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Novatel SPAN-IGM User Manual

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SPAN-IGM
User Manual
OM-20000141
Rev 2
September 2013

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  • Page 1 ™ SPAN-IGM User Manual OM-20000141 Rev 2 September 2013...
  • Page 2 Information in this document is subject to change without notice and does not represent a commitment on the part of NovAtel Inc. The software described in this document is furnished under a licence agreement or non-disclosure agreement. The software may be used or copied only in accordance with the terms of the agreement.

  • Page 3: Table Of Contents

    2.3 Hardware Set Up........................... 16 2.3.1 Mount the Antenna ........................18 2.3.2 Mount the SPAN-IGM ......................... 18 2.3.3 Connect the Antenna to the SPAN-IGM ..................19 2.3.4 Connect Power ........................... 19 2.3.5 Connect a Computer to the SPAN-IGM ..................20 2.3.6 Connect I/O Strobe Signals ......................
  • Page 4 A.2 SPAN-IGM-S1 Technical Specifications....................54 A.2.1 SPAN-IGM-S1 Mechanical Drawings ..................55 A.3 SPAN-IGM Ports ........................... 56 A.4 SPAN-IGM Interface Cable ........................57 A.5 SPAN-IGM ALIGN Interface Cable ....................... 58 A.6 SPAN-IGM Auxiliary Port Interface Cable..................... 59 B Frequently Asked Questions C Replacement Parts C.1 SPAN System ............................
  • Page 5 Figures Primary and Secondary Lightning Protection ..................10 SPAN-IGM ............................14 Typical SPAN-IGM Set Up – Serial Port .................... 16 Typical SPAN-IGM Set Up – USB Port ....................17 SPAN-IGM Enclosure Mounting ......................18 Battery Isolator Installation ......................... 20 Kistler CWPTA411 ..........................23 SPAN-IGM - Dual Antenna Installation ....................
  • Page 6 SPAN-IGM-S1 Environmental Specifications ..................55 Main Port Pinout ..........................56 AUX Port Pinout ........................... 56 SPAN-IGM Interface Cable Pin-Out Descriptions................57 SPAN-IGM ALIGN Interface Cable Pin-Out Descriptions ..............58 SPAN-IGM Auxiliary Port Interface Cable Pin-Out Descriptions ............59 SPAN-IGM User Manual Rev 2...

  • Page 7: Customer Support

    RAWIMUSXB onnew INSPVASB ontime 1 INSCOVSB ontime 1 INSUPDATEB onchanged IMUTOANTOFFSETSB onchanged 2. Send the file containing the log to NovAtel Customer Support, using either the NovAtel FTP site at www.novatel.com/support/firmware-software-and-manuals/ftp-site/ or through the support@novatel.com e-mail address. 3. You can also issue a FRESET command to the receiver to clear any unknown settings.

  • Page 8: Notices

    CE Notice The enclosures carry the CE mark. "Hereby, NovAtel Inc. declares that this SPAN-IGM is in compliance with the essential requirements and other relevant provisions of the R&TTE Directive 1999/5/EC, the EMC Directive 2004/108/EC and of the RoHS Directive 2011/65/EU."...
  • Page 9 Notices REACH NovAtel strives to comply with the EU Directive EC 1907/2006 on chemicals and their safe use as per the Registration, Evaluation, Authorization and Restriction of Chemical substances (REACH) for its products, including the SPAN-IGM product. Since REACH SVHC lists are updated occasionally, please contact NovAtel Customer Support if you require further information.

  • Page 10: Primary And Secondary Lightning Protection

    Where applicable, follow the electrical codes for the country of installation. Examples of country codes include: • National Electrical Code (NFPA 70) • Canada Canadian Electrical Code (CSA C22) • British Standards Institute (BSI 7671) SPAN-IGM User Manual Rev 2...

  • Page 11: Introduction

    In general, an INS uses forces and rotations measured by an Inertial Measurement Unit (IMU) to calculate position, velocity and attitude. This capability is embedded in the firmware of the SPAN-IGM. Forces are measured by accelerometers in three perpendicular axes within the IMU and the gyros measure angular rotation rates around those axes.

  • Page 12: System Components

    This manual contains sufficient information about the installation and operation of the SPAN-IGM 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 7.

  • Page 13: Conventions

    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. SPAN-IGM User Manual Rev 2...

  • Page 14: Span Installation

    Interface cables for the MAIN and AUX ports on the SPAN-IGM The interface cables can be NovAtel cables (see SPAN-IGM Cables on page 15) or custom built cables (see Appendix A, Technical Specifications on page 52 for the MAIN and AUX port pin outs).

  • Page 15: Span-Igm Cables

    Connects the SPAN-IGM to COM2 of a FlexPak6 receiver when the two are stacked up in an ALIGN configuration. For more information about the cables used with SPAN-IGM, see Appendix A, Technical Specifications on page 52. SPAN-IGM User Manual Rev 2...

  • Page 16: Hardware Set Up

    SPAN-IGM on page 19. 4. Connect power to the SPAN-IGM, as described in Connect Power on page 19. 5. Connect a serial port on your computer to the SPAN-IGM, as described in Connect a Computer to the SPAN-IGM on page 20.

  • Page 17: Typical Span-Igm Set Up - Usb Port

    SPAN-IGM on page 19. 4. Connect power to the SPAN-IGM, as described in Connect Power on page 19. 5. Connect a USB port on your computer to the SPAN-IGM, as described in Connect a Computer to the SPAN-IGM on page 20.

  • Page 18: Mount The Antenna

    Ensure the antenna to IMU distance and orientation does not change due to dynamics. 2.3.2 Mount the SPAN-IGM Mount the SPAN-IGM in a fixed location where the distance from the SPAN-IGM to the GNSS antenna phase center is constant. Ensure that the orientation with respect to the vehicle and antenna is also constant.

  • Page 19: Connect The Antenna To The Span-Igm

    The power input pins are located on the MAIN connector. If you are using a NovAtel interface cable (part number 01019014), the power leads are labelled BATT+ and BATT-. Be sure to connect the power with the correct polarity and ensure the power source is within specifications.

  • Page 20: Connect A Computer To The Span-Igm

    Connect a Computer Using a Serial Connection Connect the computer to the COM2 port on the SPAN-IGM. The COM2 serial port is available on the MAIN connector. See Figure 3, Typical SPAN-IGM Set Up – Serial Port on page 16.

  • Page 21: Connect I/O Strobe Signals

    2.3.5.2 Connect a Computer Using a USB Connection The SPAN-IGM USB port is available on the AUX connector. See Figure 4, Typical SPAN-IGM Set Up – USB Port on page 17. If you are using a NovAtel interface cable (part number 01019015): 1.

  • Page 22: Com3 Serial Port

    Connect the COM3 Serial Port If using a NovAtel interface cable (part number 01019015): 1. Connect the interface cable to the AUX connector on the SPAN-IGM. 2. Connect the COM3 Port connector on the cable to the communication device. If creating a custom interface cable, refer to Appendix A, Technical Specifications on page 52 for the AUX connector pin out.

  • Page 23: 2.3.10 Odometer Connection

    An example of a SPAN-IGM compatible odometer is the CWPTA411 from Kistler (www.kistler.com). A transducer traditionally fits to the outside of a non-drive wheel. A pulse is then generated from the transducer which is fed directly to the odometer inputs on the interface cable (NovAtel part number 01019015).

  • Page 24: Software Configuration

    Chapter 2 SPAN Installation SPAN-IGM powers the odometer. See Appendix A, Technical Specifications on page 52 for the pin outs of the SPAN-IGM interface cable. Connect the appropriate pins to your chosen odometer. The cable requirements are shown in Table 3, Cable Connections for Kistler CWPT Sensor on page 24.
  • Page 25 The offset between the antenna phase center and the IMU axis must remain constant and be known accurately (m). The X (pitch), Y (roll) and Z (azimuth) directions are clearly marked on the SPAN-IGM enclosure. The SETIMUTOANTOFFSET parameters are (where the standard deviation fields are...

  • Page 26: Span-Igm Leds

    Chapter 2 SPAN Installation SPAN-IGM LEDs The LEDs on the SPAN-IGM provide basic receiver status information. Table 1: SPAN-IGM LEDs Flashing Slow (1Hz) Flashing Fast (>1Hz) Power UNKNOWN or No power to unit Unit is powered on Programming error (Red)

  • Page 27: Span Operation

    Before operating your SPAN system, ensure that you have followed the installation and setup instructions in Chapter 2, SPAN Installation on page 14. 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 28: Ins Window In Novatel Connect

    11. As NovAtel Connect establishes the communication session with the receiver, a progress box is displayed. 12. Select Tools | Logging Control Window from the NovAtel Connect main menu to control the receiver’s logging to files and serial ports. Refer to the NovAtel Connect on-line Help for more information.

  • Page 29: Real-Time Operation

    X, Y and Z Offset fields to specify an offset from the IMU, for the output position and velocity of the INS solution, as specified by the SETINSOFFSET command or the NovAtel Connect SPAN wizard. The INS Configuration/Status section displays the IMU type, IMU Status and local date/time information.

  • Page 30: System Start-Up And Alignment Techniques

    For information about the methods used to complete the alignment routine, refer to the alignment modes described in the following sections. • Kinematic Alignment on page 31 • Manual Alignment on page 31 • Dual Antenna Alignment on page 31 SPAN-IGM User Manual Rev 2...
  • Page 31 INS Status field in the INS logs. 3.2.1.2 Manual Alignment If the initial attitude (roll, pitch, azimuth) of the SPAN-IGM is known, it can be entered manually using the SETINITATTITUDE command. Refer to the SPAN on OEM6 Firmware Reference Manual (OM-20000144).

  • Page 32: Navigation Mode

    IMU data.  Ensure 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 the system.

  • Page 33: Vehicle To Span Frame Angular Offsets Calibration Routine

    Specific logs need to be collected for post-processing. See Data Collection for Post-Processing on page 36. To store data from a SPAN-IGM, connect the SPAN-IGM to a computer running NovAtel Connect or other terminal program capable of recording data. 3.2.4...

  • Page 34: Span Wheel Sensor Messages

    3.2.5 SPAN Wheel Sensor Messages The SPAN-IGM supports wheel sensor inputs. The SPAN-IGM accepts TTL level input pulses from a wheel sensor through the AUX connector. See Appendix A, Technical Specifications on page 52 for specifications on the wheel sensor interface.

  • Page 35: Azimuth Sources On A Span System

    The course over ground azimuth is determined using the position delta between two position solutions computed by the SPAN-IGM. This is the simplest way to compute an azimuth and is done using either the GNSS solution or the INS solution. This method does not work when the vehicle is stationary as any position difference is due to position error and the computed azimuth is meaningless.

  • Page 36: Data Collection For Post-Processing

    GLOEPHEMERISB ONCHANGED (if using GLONASS) • RAWIMUSXB ONNEW • VEHICLEBODYROTATIONB ONCHANGED • IMUTOANTOFFSETSB ONCHANGED 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. SPAN-IGM User Manual Rev 2...

  • Page 37: Variable Lever Arm

    SPAN will also be able to output a gimballed solution at the rate the gimbal angles are received. See the SPAN on OEM6 Firmware Reference Manual (OM-20000144) for more information. SPAN-IGM User Manual Rev 2...

  • Page 38: Span-Igm Dual Antenna

    A minimum separation distance of 1 metre is recommended. 3. The lever arms, or distance from the SPAN-IGM to the antennas, needs to be fixed and accurately measured using the coordinate axes defined on the outside of the SPAN-IGM. The baseline between the two antennas does NOT need to be aligned with the vehicle axes or with the axes of the SPAN-IGM.

  • Page 39: Configuring Align With Span-Igm

    SETIMUTOANTOFFSET and SETIMUTOANTOFFSET2 commands. To configure SPAN with ALIGN Aiding: 1. Enter the lever arm from the SPAN-IGM to the primary antenna (primary antenna is connected to the SPAN-IGM) using the SETIMUTOANTOFFSET command. Abbreviated ASCII example: SETIMUTOANTOFFSET 0.54 0.32 1.20 0.03 0.03 0.05...

  • Page 40: Alignment On A Moving Vessel - Aided Transfer Alignment

    Chapter 4 SPAN-IGM Dual Antenna 2. Enter the lever arm from the SPAN-IGM to the secondary antenna (secondary antenna is connected to the second receiver) using the SETIMUTOANTOFFSET2 command. Abbreviated ASCII example: SETIMUTOANTOFFSET2 0.54 2.32 1.20 0.03 0.03 0.05 Alternately, the angular offset between the dual-antenna baseline (from Primary GNSS antenna to Secondary GNSS antenna) and the IMU frame forward axis can be entered directly via the EXTHDGOFFSET command.

  • Page 41: Unaided Alignment

    4.2.4 Automatic Alignment Mode - Automatic Alignment (default) Automatic Alignment Mode Selection is the default setting for a SPAN-IGM. This mode is designed to allow alignment of the system as quickly as possible, using either an aided transfer alignment (Alignment on a Moving Vessel - Aided Transfer Alignment on page 40), a kinematic alignment (Kinematic Alignment on page 31) or a manual alignment (Manual Alignment on page 31).

  • Page 42: Reference Frames Within Span

    To determine your SPAN x-axis and y-axis, see Table 7, Full Mapping Definitions on page 43. This frame is also known as the computation frame and is the frame where all the mechanization equations are computed. SPAN-IGM User Manual Rev 2...

  • Page 43: Full Mapping Definitions

    Reference Frames Within SPAN Chapter 5 Table 7: Full Mapping Definitions SPAN IMU Enclosure IMU Enclosure Mapping SPAN Frame Frame Axis Frame Axis Frame (default) SPAN-IGM User Manual Rev 2...

  • Page 44: The Enclosure Frame

    Reference Frames Within SPAN The Enclosure Frame The definition of the enclosure frame is marked on the SPAN-IGM and represents how the sensors are mounted in the enclosure. If the SPAN-IGM is mounted with the z-axis (as marked on the SPAN-IGM enclosure) pointing up, the SPAN-IGM enclosure frame is the same as the SPAN frame.

  • Page 45: Novatel Firmware And Software

    WinLoad software utility  WinLoad and SoftLoad instructions follow. Firmware Updates and Model Upgrades A local NovAtel dealer can provide all the information needed to upgrade or update a receiver. Refer to www.novatel.com/where-to-buy for contact information or contact sales@novatel.com support@novatel.com directly.

  • Page 46: Model Upgrades

    NovAtel Firmware and Software 6.1.2 Model Upgrades Model upgrades enable purchased receiver features. Contact a local NovAtel dealer to assist in selecting the upgrade options that best suit your GNSS needs at www.novatel.com/where-to-buy. Contact NovAtel Customer Support www.novatel.com/support NovAtel Sales to request a temporary upgrade authorization code for trial purposes.

  • Page 47: Updating Or Upgrading Using The Winload Utility

    WinLoad is the simplest and most common way to update or upgrade a receiver. 6.3.1 Transferring Firmware Files To proceed with an update or possibly an upgrade, obtain the latest version of firmware from the NovAtel website at www.novatel.com/support/firmware-software and manuals.

  • Page 48: Using The Winload Utility

    2. Ensure the file path and name are displayed in main display area (see Figure 13, Open File in WinLoad on page 48). 3. Click Write Flash to download the firmware. 4. When Searching for card appears in the main display, power cycle the receiver. SPAN-IGM User Manual Rev 2...

  • Page 49: Updating Using Softload Commands

    A RXSTATUSEVENTA log reports a SoftLoad In Progress status. 4. Open the *.SHEX firmware file.  If using NovAtel Connect, close all windows before using the SOFTLOADSREC command to avoid failure. Only the Console and ASCII Message windows may remain open.

  • Page 50: Working With S-Records

    • The shex file data may contain many gaps and jumps. For example, in most NovAtel shex files data for address 0x000_00000 is stored near the very end of the file. SPAN-IGM User Manual Rev 2...

  • Page 51: Upgrading Using The Auth Command

    Refer to Types of Firmware Files on page 47 for details on updating versus upgrading. 6.5.1 Upgrade Procedure 1. Power up the receiver and establish communications (refer to the SPAN-IGM Quick Start Guide for instructions). 2. Issue the LOG VERSION command to verify the current model, firmware version and serial number (refer to Authorization Code on page 46 for instructions on obtaining).

  • Page 52: A Technical Specifications

    Appendix A Technical Specifications This appendix details the technical specifications of the SPAN-IGM. SPAN-IGM-A1 Technical Specifications Table 8: SPAN-IGM-A1 Physical Specifications PHYSICAL Enclosure Size 152.0 mm x 141.5 mm x 50.5 mm Weight 515 g CONNECTORS MAIN DB-15HD Female DB-15HD Male...

  • Page 53: Span-Igm-A1 Mechanical Drawings

    5.5 W (typical, GPS, GLONASS & wheel sensor) 6.2 W (typical, GPS, GLONASS, wheel sensor & ALIGN) a. An ALIGN system requires 11 VDC if the FlexPak6 powers the SPAN-IGM. b. A system with a FlexPak6 requires 8.7 W typical. Table 13: SPAN-IGM-A1 Environmental Specifications...

  • Page 54: Span-Igm-S1 Technical Specifications

    Appendix A Technical Specifications SPAN-IGM-S1 Technical Specifications Table 14: SPAN-IGM-S1 Physical Specifications PHYSICAL Enclosure Size 152.0 mm x 141.5 mm x 50.5 mm Weight 540 g CONNECTORS MAIN DB-15HD Female DB-15HD Male RF Antenna Connector TNC Female Table 15: SPAN-IGM-S1 GNSS Performance...

  • Page 55: Span-Igm-S1 Mechanical Drawings

    7.5 W (typical, GPS, GLONASS & wheel sensor) 8.2 W (typical, GPS, GLONASS, wheel sensor & ALIGN) a. An ALIGN system requires 11 VDC if the FlexPak6 powers the SPAN-IGM. b. A system with a FlexPak6 requires 10.7 W typical. Table 19: SPAN-IGM-S1 Environmental Specifications...

  • Page 56: Span-Igm Ports

    Table 21: AUX Port Pinout Pin # Label Description ODM_A+ Odometer input A positive ODM_B+ Odometer input B positive (no connection on SPAN-IGM-S1) USB Data, input WS_VOUT Wheel sensor output voltage (15 VDC) DGND Digital ground ODM_A- Odometer input A negative...

  • Page 57: Span-Igm Interface Cable

    Technical Specifications Appendix A SPAN-IGM Interface Cable The NovAtel part number for the SPAN-IGM interface cable is 01019014. This cable provides power and communication signals to the SPAN-IGM. Figure 20: SPAN-IGM Interface Cable Dimensions are in millimetres. Table 22: SPAN-IGM Interface Cable Pin-Out Descriptions...

  • Page 58: Span-Igm Align Interface Cable

    Appendix A Technical Specifications SPAN-IGM ALIGN Interface Cable The NovAtel part number for the SPAN-IGM ALIGN interface cable is 01019089. This cable connects a SPAN-IGM to a FlexPak6 receiver when the SPAN-IGM and FlexPak6 are connected in an dual antenna configuration.

  • Page 59: Span-Igm Auxiliary Port Interface Cable

    Appendix A SPAN-IGM Auxiliary Port Interface Cable The NovAtel part number for the SPAN-IGM auxiliary port interface cable is 01019015. This cable provides connection for the I/O strobe inputs, odometer input, COM3 serial port and USB port. Figure 22: SPAN-IGM Auxiliary Port Interface Cable Dimensions are in millimetres.

  • Page 60: B Frequently Asked Questions

    The SPAN solution continues to be computed for as long as the GNSS outage lasts, but the solution uncertainty increases with time. This uncertainty can be monitored using the INSCOV log, see the SPAN on OEM6 Firmware Reference Manual (OM-20000144). SPAN-IGM User Manual Rev 2...

  • Page 61: C Replacement Parts

    Appendix C Replacement Parts The following are a list of the replacement parts available. Should you require assistance, or need to order additional components, contact your local NovAtel dealer or Customer Support. C.1 SPAN System Part Description NovAtel Part SPAN-IGM-A1...

  • Page 62: Index

    28 WinLoad 47 hardware setup 14 help 27 IMU-CPT dimensions 53 introduction 11 Mark1 21 Mark2 21 – model upgrades 46 port 19 power 19 PPS 21 prerequisites 13 Pulse Per Second 21 SPAN-IGM User Manual Rev 2...
  • Page 63 Index SPAN-IGM User Manual Rev 2...
  • Page 64 OM-20000141 Rev 2 September 2013...

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