manual v14...
Page 174: Imu-Isa-100C Performance
Accelerometer Performance Range ±10 g In-run bias stability ≤100 μg 1 year scale factor repeatability ≥1250 ppm Scale factor non-linearity ≤100 ppm Velocity random walk ≤100 μg/√Hz Data Rate IMU Measurement 200 Hz OEM7 SPAN Installation and Operation User Manual v14...
Page 175: Imu-Isa-100C Electrical And Environmental
SAL M12, 8 pin, male Table 71: IMU-ISA-100C Environmental Specifications Environmental Operating Temperature -40°C to +55°C Storage Temperature -40°C to +85°C Humidity MIL-STD-810G, Method 507.5 Random Vibe MIL-STD-810G, Method 514.6 (2.0 g) Environmental IEC 60529 IP67 OEM7 SPAN Installation and Operation User Manual v14...
Page 176: Imu Enclosure Interface Cable
APPENDIX A IMU Technical Specifications A.6.5 IMU Enclosure Interface Cable The NovAtel part number for the IMU Enclosure interface cable is 01019319 (see Figure 57: IMU Enclosure Inter- face Cable below). This cable enables communication between the receiver and the IMU.
Page 177 The tables below provide recommendations for creating custom cables to replace the IMU Enclosure interface cable (01019319). Table 73: Connectors Connector Description M12x1, 5 position, male DB-9, female Table 74: Maximum Cable Length RS-422 IMU-ISA-100C < 50 meters OEM7 SPAN Installation and Operation User Manual v14...
Page 178: Imu Enclosure Power Cable
APPENDIX A IMU Technical Specifications A.6.6 IMU Enclosure Power Cable The NovAtel part number for the IMU Enclosure power cable is 60723136 (see Figure 58: IMU Enclosure Power Cable below). This cable provides power to the IMU from an external power source.
Page 179: Imu Enclosure Wheel Sensor Cable
APPENDIX A IMU Technical Specifications A.6.7 IMU Enclosure Wheel Sensor Cable The NovAtel part number for the IMU Enclosure wheel sensor cable is 60723137 (see Figure 59: IMU Enclosure Wheel Sensor Cable below). This cable enables communication between the IMU and the wheel sensor.
Page 180 The tables below provide recommendations for creating custom cables to replace the IMU Enclosure Wheel Sensor cable (60723137). Table 77: Connectors Connector Description M12x1, 8 position, female DB-9, female Table 78: Maximum Cable Length RS-422 IMU-ISA-100C IMU-ENC-LN200 < 50 meters IMU-HG1900 IMU-µIMU-IC OEM7 SPAN Installation and Operation User Manual v14...
Page 181: Imu-Kvh1750
See the following sections for more information about the IMU-KVH-1750. IMU-KVH1750 Mechanical Drawings on the next page IMU-KVH1750 Sensor Specifications on page 186 IMU-KVH1750 Electrical and Environmental on page 187 IMU-KVH1750 Cable on page 188 OEM7 SPAN Installation and Operation User Manual v14...
Page 182: Imu-Kvh1750 Mechanical Drawings
APPENDIX A IMU Technical Specifications A.7.1 IMU-KVH1750 Mechanical Drawings The dimensions in the following diagrams are in millimeters. Figure 60: IMU-KVH1750 Bottom view OEM7 SPAN Installation and Operation User Manual v14...
Page 183 APPENDIX A IMU Technical Specifications Figure 61: IMU-KVH1750 Top View OEM7 SPAN Installation and Operation User Manual v14...
Page 184 APPENDIX A IMU Technical Specifications Figure 62: IMU-KVH1750 Side View OEM7 SPAN Installation and Operation User Manual v14...
Page 185 APPENDIX A IMU Technical Specifications Figure 63: IMU-KVH1750 Gyro Axes OEM7 SPAN Installation and Operation User Manual v14...
Page 186: Imu-Kvh1750 Sensor Specifications
Bias Stability (at 25° C) ≤0.05 mg ≤100 ppm/°C (typical) Scale Factor Temperature Sensitivity 250 ppm/°C (max) Velocity Random Walk 0.12 mg/√Hz Input Axis Misalignment ±1.0 mrad Data Rate IMU Measurement 200 Hz OEM7 SPAN Installation and Operation User Manual v14...
Page 187: Imu-Kvh1750 Electrical And Environmental
Vibration, operational 8 g rms, 20 Hz -2 kHz Vibration, non-operational 12 g rms, 20 Hz -2 kHz Shock, operational 9 g (11 ms, sawtooth) Shock, non-operational 40 g (11 ms, sawtooth) OEM7 SPAN Installation and Operation User Manual v14...
Page 188: Imu-Kvh1750 Cable
APPENDIX A IMU Technical Specifications A.7.4 IMU-KVH1750 Cable The NovAtel part number for the IMU-KVH1750 cable is 01019211. This cable provides power to the IMU from an external power source and enables communication between the receiver and the IMU. Figure 64: IMU-KVH1750 Cable Dimensions are in millimeters.
Page 189 MSYNC signal input (J1 (15 pin micro D female) of the IMU: Pin 11 MSync+, Pin 7 MSync-). This was previously a single ended input signal on Pin 11 only. The NovAtel VARF signal used to provide the MSYNC to the IMU remains single ended, however significant testing has been completed with the existing IMU-KVH1750 Cable (01019211) in safe environments (no interference sources).
Page 190: Imu-Enc-Ln200
See the following sections for more information about the IMU-ENC-LN200. IMU-ENC-LN200 Mechanical Drawings on the next page IMU-ENC-LN200 Sensor Specifications on page 193 IMU-ENC-LN200 Electrical and Environmental on page 194 IMU-ENC-LN200 Cables on page 194 OEM7 SPAN Installation and Operation User Manual v14...
Page 191: Imu-Enc-Ln200 Mechanical Drawings
APPENDIX A IMU Technical Specifications A.8.1 IMU-ENC-LN200 Mechanical Drawings The dimensions in the following diagrams are in millimeters. Figure 65: IMU-ENC-LN200 Dimensions OEM7 SPAN Installation and Operation User Manual v14...
Page 192 APPENDIX A IMU Technical Specifications Figure 66: IMU-ENC-LN200 Center of Navigation OEM7 SPAN Installation and Operation User Manual v14...
Page 193: Imu-Enc-Ln200 Sensor Specifications
100 ppm Angular random walk 0.07 deg/√hr Accelerometer Performance Input range ±15 g Scale factor asymmetry 150 ppm Scale factor error 300 ppm Bias 1.0 mg Data Rate IMU Measurement 200 Hz OEM7 SPAN Installation and Operation User Manual v14...
Page 194: Imu-Enc-Ln200 Electrical And Environmental
IMU-ENC-LN200 Wheel Sensor Cable The IMU-ENC-LN200 uses the IMU Enclosure Wheel Sensor Cable. Refer to IMU Enclosure Wheel Sensor Cable on page 179 for details about this cable. OEM7 SPAN Installation and Operation User Manual v14...
Page 195: Imu-Μimu-Ic
See the following sections for more information about the IMU-µIMU. IMU-µIMU-IC Mechanical Drawings on the next page IMU-µIMU-IC Sensor Specifications on page 198 IMU-µIMU-IC Electrical and Environmental on page 199 IMU-µIMU-IC Cables on page 199 OEM7 SPAN Installation and Operation User Manual v14...
Page 196: Imu-Μimu-Ic Mechanical Drawings
APPENDIX A IMU Technical Specifications A.9.1 IMU-µIMU-IC Mechanical Drawings The dimensions in the following diagrams are in millimeters. Figure 67: IMU-µIMU-IC Dimensions OEM7 SPAN Installation and Operation User Manual v14...
Page 197 APPENDIX A IMU Technical Specifications Figure 68: IMU-µIMU-IC Center of Navigation OEM7 SPAN Installation and Operation User Manual v14...
Page 198: Imu-Μimu-Ic Sensor Specifications
≤1400 ppm Angular random walk ≤0.3 °/√hour Accelerometer Performance Input range ±15 g Bias repeatability ≤3 mg Scale factor error ≤1500 ppm Velocity random walk ≤0.25 mg/degree/√Hz Data Rate IMU Measurement 200 Hz OEM7 SPAN Installation and Operation User Manual v14...
Page 199: Imu-Μimu-Ic Electrical And Environmental
The IMU-µIMU-IC uses the IMU Enclosure Power Cable. Refer to IMU Enclosure Power Cable on page 178 for details about this cable. IMU-µIMU-IC Wheel Sensor Cable The IMU-µIMU-IC uses the IMU Enclosure Wheel Sensor Cable. Refer to IMU Enclosure Wheel Sensor Cable on page 179 for details about this cable. OEM7 SPAN Installation and Operation User Manual v14...
Page 200: Imu (Single-Connector Enclosure)
See the following sections for more information about the LN-200 IMU. LN-200 IMU Mechanical Drawings on the next page LN-200 IMU Performance on page 203 LN-200 Electrical and Environmental on page 203 Interface Cable for the LN-200 IMU on page 204 OEM7 SPAN Installation and Operation User Manual v14...
Page 201: Imu Mechanical Drawings
APPENDIX A IMU Technical Specifications A.10.1 LN-200 IMU Mechanical Drawings The dimensions in the following diagrams are in millimeters. Figure 69: LN-200 IMU Enclosure Top/Bottom Dimensions and Center of Navigation OEM7 SPAN Installation and Operation User Manual v14...
Page 202 The Center of Navigation offsets, shown on the LN-200 label, are for the internal IMU and are different than for the enclosure center. The enclosure center is labelled as IMU Center in these figures. Dimensions are shown in millimeters. OEM7 SPAN Installation and Operation User Manual v14...
Page 203: Imu Performance
IMU Interface RS-232 or RS-422 Table 98: LN-200 Environmental Specifications Environmental (LN-200 IMU) Operating Temperature -30°C to +60°C (-22°F to 140°F) Storage Temperature -45°C to +80°C (-49°F to 176°F) Humidity 95% non-condensing OEM7 SPAN Installation and Operation User Manual v14...
Page 204: Interface Cable For The Ln-200 Imu
The IMU interface cable provides power to the IMU from an external power source and enables communication between the receiver and IMU. The LN-200 IMU uses the Universal IMU Enclosure Interface cable (see Univer- sal IMU Enclosure Interface Cable on page 256). OEM7 SPAN Installation and Operation User Manual v14...
Page 205: Oem-Imu-Adis-16488
See the following sections for more information about the OEM-IMU-ADIS-16488. OEM-IMU-ADIS-16488 Mechanical Drawings on the next page OEM-IMU-ADIS-16488 Sensor Specifications on page 209 OEM-IMU-ADIS-16488 Electrical and Environmental on page 209 OEM-IMU-ADIS-16488 SPI Connection on page 210 ADIS-16488 IMU-to-MIC Cable Assembly on page 212 OEM7 SPAN Installation and Operation User Manual v14...
Page 206: Oem-Imu-Adis-16488 Mechanical Drawings
The dimensions in these drawings are in millimeters. The following two drawings include the ADIS-16488 interface board. The ADIS-16488 with interface board is intended for use with a MIC. Figure 71: ADIS-16488 Dimensions OEM7 SPAN Installation and Operation User Manual v14...
Page 207 Figure 72: ADIS-16488 Center of Navigation The following diagram shows the ADIS-16488 without the interface board. The ADIS-16488 without interface board is for applications where the IMU connects directly to the OEM7 receiver using a SPI port. OEM7 SPAN Installation and Operation User Manual v14...
Page 208 APPENDIX A IMU Technical Specifications Figure 73: OEM ADIS-16488 Dimensions OEM7 SPAN Installation and Operation User Manual v14...
Page 209: Oem-Imu-Adis-16488 Sensor Specifications
+3.0 to + 3.6 VDC Input Power +3.3 VDC typical Power consumption 254 mA typical IMU Interface Table 102: OEM-IMU-ADIS-16488 Envir- onmental Specifications Environmental Temperature, operational -40°C to +85°C Temperature, non-operational -40°C to +105°C OEM7 SPAN Installation and Operation User Manual v14...
Page 210: Oem-Imu-Adis-16488 Spi Connection
EVENT_ DIO2 Data ready – – 3.3 VDC power supply – – 3.3 VDC power supply – – 3.3 VDC power supply – – Digital ground OEM7 SPAN Installation and Operation User Manual v14...
Page 211 For the location of the receiver pins, refer to the OEM7 Installation and Operation User Manual. For more information about connecting using a SPI port, refer to Connect an OEM-IMU-ADIS-16488 Directly to an OEM7 Receiver Card on page 40. OEM7 SPAN Installation and Operation User Manual v14...
Page 212: Adis-16488 Imu-To-Mic Cable Assembly
APPENDIX A IMU Technical Specifications A.11.5 ADIS-16488 IMU-to-MIC Cable Assembly The NovAtel part number for the ADIS-16488 IMU-to-MIC interface cable is 01019008 (Figure 74: ADIS-16488 IMU-to-MIC Cable Assembly below). This cable provides power to the IMU and enables communication between the MIC and the IMU.
Page 213: Oem-Imu-Eg320N
See the following sections for more information about the OEM-IMU-EG320N IMU. OEM-IMU-EG320N Mechanical Drawings on the next page OEM-IMU-EG320N Sensor Specifications on page 215 OEM-IMU-EG320N Electrical and Environmental on page 215 OEM-IMU-EG320N Interface Connector on page 216 OEM7 SPAN Installation and Operation User Manual v14...
Page 214: Oem-Imu-Eg320N Mechanical Drawings
APPENDIX A IMU Technical Specifications A.12.1 OEM-IMU-EG320N Mechanical Drawings The following graphics are courtesy of Seiko Epson Corporation. In the following graphics, the dimensions are in millimeters. Figure 75: EG320N Dimensions OEM7 SPAN Installation and Operation User Manual v14...
Page 215: Oem-Imu-Eg320N Sensor Specifications
-40°C to +85°C Temperature, non-operational -40°C to +85°C Vibration, operating MIL-STD-810G, 7.7 g RMS, 20 - 2000 Hz Shock, operating MIL-STD-810G, 40 g, 11 ms Shock, survival 1000 g, half sine, 0.5 ms OEM7 SPAN Installation and Operation User Manual v14...
Page 216: Oem-Imu-Eg320N Interface Connector
SPI Serial Clock SPI Data Output Digital ground Digital ground SPI Data Input SPI Chip Select SOUT UART Data Out Digital ground UART Data In 3.3 VDC power supply 3.3 VDC power supply OEM7 SPAN Installation and Operation User Manual v14...
Page 217 Reset IMU /RST RST must be high for the IMU to be active. Do not connect Do not connect Do not connect Do not connect The IMU-OEM-EG320N requires a Samtec CLM-110-02-H-D mating connector. OEM7 SPAN Installation and Operation User Manual v14...
Page 218: Oem-Imu-Eg370N
See the following sections for more information about the OEM-IMU-EG370N IMU. OEM-IMU-EG370N Mechanical Drawings on the next page OEM-IMU-EG370N Sensor Specifications on page 220 OEM-IMU-EG370N Electrical and Environmental on page 220 OEM-IMU-EG370N Interface Connector on page 221 OEM7 SPAN Installation and Operation User Manual v14...
Page 219: Oem-Imu-Eg370N Mechanical Drawings
APPENDIX A IMU Technical Specifications A.13.1 OEM-IMU-EG370N Mechanical Drawings The following graphics are courtesy of Seiko Epson Corporation. In the following graphics, the dimensions are in millimeters. Figure 77: EG370N Dimensions OEM7 SPAN Installation and Operation User Manual v14...
Page 220: Oem-Imu-Eg370N Sensor Specifications
-40°C to +85°C Temperature, non-operational -40°C to +85°C Vibration, operating MIL-STD-810G, 7.7 g RMS, 20 - 2000 Hz Shock, operating MIL-STD-810G, 40 g, 11 ms Shock, survival 1000 g, half sine, 0.5 ms OEM7 SPAN Installation and Operation User Manual v14...
Page 221: Oem-Imu-Eg370N Interface Connector
Pin Name Description SCLK SPI Serial Clock SPI Data Output Digital ground Digital ground SPI Data Input SPI Chip Select SOUT UART Data Out Digital ground UART Data In 3.3 VDC power supply OEM7 SPAN Installation and Operation User Manual v14...
Page 222 Reset IMU /RST RST must be high for the IMU to be active. Do not connect Do not connect Do not connect Do not connect The IMU-OEM-EG370N requires a Samtec CLM-110-02-H-D mating connector. OEM7 SPAN Installation and Operation User Manual v14...
Page 223: Oem-Imu-Hg4930
See the following sections for information about the OEM-IMU-HG4930 IMU. OEM-IMU-HG4930 Mechanical Drawings on the next page OEM-IMU-HG4930 Sensor Specifications on page 225 OEM-IMU-HG4930 Electrical and Environmental on page 225 OEM-IMU-HG4930 Interface Connector on page 226 OEM7 SPAN Installation and Operation User Manual v14...
Page 224: Oem-Imu-Hg4930 Mechanical Drawings
APPENDIX A IMU Technical Specifications A.14.1 OEM-IMU-HG4930 Mechanical Drawings Figure 79: OEM-IMU-HG4930 Center of Navigation For additional mechanical drawings, visit the Honeywell Aerospace website (aerospace.honeywell.com). OEM7 SPAN Installation and Operation User Manual v14...
Page 225: Oem-Imu-Hg4930 Sensor Specifications
+5.0 VDC Power consumption <3 W typical Connector 14 pin header Table 118: OEM-IMU-HG4930 Environmental Specifications Environmental Temperature, operational -40°C to +71°C Temperature, non-operational -40°C to +80°C Random vibration MIL-STD-810G(Ch1), Method 514.7 (2.0g) OEM7 SPAN Installation and Operation User Manual v14...
Page 226: Oem-Imu-Hg4930 Interface Connector
Serial Data High Output (RS-485) SER_DATA_OUT_L Serial Data Low Output (RS-485) Transmit data (RS-232) TTL_TX Serial communication port Receive data (RS-232) TTL_RX Serial communication port No connect No connect No connect No connect OEM7 SPAN Installation and Operation User Manual v14...
Page 227: Oem-Imu-Isa-100C
APPENDIX A IMU Technical Specifications A.15 OEM-IMU-ISA-100C The OEM-IMU-ISA-100C requires a Universal IMU Controller Card to connect to a NovAtel receiver. See UIC - Universal IMU Controller on page 271. Table 120: OEM-IMU-ISA-100C Physical Specifications Physical IMU Size 100 mm x 130 mm x 125 mm...
Page 228: Oem-Imu-Isa-100C Mechanical Drawings
APPENDIX A IMU Technical Specifications A.15.1 OEM-IMU-ISA-100C Mechanical Drawings The following graphics are courtesy of Northrop Grumman LITEF GmbH. The dimensions in the following graphics are in millimeters. Figure 80: ISA-100C Dimensions OEM7 SPAN Installation and Operation User Manual v14...
Page 229 APPENDIX A IMU Technical Specifications Figure 81: ISA-100C Coordinate Axis OEM7 SPAN Installation and Operation User Manual v14...
Page 230: Oem-Imu-Isa-100C Sensor Specifications
+3.3 V, ±5.25 V, ±15 V, -15 V (optional) ≤10 W (typical) Power consumption 16 W (maximum) Connector 44 pin HD D-Sub, male Table 123: OEM-IMU-ISA-100C Envir- onmental Specifications Environmental Temperature, operational -40°C to +71°C OEM7 SPAN Installation and Operation User Manual v14...
Page 231: Oem-Imu-Isa-100C Imu To Uic Cable Assembly
A.15.4 OEM-IMU-ISA-100C IMU to UIC Cable Assembly The NovAtel part number for the OEM-IMU-ISA-100C IMU to UIC interface cable is 01019393 (Figure 82: OEM- IMU-ISA-100C IMU to UIC Cable Assembly below). This cable provides power to the IMU and enables com- munication between the UIC and the IMU.
Page 232 (UIC) 5.25 V -5.25 V -5.25 V -5.25 V 15 V 3.3 V – – – – NOGOx – – TXC+ SYNC- TXD+ – – 5.25 V 3.3 V 3.3 V PWRDOWNx OEM7 SPAN Installation and Operation User Manual v14...
Page 233 APPENDIX A IMU Technical Specifications J2 Pin J1 Pin Signal (ISA-100C) (UIC) RESETIMUx – – – – TXC- SYNC+ TXD- – – 5.25 V OEM7 SPAN Installation and Operation User Manual v14...
Page 234: Oem-Imu-Stim300
See the following sections for more information about the OEM-IMU-STIM300 IMU. OEM-IMU-STIM300 Mechanical Drawings on the next page OEM-IMU-STIM300 Sensor Specifications on page 236 OEM-IMU-STIM300 Electrical and Environmental on page 236 OEM-IMU-STIM300 Direct Connection on page 237 STIM300 IMU-to-MIC Cable Assembly on page 240 OEM7 SPAN Installation and Operation User Manual v14...
Page 235: Oem-Imu-Stim300 Mechanical Drawings
APPENDIX A IMU Technical Specifications A.16.1 OEM-IMU-STIM300 Mechanical Drawings The following graphics are courtesy of Sensonor AS. In the following graphics, the dimensions are in millimeters. Figure 83: STIM300 Dimensions Figure 84: STIM300 Center of Navigation OEM7 SPAN Installation and Operation User Manual v14...
Page 236: Oem-Imu-Stim300 Sensor Specifications
+4.5 to +5.5 VDC Input Power +5.0 VDC typical Power consumption 1.5 W nominal Connector 15 pin Micro-D, female Table 128: OEM-IMU-STIM300 Environmental Specifications Environmental Temperature, operational -40°C to +85°C Temperature, non-operational -55°C to +90°C OEM7 SPAN Installation and Operation User Manual v14...
Page 237: Oem-Imu-Stim300 Direct Connection
Do not connect – – – Any receiver ground pin – – – LVCMOS A IN COMx_TXD Any receiver COM port transmit and receive pair – – – LVCMOS B IN COMx_RXD – – – Any receiver ground pin OEM7 SPAN Installation and Operation User Manual v14...
Page 238 Any receiver ground pin For the location of the receiver ground pins and transmit and receive pairs, refer to the OEM7 Install- ation and Operation User Manual PwrPak7 Installation and Operation User Manual. OEM7 SPAN Installation and Operation User Manual v14...
Page 239 APPENDIX A IMU Technical Specifications For more information about connecting using a SPI port, refer to Connect an OEM-IMU-STIM300 Directly to an OEM7 Receiver on page 45. OEM7 SPAN Installation and Operation User Manual v14...
Page 240: Stim300 Imu-To-Mic Cable Assembly
APPENDIX A IMU Technical Specifications A.16.5 STIM300 IMU-to-MIC Cable Assembly The NovAtel part number for the STIM300 IMU-to-MIC interface cable is 01019161 (Figure 85: STIM300 IMU-to- MIC Cable Assembly below). This cable provides power to the IMU and enables communication between the MIC and the IMU.
Page 241 APPENDIX A IMU Technical Specifications P2 Pin (MIC) Signal P1 Pin (STIM300) No connection – IMU DAS No connection – IMUTYPE1 No connection – OEM7 SPAN Installation and Operation User Manual v14...
Page 242: Oem-Imu-Μimu
APPENDIX A IMU Technical Specifications A.17 OEM-IMU-µIMU The OEM-IMU-µIMU requires a Universal IMU Controller to connect to a NovAtel receiver. See UIC - Universal IMU Controller on page 271. Table 132: OEM-IMU-µIMU Phys- ical Specifications Physical IMU Size (Ø x H)
Page 243: Oem-Imu-Μimu Mechanical Drawings
A.17.1 OEM-IMU-µIMU Mechanical Drawings The following graphics are courtesy of Northrop Grumman LITEF GmbH. The dimensions in the following graphics are in millimeters. Figure 86: µIMU Top Dimensions Figure 87: µIMU Side Dimensions OEM7 SPAN Installation and Operation User Manual v14...
Page 244 APPENDIX A IMU Technical Specifications Figure 88: µIMU Bottom Dimensions Figure 89: µIMU Coordinate Axis OEM7 SPAN Installation and Operation User Manual v14...
Page 245: Oem-Imu-Μimu Sensor Specifications
Table 134: OEM-IMU-µIMU Electrical Spe- cifications Electrical Input Power +5.0 VDC Power consumption <8 W Connector 31 pin Micro-D, plug Table 135: OEM-IMU-µIMU Envir- onmental Specifications Environmental Temperature, operational -55°C to +71°C OEM7 SPAN Installation and Operation User Manual v14...
Page 246: Μimu To Uic Cable Assembly
A.17.4 µIMU to UIC Cable Assembly The NovAtel part number for the µIMU to UIC interface cable is 01019760 (Figure 90: µIMU to UIC Cable Assembly below). This cable provides power to the IMU and enables communication between the UIC and the IMU.
Page 247 APPENDIX A IMU Technical Specifications P1 Pin J2 Pin Signal (µIMU) (UIC) Ground Ground Ground Lug Ring IMU_PDWARN IMU_RESET SYNC+ IMU_TYPE_3 A15 to A18 IMU_TYPE_1 A13 to A11 OEM7 SPAN Installation and Operation User Manual v14...
Page 248: Universal Imu Enclosure (Hg1700, Ln200)
See the following sections for more information about the IMUs available in the Universal IMU Enclosure. Universal IMU Enclosure Mechanical Drawings on the next page IMU Performance on page 253 Electrical and Environmental on page 255 Universal IMU Enclosure Interface Cable on page 256 OEM7 SPAN Installation and Operation User Manual v14...
Page 249: Universal Imu Enclosure Mechanical Drawings
APPENDIX A IMU Technical Specifications A.18.1 Universal IMU Enclosure Mechanical Drawings The dimensions for the drawing in this section are in mm [inches]. Figure 91: Universal IMU Enclosure Side Dimensions OEM7 SPAN Installation and Operation User Manual v14...
Page 250 APPENDIX A IMU Technical Specifications Figure 92: Universal IMU Enclosure Top/Bottom Dimensions OEM7 SPAN Installation and Operation User Manual v14...
Page 251 APPENDIX A IMU Technical Specifications Figure 93: Universal IMU Center of Navigation OEM7 SPAN Installation and Operation User Manual v14...
Page 252 APPENDIX A IMU Technical Specifications Figure 94: Universal IMU Frame Axis OEM7 SPAN Installation and Operation User Manual v14...
Page 253: Imu Performance
150 ppm Angular Random Walk 0.5 °/√hour Accelerometer Performance Accelerometer Range ±50 g Accelerometer Linearity 500 ppm Accelerometer Scale Factor 300 ppm Accelerometer Bias 2.0 mg Data Rate IMU Measurement 100 Hz OEM7 SPAN Installation and Operation User Manual v14...
Page 254 100 ppm Angular Random Walk 0.07 °/√hour Accelerometer Performance Accelerometer Range ±40 g Accelerometer Linearity 150 ppm Accelerometer Scale Factor 300 ppm Accelerometer Bias 0.3 mg Data Rate IMU Measurement 200 Hz OEM7 SPAN Installation and Operation User Manual v14...
Page 255: Electrical And Environmental
Table 142: Universal IMU Enclosure Environmental Spe- cifications Environmental HG1700-AG58, HG1700-AG62 Operating: -30°C to +60°C Storage: -45°C to +80°C Temperature LN-200 Operating: -30°C to +60°C Storage: -45°C to +80°C Humidity Operates at 95% RH, non-condensing (all IMUs) OEM7 SPAN Installation and Operation User Manual v14...
Page 256: Universal Imu Enclosure Interface Cable
A.18.4 Universal IMU Enclosure Interface Cable The NovAtel part number for the Universal IMU Enclosure interface cable is 01018977 (see Figure 95: Universal IMU Enclosure Interface Cable below). This cable provides power to the IMU from an external power source and enables communication between the receiver and the IMU.
Page 257 (01018977). Table 144: Connectors Connector Description DB-9, female MIL-DTL-38999 III, plug Table 145: Maximum Cable Length RS-232 RS-422 HG1700, LN-200, LCI-1 < 2.0 meters < 50 meters iIMU-FSAS < 1.5 meters OEM7 SPAN Installation and Operation User Manual v14...
Page 258: Mic - Mems Interface Card
See the following sections for more information about the MIC. MIC Mechanical Drawings on the next page MIC Electrical and Environmental on page 261 MIC Connectors on page 262 HG1930 IMU-to-MIC Cable Assembly on page 267 HG1700 and HG1900 IMU-to-MIC Cable Assembly on page 269 OEM7 SPAN Installation and Operation User Manual v14...
Page 259: Mic Mechanical Drawings
APPENDIX A IMU Technical Specifications A.19.1 MIC Mechanical Drawings The dimensions in the following drawings are in millimeters and [inches]. Figure 96: MIC Top/Bottom Dimensions OEM7 SPAN Installation and Operation User Manual v14...
Page 260 APPENDIX A IMU Technical Specifications Figure 97: MIC Keep-Out Zone Cross hatched areas indicate “keepout” areas intended for NovAtel circuitry. NovAtel reserves the right to modify components and component placements inside cross hatched keepout zones, while maintaining design, form, fit and function.
Page 261: Mic Electrical And Environmental
Bump IEC 68-2-29 (25 g) Shock MIL-STD-810G (40 g) Sample system power consumption: 5.7 W when powering an HG1900 IMU and OEM719 receiver, in board stack configuration, from VIN=15 VDC at +25°C. OEM7 SPAN Installation and Operation User Manual v14...
Page 262: Mic Connectors
Table 151: Pinouts for User Interface Connector (P301) Signal Type Description Comments Status LED 3 / LED3 Output Self-test Status LED 2 / LED2 Output GPS Time Status DGND Power Digital ground OEM7 SPAN Installation and Operation User Manual v14...
Page 263 Output data output is disabled by default. If you disable EVENT2, the CAN1TX output is enabled. Only available in board stackup with OEM719 CAN2 receive CAN2 RX Input data In standalone, no connect OEM7 SPAN Installation and Operation User Manual v14...
Page 264 In standalone, no connect Only available in board stackup with OEM719 CAN2 transmit CAN2 TX Output data In standalone, no connect All signal I/O with the exception of USB port are at LVCMOS levels. OEM7 SPAN Installation and Operation User Manual v14...
Page 265 LVCMOS level, not 5V tolerant IMUTYPE1 Input detect IMU type LVCMOS level, not 5V tolerant IMUTYPE2 Input detect IMU type LVCMOS level, not 5V tolerant All signal I/O are at LVCMOS levels. OEM7 SPAN Installation and Operation User Manual v14...
Page 266 When the MIC boots up, it requires approximately 10 seconds to perform a self-test. If a software update has been performed, the board can take up to 70 seconds at startup to complete the reprogramming. OEM7 SPAN Installation and Operation User Manual v14...
Page 267: Hg1930 Imu-To-Mic Cable Assembly
APPENDIX A IMU Technical Specifications A.19.4 HG1930 IMU-to-MIC Cable Assembly The NovAtel part number for the HG1930 IMU-to-MIC interface cable is 01018827 (Figure 98: HG1930 IMU-to- MIC Cable Assembly below). This cable provides power to the IMU and enables communication between the MIC and the IMU.
Page 268 APPENDIX A IMU Technical Specifications For more information, refer to the IMU documentation provided by Honeywell. OEM7 SPAN Installation and Operation User Manual v14...
Page 269: Hg1700 And Hg1900 Imu-To-Mic Cable Assembly
APPENDIX A IMU Technical Specifications A.19.5 HG1700 and HG1900 IMU-to-MIC Cable Assembly The NovAtel part number for the HG1700 and HG1900 IMU-to-MIC interface cable is 01018828 (Figure 99: HG1700 and HG1900 IMU-to-MIC Cable Assembly below). This cable provides power to the IMU and enables communication between the MIC and the IMU.
Page 270 APPENDIX A IMU Technical Specifications For more information, refer to the IMU documentation provided by Honeywell. OEM7 SPAN Installation and Operation User Manual v14...
Page 271: Uic - Universal Imu Controller
UIC Mechanical Drawings on the next page UIC Electrical and Environmental on page 274 UIC Connectors on page 275 HG1900 IMU to UIC Cable Assembly on page 279 LN200 IMU to UIC Cable Assembly on page 280 OEM7 SPAN Installation and Operation User Manual v14...
Page 272: Uic Mechanical Drawings
APPENDIX A IMU Technical Specifications A.20.1 UIC Mechanical Drawings The dimensions in the following drawings are in millimeters. Figure 100: UIC Dimensions and Keep Out Zones OEM7 SPAN Installation and Operation User Manual v14...
Page 273 APPENDIX A IMU Technical Specifications Figure 101: UIC Connectors, LEDs and Heat Sink Details OEM7 SPAN Installation and Operation User Manual v14...
Page 274: Uic Electrical And Environmental
Storage Temperature -55°C to +90°C (-67°F to 194°F) Random Vibe MIL-STD-810G (Cat 24, 7.7 g RMS) Sine Vibe IEC 60068-2-6 Bump IEC 68-2-29 (25 g) Shock MIL-STD-810G (40 g) At 12 VDC input. OEM7 SPAN Installation and Operation User Manual v14...
Page 275: Uic Connectors
A filter module (similar to Delta FL 75L07) in series with the power cable maybe needed to pass conducted emission. A tubular ferrite bead (similar to Laird Technologies 28B0375-300) maybe attached to the data cable to reduce radiated emissions. 3All signal I/O are at LVCMOS levels (not 5V tolerant). OEM7 SPAN Installation and Operation User Manual v14...
Page 276 Power down warning Output SPI Serial Clock RESETIMUx Output Reset IMU Power Digital ground 1All signal I/O are at LVCMOS levels (not 5V tolerant). 2All signal I/O are at LVCMOS levels (not 5V tolerant). OEM7 SPAN Installation and Operation User Manual v14...
Page 277 SYNC- Power Digital ground SYNC+ IMU_DATA_OUT2- TXD- IMU_DATA_OUT2+ TXD+ Power Digital ground Power Digital ground 5.25V Output Power Positive 5.25 VDC supply 1All signal I/O are at LVCMOS levels (not 5V tolerant). OEM7 SPAN Installation and Operation User Manual v14...
Page 278 Positive 5.25 VDC supply Power Digital ground Power Digital ground -5.25V Output Power Negative 5.25 VDC supply -5.25V Output Power Negative 5.25 VDC supply 1All signal I/O are at LVCMOS levels (not 5V tolerant). OEM7 SPAN Installation and Operation User Manual v14...
Page 279: Hg1900 Imu To Uic Cable Assembly
A.20.4 HG1900 IMU to UIC Cable Assembly The NovAtel part number for the HG1900 IMU to UIC interface cable is 01019762 (Figure 102: OEM-IMU- HG1900 IMU to UIC Cable Assembly below). This cable provides power to the IMU and enables communication between the MIC and the IMU.
Page 280: Ln200 Imu To Uic Cable Assembly
A.20.5 LN200 IMU to UIC Cable Assembly The NovAtel part number for the LN200 IMU to UIC interface cable is 01019763 (Figure 103: OEM-IMU-LN200 IMU to UIC Cable Assembly below). This cable provides power to the IMU and enables communication between the MIC and the IMU.
Page 281 APPENDIX A IMU Technical Specifications J1 Pins (to LN200) J2 Pins (to UIC) Lug Fork A8 to A13 A11 to 12 A15 to A18 OEM7 SPAN Installation and Operation User Manual v14...
Page 282: Appendix B Hg1700 Imu In Universal Enclosure
IMU. The following procedure provides the necessary information to install the HG1700 sensor into the Universal Enclosure (NovAtel part number 01018589), both illustrated below. The steps required for this procedure are: Disassemble the Universal Enclosure Install the HG1700 Sensor Unit...
Page 283 3. Using a 2.5 mm hex bit, unscrew the M4 screws and remove the IMU mounting plate, bracket and cable har- ness, as shown in Figure 107: Remove IMU Mounting Plate and Bracket on the next page: OEM7 SPAN Installation and Operation User Manual v14...
Page 284: Install The Hg1700 Sensor Unit
To install the HG1700 sensor unit in the Universal Enclosure: 1. Using a Phillips screwdriver, remove the 8-32 IMU mounting screws from the IMU mounting plate, as shown in Figure 108: Remove IMU Mounting Screws on the next page. OEM7 SPAN Installation and Operation User Manual v14...
Page 285 3. Being careful of the connectors and the orientation, align the pilot holes of the IMU with the pilot pins of the mounting plate. Gently place the IMU and mounting plate together, being careful not to pinch the cable OEM7 SPAN Installation and Operation User Manual v14...
Page 286 (noting the orientation) with the pilot pins of the enclosure body. Lower the assembly into place, then fasten using thread-locking fluid on the M4 screws. OEM7 SPAN Installation and Operation User Manual v14...
Page 287 Fasten the connector to the enclosure body wall using the jam nut supplied with the con- nector. Apply thread-locking fluid then, with a 30 mm socket, tighten the jam nut to 6.9 N-m (61 lb-in/5.1 lb- ft). OEM7 SPAN Installation and Operation User Manual v14...
Page 288 Carefully lower the body onto the base, observing the O-rings and alignment of corners. Press the enclosure body into place, starting with the round pilot hole indicated in Figure 114: Install Enclosure Body on the Base on the next page. OEM7 SPAN Installation and Operation User Manual v14...
Page 289 9. Ensure the product identification label, the logo plate and the center of navigation labels are properly affixed and contain the correct information. The final assembled unit will be similar to that shown in Figure 116: Final Assembly on the next page. OEM7 SPAN Installation and Operation User Manual v14...
Page 290 APPENDIX B HG1700 IMU in Universal Enclosure Figure 116: Final Assembly OEM7 SPAN Installation and Operation User Manual v14...
Page 291: Appendix C Ln-200 Imu In Universal Enclosure
IMU. The following procedure provides the necessary information to install the LN-200 sensor into the Universal Enclosure (NovAtel part number 01018590), both illustrated below. The steps required for this procedure are: Disassemble the Universal Enclosure Install the LN-200 Sensor Unit...
Page 292 3. Lift the enclosure lid off the assembly to expose the IMU bracket, shown in Figure 120: IMU Bracket on the next page. Disconnect the harness at the SDLC card and remove. OEM7 SPAN Installation and Operation User Manual v14...
Page 293: Install The Ln-200 Sensor Unit
IMU to the enclosure base, as shown in Fig- ure 122: Install LN-200 IMU to Base on the next page. Use thread-locking fluid on each screw. OEM7 SPAN Installation and Operation User Manual v14...
Page 294 Ensure latching of the cable connector housings and fasten the 6-32 screw at the IMU end using a 5/32” hex bit. Do not use thread-locking fluid and do not overtighten. OEM7 SPAN Installation and Operation User Manual v14...
Page 295 O- OEM7 SPAN Installation and Operation User Manual v14...
Page 296 Install the remaining screws in similar fashion. Tighten all screws to 1.36-1.58 N-m (12-14 lb-in). Do not over-tighten. Figure 127: Screw Enclosure Base to Body 7. Ensure the product identification label, the logo plate and the center of navigation labels are properly affixed OEM7 SPAN Installation and Operation User Manual v14...
Page 297 APPENDIX C LN-200 IMU in Universal Enclosure and contain the correct information. The final assembled unit is shown in Figure 128: Final Assembly below. Figure 128: Final Assembly OEM7 SPAN Installation and Operation User Manual v14...
Page 298: Appendix D Hg1700 Imu In Span Hg Enclosure
APPENDIX D HG1700 IMU in SPAN HG Enclosure The following procedure provides the necessary information to install the HG1700 sensor into the SPAN HG Enclosure (NovAtel part number 01017898). The steps required for this procedure are: Disassemble the SPAN HG Enclosure...
Page 299 Ring Spacer Screws on the next page. 4. Lift the tube body away from its base plate and set it aside. 5. Remove the 3 ring spacer screws and set them aside. OEM7 SPAN Installation and Operation User Manual v14...
Page 300: Install The Hg1700 Sensor Unit
1. Mount the HG1700 sensor with the attached #8 screws. Apply threadlock to the screw threads. Use a hex key to torque each screw to 10 in-lbs. 2. Fit the tube body over the HG1700 sensor and onto the base plate. OEM7 SPAN Installation and Operation User Manual v14...
Page 301: Make The Electrical Connections
1. Attach the flex cable to the HG1700 sensor ensuring that all the pins are fully connected. Check also that the pins are fully seated and that the flex cable stiffener around the pins is not bent upward, see Figure 133: Attach Flex Cable on the next page. OEM7 SPAN Installation and Operation User Manual v14...
Page 302 3. Connect the opposite end of the flex cable to the corresponding connector on the IMU card ensuring that the contacts on the flex cable mate with the contacts on the connector, as shown in Figure 133: Attach Flex Cable above. 4. Check that the flex cable is locked in place. OEM7 SPAN Installation and Operation User Manual v14...
Page 303: Re-Assemble The Span Imu Enclosure
Key on page 299. Apply threadlock to threads. Finger tighten all bolts and torque them in a cross pattern to 12 in- lbs. The fully assembled IMU enclosure is shown in Figure 136: HG1700 SPAN IMU below. Figure 136: HG1700 SPAN IMU OEM7 SPAN Installation and Operation User Manual v14...
Page 304: Appendix E Ln-200 Imu In Span Imu Enclosure
APPENDIX E LN-200 IMU in SPAN IMU Enclosure The following procedure provides the necessary information to install the LN-200 sensor (NovAtel part number 80023515) into the SPAN IMU enclosure (NovAtel part number 01017656) using the LN-200 wiring harness (NovAtel part number 01017655). The steps required for this procedure are:...
Page 305 3. Lift the top cover off the tube body and set it aside. 4. Lift the tube body away from its base plate and set it aside, as shown in Figure 139: Lift Top Cover and Tube Body on the next page. OEM7 SPAN Installation and Operation User Manual v14...
Page 306: Install The Ln-200 Sensor Unit
1. Mount the LN-200 sensor with the attached M4 screws. Apply threadlock to the screw threads. Use a hex key to torque each screw to 10 in-lbs. 2. Fit the tube body over the LN-200 sensor and onto the base plate. OEM7 SPAN Installation and Operation User Manual v14...
Page 307: Make The Electrical Connections
1. Attach the LN-200 wire harness to the mating connector on the LN-200. Check that the connector is fully seated, as shown in Figure 141: Attach Wiring Harness on the next page. OEM7 SPAN Installation and Operation User Manual v14...
Page 308 2. Connect the Samtec connector at the other end of the wiring harness to the corresponding connector on the internal IMU card, as shown in Figure 142: Attach Samtec Connector on the next page. Ensure that the con- nector is locked in place. OEM7 SPAN Installation and Operation User Manual v14...
Page 309: Re-Assemble The Span Imu Enclosure
Key on page 305. Apply threadlock to threads. Finger tighten the 6 bolts then torque them in a cross pattern to 12 in-lbs. The fully assembled IMU enclosure is shown in Figure 143: LN-200 SPAN IMU on the next page. OEM7 SPAN Installation and Operation User Manual v14...
Page 310 APPENDIX E LN-200 IMU in SPAN IMU Enclosure Figure 143: LN-200 SPAN IMU OEM7 SPAN Installation and Operation User Manual v14...
Page 311 By default, the raw IMU data begins flowing at system start up. If there is no INS data, check that the system has been configured properly. b. If the INSCOMMAND command has been set to START_FINE_TIME, the RAWIMU logs are not OEM7 SPAN Installation and Operation User Manual v14...
Page 312 Rate Conversion on page 52 for information about configuring the IMU for operation with SPAN. Further details on the command and logs in this section are available in the OEM7 Commands and Logs Reference Manual. OEM7 SPAN Installation and Operation User Manual v14...
Page 313 The PCO is also frequency dependent which means that there can be a different offset for each signal frequency. The PCV identifies how much the phase center moves with respect to the satellite elevation angles. OEM7 SPAN Installation and Operation User Manual v14...
Page 314 The table below highlights some of the important desirable features needed for a GNSS antenna based upon the user’s application. OEM7 SPAN Installation and Operation User Manual v14...
Page 315 APPENDIX G Importance of Antenna Selection OEM7 SPAN Installation and Operation User Manual v14...
Page 316 APPENDIX H Accessories and Replacement Parts The following tables list the replacement parts available for your NovAtel OEM7 receiver. For assistance or to order additional components, contact your local NovAtel dealer or Customer Support. Table 166: OEM7 Receivers NovAtel Part Part Description...
Page 317 Honeywell HG1700_AG62 IMU in a Universal IMU Enclosure UIMU-LN200 Northrop Grumman LN-200-L IMU in a Universal IMU enclosure IMU Interface Cards OEM-IMU-ADIS-MIC MEMS Interface Card (MIC) for MEMS IMUs OEM-IMU-STIM-MIC OEM-IMU-ISA-UIC Universal IMU Controller (UIC) for OEM-IMU-ISA-100C OEM7 SPAN Installation and Operation User Manual v14...
Page 318 IMU-CPT IMU interface cable 01018977 Universal IMU Enclosure Interface cable 01019007 ADIS IMU Cable Kit 01019013 IMU-IGM Stack Up Cable 01019015 SPAN-IGM Auxiliary Port Interface Cable 01019016 IMU-IGM Interface Cable 01019040 SPAN-IGM/IMU-IGM Bracket Kit OEM7 SPAN Installation and Operation User Manual v14...
Page 319 GPS-C016 15 meters – TNC to TNC cable GPS-C032 30 meters – TNC to TNC cable 60723177 2.5 meters – SMA to TNC cable 60723178 5 meters – SMA to TNC cable OEM7 SPAN Installation and Operation User Manual v14...
Page 320 OEM7 SPAN Installation and Operation User Manual v14...

Novatel OEM7 SPAN Installation And Operation User Manual

Chapter 1 OEM7 SPAN Overview

Chapter 2 SPAN Installation

Chapter 3 SPAN Operation

Chapter 4 SPAN with Dual Antenna

APPENDIX A IMU Technical Specifications

APPENDIX B HG1700 IMU in Universal Enclosure

APPENDIX C LN-200 IMU in Universal Enclosure

APPENDIX D HG1700 IMU in SPAN HG Enclosure

APPENDIX E LN-200 IMU in SPAN IMU Enclosure

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