Hexagon NovAtel OEM7 SPAN Installation And Operation User Manual

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OEM7 SPAN

Installation and Operation

User Manual

OEM7 SPAN Installation and Operation User Manual v1

April 2024

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Page 1 OEM7 SPAN Installation and Operation User Manual OEM7 SPAN Installation and Operation User Manual v1 April 2024...
Page 2 Hexagon AB and/or its subsidiaries and affiliates, and/or their licensors. All other trademarks are properties of their respective owners. © Copyright 2017 – 2024 Hexagon AB and/or its subsidiaries and affiliates. All rights reserved. A list of entities within the Hexagon Autonomy & Positioning division is available at hexagon.com/company/divisions/autonomy-and-positioning.
Page 3: Table Of Contents
Table of Contents Figures Tables Receiver Card Notices Customer Support Chapter 1 OEM7 SPAN Overview 1.1 Fundamentals of GNSS+INS 1.2 Models and Features 1.2.1 INS Options 1.2.2 IMU Grade 1.3 Related Documents and Information Chapter 2 SPAN Installation 2.1 OEM7 Receiver Card Installation 2.1.1 Selecting a GNSS Antenna 2.1.2 Choosing a Coaxial Cable 2.1.3 Mounting the GNSS Antenna...
Page 4 3.2 SPAN Translations and Rotations 3.2.1 Translational Offsets 3.2.2 Rotational Offsets 3.3 Software Configuration 3.3.1 GNSS Configuration 3.3.2 INS Profiles 3.3.3 SPAN Configuration 3.3.4 SPAN Configuration for PwrPak7 3.3.5 Importance Of Lever Arms 3.3.6 Importance of RBV Calibration 3.3.7 Importance of Antenna Location for ALIGN 3.4 Real-Time Operation 3.4.1 System Start-Up and Alignment Techniques 3.4.2 INS Seed / Fast INS Initialization...
Page 5 3.12 Relative INS 3.12.1 Configure Relative INS Chapter 4 SPAN with Dual Antenna 4.1 Installation 4.2 Configuring Dual Antenna ALIGN with SPAN 4.2.1 Setup and Configuration 4.2.2 Optional HEADINGOFFSET Configuration APPENDIX A IMU Technical Specifications A.1 HG1700 IMU (single-connector enclosure) A.1.1 HG1700 IMU Mechanical Drawings A.1.2 HG1700 IMU Performance A.1.3 HG1700 Electrical and Environmental...
Page 6 A.8 IMU-ISA-100C A.8.1 IMU-ISA-100C Mechanical Drawings A.8.2 Optional Side Mounting Holes A.8.3 IMU-ISA-100C Sensor Specifications A.8.4 IMU-ISA-100C Electrical and Environmental A.8.5 IMU Enclosure Interface Cable A.8.6 IMU Enclosure Power Cable A.8.7 IMU Enclosure Wheel Sensor Cable A.9 IMU-KVH1750 A.9.1 IMU-KVH1750 Mechanical Drawings A.9.2 IMU-KVH1750 Sensor Specifications A.9.3 IMU-KVH1750 Electrical and Environmental A.9.4 IMU-KVH1750 and IMU-P1750 Cable...
Page 7 A.16.4 OEM-IMU-HG4930 Interface Connector A.17 OEM-IMU-ISA-100C A.17.1 OEM-IMU-ISA-100C Mechanical Drawings A.17.2 OEM-IMU-ISA-100C Sensor Specifications A.17.3 OEM-IMU-ISA-100C Electrical and Environmental A.17.4 OEM-IMU-ISA-100C IMU to UIC Cable Assembly A.18 OEM-IMU-STIM300 A.18.1 OEM-IMU-STIM300 Mechanical Drawings A.18.2 OEM-IMU-STIM300 Sensor Specifications A.18.3 OEM-IMU-STIM300 Electrical and Environmental A.18.4 OEM-IMU-STIM300 Direct Connection A.18.5 OEM-IMU-STIM300 IMU-to-MIC Cable Assembly A.19 OEM-IMU-µIMU-IC / OEM-IMU-µIMU-IC-UART...
Page 8 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 APPENDIX F Frequently Asked Questions APPENDIX G Importance of Antenna Selection APPENDIX H Accessories and Replacement Parts OEM7 SPAN Installation and Operation User Manual v1...
Page 9 Figures Figure 1: Typical Installation of a SPAN System with an OEM7 Receiver Card Figure 2: IMU Enclosure Mounting Plate Figure 3: OEM-IMU-ADIS-16488 Pin Locations Figure 4: OEM-IMU-EG320N/OEM-IMU-EG370N Pin Locations Figure 5: OEM-IMU-STIM300 Pin Out Figure 6: OEM-IMU-µIMU-IC-UART Pin Out Figure 7: Basic Set Up –...
Page 10 Figures Figure 35: DMI to IMU Setup Figure 36: DMI to UIC Setup Figure 37: DMI through Intermediate Processor Setup Figure 38: Sample Configuration Figure 39: Operating Gimbal Figure 40: Relative INS Example Figure 41: SPAN – Two Receiver Dual Antenna Installation Figure 42: SPAN –...
Page 11 Figures Figure 71: IMU-KVH1750 Bottom view Figure 72: IMU-KVH1750 Top View Figure 73: IMU-KVH1750 Side View Figure 74: IMU-KVH1750 Gyro Axes Figure 75: IMU-KVH1750 and IMU-P1750 Cable Figure 76: IMU-P1750 Bottom view Figure 77: IMU-P1750 Top View Figure 78: IMU-P1750 Side View Figure 79: IMU-P1750 Gyro Axes Figure 80: IMU-LN200 Dimensions Figure 81: IMU-LN200 Center of Navigation...
Page 12 Figures Figure 107: OEM-HG1930 IMU-to-MIC Cable Assembly Figure 108: HG1700 and OEM-HG1900 IMU-to-MIC Cable Assembly Figure 109: UIC Dimensions and Keep Out Zones Figure 110: UIC Connectors, LEDs and Heat Sink Details Figure 111: OEM-HG1900 IMU to UIC Cable Assembly Figure 112: OEM-IMU-LN200 IMU to UIC Cable Assembly Figure 113: Required Parts Figure 114: Remove Base Figure 115: Disconnect Wiring Harness from Enclosure Body...
Page 13 Figures Figure 143: Incorrect (Bowed) Flex Cable Installation Figure 144: Correct (Flat) Flex Cable Installation Figure 145: HG1700 SPAN IMU Figure 146: Required Parts Figure 147: Bolts and Hex Key Figure 148: Lift Top Cover and Tube Body Figure 149: SPAN IMU Re-Assembly Figure 150: Attach Wiring Harness Figure 151: Attach Samtec Connector Figure 152: LN-200 SPAN IMU...
Page 14 Tables Table 1: INS Options (previous to OEM 7.08) Table 2: INS Options (OEM 7.08 and later) Table 3: SPAN-Compatible IMUs Table 4: IMU Connection Method Table 5: Receiver to OEM-IMU-ADIS-16488 Pin Connections Table 6: Receiver to OEM-IMU-EG320N/OEM-IMU-EG370N Pin Connections Table 7: OEM7 Receiver Card to OEM-IMU-STIM300 Pin Connections Table 8: OEM729 COM1 or PwrPak7 to OEM-IMU-STIM300 Pin Connections Table 9: OEM-IMU-HG4930 Mating Connector...
Page 15 Tables Table 35: Commands used with Variable Lever Arm Table 36: HG1700 IMU Physical Specifications Table 37: HG1700-AG58 IMU Performance Table 38: HG1700-AG62 IMU Performance Table 39: HG17000 Electrical Specifications Table 40: HG17000 Environmental Specifications Table 41: LN-200 IMU Physical Specifications Table 42: LN-200 IMU Performance Table 43: LN-200 Electrical Specifications Table 44: LN-200 Environmental Specifications...
Page 16 Tables Table 71: IMU-HG1900 Environmental Specifications Table 72: IMU-IGM-A1 Physical Specifications Table 73: IMU-IGM-S1 Physical Specifications Table 74: IMU-IGM-A1 and IMU-IGM-S1 Main Port Pinout Table 75: IMU-IGM-A1 and IMU-IGM-S1 AUX Port Pinout Table 76: IMU-IGM-A1 IMU Performance Table 77: IMU-IGM-S1 IMU Performance Table 78: IMU-IGM-A1 Electrical Specifications Table 79: IMU-IGM-A1 Environmental Specifications Table 80: IMU-IGM-S1 Electrical Specifications...
Page 17 Tables Table 107: IMU-LN200 Physical Specifications Table 108: LN-200 IMU Performance Table 109: IMU-LN200C IMU Performance Table 110: IMU-LN200 Electrical Specifications Table 111: IMU-LN200 Environmental Specifications Table 112: IMU-µIMU-IC Physical Specifications Table 113: IMU-µIMU-IC IMU Performance Table 114: IMU-µIMU-IC Electrical Specifications Table 115: IMU-µIMU-IC Environmental Specifications Table 116: OEM-IMU-ADIS-16488 Physical Specifications Table 117: OEM-IMU-ADIS-16488 Performance...
Page 18 Tables Table 143: OEM-IMU-STIM300 Performance Table 144: OEM-IMU-STIM300 Electrical Specifications Table 145: OEM-IMU-STIM300 Environmental Specifications Table 146: OEM7 Receiver Card to OEM-IMU-STIM300 Pin Connections Table 147: OEM729 COM1 or PwrPak7 to OEM-IMU-STIM300 Pin Connections Table 148: OEM-IMU-STIM300 IMU-to-MIC Cable Pinout Table 149: OEM-IMU-µIMU-IC / OEM-IMU-µIMU-IC-UART Physical Specifications Table 150: OEM-IMU-µIMU-IC / OEM-IMU-µIMU-IC-UART Performance Table 151: OEM-IMU-µIMU-IC Electrical Specifications...
Page 19 Tables Table 179: GNSS Antenna Cables OEM7 SPAN Installation and Operation User Manual v1...
Page 20: Receiver Card Notices
Receiver Card Notices The following notices apply to the OEM7 family products. Changes or modifications to this equipment, not expressly approved by NovAtel Inc., could void the user’s authority to operate this equipment. The devices covered by this manual comply with part 15 of the FCC Rules. Operation is subject to the following two conditions: (1) this device may not cause harmful interference, and (2) this device must accept any interference received, including interference that may cause undesired operation.
Page 21 Receiver Card Notices WEEE If you purchased your OEM7 family product in Europe or the United Kingdom, please return it to your dealer or supplier at the end of life. The objectives NovAtel's environment policy are, in particular, to preserve, protect and improve the quality of the environment, protect human health and utilise natural resources prudently and rationally.
Page 22 Receiver Card Notices Information that supplements or clarifies text. 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 v1...
Page 23: Customer Support
If using NovAtel Application Suite, log the Troubleshooting message set for 15 minutes. 3. Send the data file to NovAtel Customer Support: support.novatel@hexagon.com 4. You can also issue a FRESET command to the receiver to clear any unknown settings. The FRESET command will erase all user settings. You should know your configuration (by requesting the RXCONFIGA log) and be able to reconfigure the receiver before you send the FRESET command.
Page 24 Customer Support Log a Case, Search Knowledge and View Your Case History: (login access required) Web Portal: shop.novatel.com/novatelstore/s/login/ E-mail: support.novatel@hexagon.com Telephone: U.S. and Canada: 1-800-NOVATEL (1-800-668-2835) International: +1-403-295-4900 General Troubleshooting Logs LOG RXSTATUSB ONCHANGED LOG RAWEPHEMB ONNEW LOG GLORAWEPHEMB ONNEW LOG BESTPOSB ONTIME 1 LOG RANGEB ONTIME 0.5...
Page 25 Customer Support For dual antenna receivers, add these logs: LOG TRACKSTATB_1 ONTIME 1 LOG RANGEB_1 ONTIME 0.5 For interference issues add this log: LOG ITPSDDETECTB ONNEW For interference issues, when you have enough datalink bandwidth to handle large logs, add this log: LOG ITPSDFINALB ONNEW SPAN Troubleshooting Logs LOG RXSTATUSB ONCHANGED...
Page 26 Customer Support PPP Troubleshooting Logs LOG RXSTATUSB ONCHANGED LOG GPSEPHEMB ONNEW LOG GLOEPHEMERISB ONNEW LOG QZSSEPHEMERISB ONNEW LOG BDSEPHEMERISB ONNEW LOG BDSBCNAV1EPHEMERISB ONNEW (firmware versions 7.08.03 and 7.08.10 and later) LOG BDSBCNAV2EPHEMERISB ONNEW (firmware versions 7.08.03 and 7.08.10 and later) LOG BDSBCNAV3EPHEMERISB ONNEW (firmware versions 7.08.03 and 7.08.10 and later) LOG GALFNAVEPHEMERISB ONNEW LOG GALINAVEPHEMERISB ONNEW...
Page 27 Customer Support ALIGN Troubleshooting Logs LOG RXSTATUSB ONCHANGED LOG RAWEPHEMB ONNEW LOG GLORAWEPHEMB ONNEW LOG GALINAVRAWEPHEMERISB ONNEW LOG BDSEPHEMERISB ONNEW LOG BESTPOSB ONTIME 1 LOG RANGEB ONTIME 0.5 LOG RXCONFIGA ONCE LOG VERSIONA ONCE LOG LOGLISTA ONCE LOG PORTSTATSA ONTIME 10 LOG ALIGNBSLNENUB ONNEW LOG ALIGNBSLNXYZB ONNEW LOG ALIGNDOPB ONNEW...
Page 28: Chapter 1 Oem7 Span Overview
Chapter 1 OEM7 SPAN Overview NovAtel's SPAN GNSS+INS technology brings together two very different but complementary positioning and navigation systems namely Global Navigation Satellite System (GNSS) and an Inertial Navigation System (INS). By combining the best aspects of GNSS and INS into one system, SPAN technology is able to offer a solution that is more accurate and reliable than either GNSS or INS could provide alone.
Page 29: Models And Features
Chapter 1 OEM7 SPAN Overview The SPAN system’s combined GNSS+INS solution integrates the raw inertial measurements with all available GNSS information to provide the optimum solution possible in any situation. By using the high accuracy GNSS solution, the IMU errors can be modeled and mitigated. Conversely, the continuity and relative accuracy of the INS solution enables faster GNSS signal reacquisition and RTK solution convergence.
Page 30: Imu Grade
Chapter 1 OEM7 SPAN Overview Table 1: INS Options (previous to OEM 7.08) Functionality Meaning Description Model Inheritance Standard SPAN functionality. SPAN Enabled This model enables most SPAN functionality. Allows the use of enhanced INS profiles for certain applications. For example, dead reckoning performance is controlled using the LAND Profile and Heave filter output is controlled using the MARINE Profile.
Page 31: Related Documents And Information
Chapter 1 OEM7 SPAN Overview Table 3: SPAN-Compatible IMUs IMU Grade IMU Name IMU Data Rate IMU-CPT 100 Hz OEM-HG1930 (CA50) 100 Hz OEM-IMU-ADIS-16488 200 Hz IMU-IGM-A1 OEM-IMU-STIM300 125 Hz IMU-IGM-S1 OEM-IMU-EG320N 125 Hz OEM-IMU-EG320N (200 Hz) 200 Hz OEM-IMU-EG370N 200 Hz OEM-IMU-HG4930 (AN01) 100 Hz...
Page 32 Chapter 1 OEM7 SPAN Overview OEM7 receivers, refer to the OEM7 Commands and Logs Reference Manual available on the NovAtel website at novatel.com/support. It is recommended that these documents be kept together for easy reference. For more information about the OEM7 receivers, refer to the OEM7 Installation and Operation User Manual, CPT7 Installation and Operation User...
Page 33: Chapter 2 Span Installation
Chapter 2 SPAN Installation A SPAN system consists of an OEM7 receiver, an IMU, a GNSS antenna, power and a communication link (if your application requires real time differential operation). The installation process varies based on the OEM7 receiver. OEM7 Receiver Card Installation on the next page PwrPak7 Installation on page 76 PwrPak7-E1/PwrPak7-E2 Installation on page 79 If your IMU enclosure and IMU were supplied separately, additional instructions for installing the IMU...
Page 34: Oem7 Receiver Card Installation
2.1 OEM7 Receiver Card Installation The following diagram shows a typical SPAN installation using an OEM7 receiver card and an IMU in an enclosure. Figure 1: Typical Installation of a SPAN System with an OEM7 Receiver Card Complete the following steps to set up your NovAtel SPAN system. 1.
Page 35: Selecting A Gnss Antenna
Chapter 2 SPAN Installation See the OEM7 Installation and Operation User Manual for information about installing an OEM7 receiver. 5. Connect the IMU to the OEM7 receiver. See Connect the IMU to the OEM7 Receiver Card on page 39 for details. 6.
Page 36: Mounting The Gnss Antenna
Chapter 2 SPAN Installation The SMA to TNC cables (60723177 and 60723178) are not recommended for permanent outdoor use. For more information about antenna cabling, including using cables longer than 30 m and in-line amplifiers, refer to APN-077: RF Equipment Selection and Installation available from (novatel.com/support/support-materials/application-notes).
Page 37: Mount The Imu
Chapter 2 SPAN Installation For passive antennas, install a DC block between the receiver and antenna to prevent short circuiting the antenna power. 2.1.4 Mount the IMU Mount the IMU in a fixed location where the distance from the IMU to the GNSS antenna phase center is constant.
Page 38 Chapter 2 SPAN Installation Other IMUs are secured using the four through holes in the base of the IMU. Secure an IMU Enclosure Using the Mounting Plate To secure an IMU enclosure using the IMU Enclosure Mounting Plate: 1. Place the mounting plate on the bottom of the IMU Enclosure and align the holes in the mounting plate with the threaded holes in the IMU Enclosure base plate.
Page 39: Connect The Imu To The Oem7 Receiver Card
Chapter 2 SPAN Installation Figure 2: IMU Enclosure Mounting Plate 2.1.5 Connect the IMU to the OEM7 Receiver Card The method used to connect the IMU depends on the IMU and OEM7 receiver in the system. IMUs that are contained within an 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).
Page 40 Chapter 2 SPAN Installation IMUs in an enclosure typically have IMU or UIMU at the start of their names (for example, IMU-ISA-100C, IMU-µIMU-IC or IMU-IGM-S1). IMUs not in an IMU enclosure typically have OEM at the start of their names (for example, OEM-IMU-ISA- 100C, OEM-IMU-µIMU or OEM-IMU-STIM300).
Page 41 Chapter 2 SPAN Installation Receiver Interface Event Connection Receiver Card Signal Method Yes - SDLC Serial port (RS- OEM719, OEM729, OEM7600, OEM-IMU-HG1930 or UIC 422) OEM7700, OEM7720 Serial port (RS- OEM719, OEM729, OEM7600, OEM-IMU-ISA-100C Yes - UIC 422) OEM7700, OEM7720 Serial port (RS- OEM719, OEM729, OEM7600, OEM-IMU-µIMU...
Page 42 Chapter 2 SPAN Installation If using an IMU-KVH1750 or IMU-P1750 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 IMU-KVH1750 and IMU-P1750 Baud Rate Conversion on page 57.
Page 43 Chapter 2 SPAN Installation Figure 3: OEM-IMU-ADIS-16488 Pin Locations Pins not shown on the following table are not connected. Table 5: Receiver to OEM-IMU-ADIS-16488 Pin Connections ADIS-16488 Receiver Pin Name Description Name SCLK SPI_SCLK SPI Serial Clock SPI_MISO SPI Data Output SPI_MOSI SPI Data Input SPI_nCS...
Page 44 Chapter 2 SPAN Installation ADIS-16488 Receiver Pin Name Description Name Reset IMU RST must be high for the IMU to be active. To enable the IMU when the receiver is powered on, connect this pin to Pin 1 or Pin 2 of the receiver interface connector through a 10 kΩ resistor (recommended).
Page 45 Chapter 2 SPAN Installation See Table 6: Receiver to OEM-IMU-EG320N/OEM-IMU-EG370N Pin Connections below for the connections required between the IMU and receiver. For information about the receiver connector, see the OEM7 Installation and Operation User Manual. a 3.3 VDC (±0.15 VDC) regulated power supply See Table 6: Receiver to OEM-IMU-EG320N/OEM-IMU-EG370N Pin Connections below for the location of the power supply connections.
Page 46 Chapter 2 SPAN Installation EG320N/EG370N Receiver Pin Name Pin Name Description UART Data Out SOUT – – Connect to the 3.3 VDC power supply through a resistor (default 10 kΩ). – – Digital ground UART Data In – – Connect to the 3.3 VDC power supply through a resistor (default 10 kΩ).
Page 47 Chapter 2 SPAN Installation The OEM-IMU-STIM300 serial port uses RS-422 signal levels. Since most OEM7 receiver card ports use LVCMOS signal levels, a RS-422 line driver is needed to convert from LVCMOS to RS-422. The exception is COM1 on the OEM729 that operates at RS-232 or RS-422 levels. The OEM-IMU-STIM300 can also connect to any OEM7 receiver using a MEMS Interface Card (MIC).
Page 48 Chapter 2 SPAN Installation Table 7: OEM7 Receiver Card to OEM-IMU-STIM300 Pin Connections STIM300 RS-422 Line Driver Receiver Pin Name Output Input Pin Name Description Part of RS-422 transmit pair from STIM TxD- RS422 B- – – STIM300 Part of RS-422 receive pair from STIM RxD- RS422 A- –...
Page 49 Chapter 2 SPAN Installation Table 8: OEM729 COM1 or PwrPak7 to OEM-IMU-STIM300 Pin Connections STIM300 Receiver Pin Name Pin Name Description OEM729 COM1: 15 COMx_ STIM TxD- Part of RS-422 transmit pair from STIM300 PwrPak7 RXD- COM1: 4 COM2: 12 OEM729 COM1: 17 COMx_ STIM RxD- Part of RS-422 receive pair from STIM300 PwrPak7 TXD- COM1: 1...
Page 50 Chapter 2 SPAN Installation Connect an OEM-IMU-HG4930 Directly to an OEM7 Receiver The OEM-IMU-HG4930 can connect directly to an OEM7 receiver using a serial port connection. The OEM-IMU-HG4930 serial port uses 5 V signal levels. OEM7 receiver card COM ports are not 5 V tolerant. A circuit to convert from 5V logic to 3.3V levels is required.
Page 51 Chapter 2 SPAN Installation Table 10: OEM7 Receiver Card to OEM-IMU-HG4930 Pin Connections HG4930 Receiver Pin Name Description Name Connect to power supply Ground and any receiver ground pin. Follow grounding – best practices. – Connect to the 5 VDC power supply OEM719: Pin 19 OEM729: Pin 4 OEM7600: Pin 24...
Page 52 Chapter 2 SPAN Installation Table 11: COM1 on the OEM729 to OEM-IMU-HG4930 Pin Connections HG4930 Receiver Pin Name Pin Name Description Connect to power supply Ground and any receiver ground pin. Follow – grounding best practices. – Connect to the 5 VDC power supply OEM729: Pin 4 OEM729: Pin 18 SER_DATA_...
Page 53 Chapter 2 SPAN Installation HG4930 PwrPak7 All I/O SPAN DSUB Cable Pin Name HD26 Pin Name Description COM2 /IMU DB9 EVENT_ PPS Synchronization signal OUT1 SER_ COM2_ DATA_ Serial Data High Output (RS-485) 422RX+ OUT_H SER_ COM2_ DATA_ Serial Data Low Output (RS-485) 422RX- OUT_L For the location of the receiver ground pins and transmit and receive pairs, refer to the...
Page 54 Chapter 2 SPAN Installation For most OEM7 receiver cards, the connection must include an RS-422 line driver. If using COM1 on an OEM729, an RS-422 line driver is not required. However, the COM1 protocol must be set to RS-422 using the SERIALPROTOCOL command. Use COM1 or COM2 on the PwrPak7 to connect to the OEM-IMU-µIMU-IC-UART.
Page 55 Chapter 2 SPAN Installation µIMU UART RS-422 Line Driver Receiver Pin Name Output Input Pin Name Description Part of the differential sync signal (ToV) pair from the µIMU UART. EVENT_IN2 The SYNCOUT_N and OEM719: 7 SYNCOUT_P are an RS- SYNCOUT_N – –...
Page 56 Chapter 2 SPAN Installation Table 14: OEM729 COM1 or PwrPak7 to OEM-IMU-µIMU-IC-UART Pin Connections µIMU UART Receiver Pin Name Pin Name Description – – Any receiver ground pin OEM729 COM1: 18 COMx_ Part of RS-422 transmit pair from the OEM-IMU- DATA_P PwrPak7 COM1: 3 RXD+ µIMU UART COM2: 20...
Page 57 Chapter 2 SPAN Installation IMU-KVH1750 and IMU-P1750 Baud Rate Conversion If purchased directly from KVH, an IMU-KVH1750 or IMU-P1750 IMU must be configured before it can be used with an OEM7 receiver. The IMU-KVH1750 and IMU-P1750 natively communicate at 921,600 bps, however the maximum baud rate of the COM ports on an OEM7 receiver is 460,800 bps.
Page 58: Connect Power
Chapter 2 SPAN Installation 3. Issue the following command. IMUCONFIGURATION IMU_KVH_1750 2 The IMUCONFIGURATION command can be used to configure an IMU-KVH1750 or IMU-P1750 IMU depending on the value of the Option field. IMUCONFIGURATION IMUType [Option] IMU Type Option Configuration Details Configure KVH options for NovAtel communication.
Page 59 Chapter 2 SPAN Installation Power Requirement IMU-IGM-A1 +10 to +30 VDC IMU-IGM-S1 IMU-ISA-100C +10 to +34 VDC IMU-KVH1750 +9 to +36 VDC IMU-P1750 +9 to +36 VDC IMU-LN200 +10 to +34 VDC IMU-LN200C IMU-µIMU-IC +10 to +34 VDC UIMU-HG1700-AG58 +12 to +28 VDC UIMU-HG100-AG62) UIMU-LN200 +12 to +28 VDC...
Page 60: 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. A MIC is required to connect the following IMUs with an OEM7 receiver: HG1700, OEM-HG1900 and OEM-HG1930.
Page 61 Chapter 2 SPAN Installation Figure 7: Basic Set Up – MIC in Stack Up Configuration Connector Part Number Mating Connector Description Connects to the MIC power supply. 43650-0313 43645-0300 P101 This connection provides power to the MIC and (Molex) (Molex) the OEM719 receiver. (user supplied cable) Connects to HG1700, OEM-HG1900, OEM- 53780-2070 51146-2000...
Page 62 Chapter 2 SPAN Installation For information about the OEM7 receiver card connectors and pinouts, refer to the OEM7 Installation and Operation User Manual. Use the following steps to install the OEM719 receiver and MIC: 1. Mount the components of the SPAN system. See Mount the SPAN System Components below. 2.
Page 63 Chapter 2 SPAN Installation 4. Align the mating connector (J301) on the MIC with the 20-pin header (P1701) on the OEM719. Make sure all of the pins on the header are aligned with the holes in the mating connector. Press down on the MIC to seat the connector on the header. 5.
Page 64 Chapter 2 SPAN Installation Use the 20 pin locking connector (P601) for an HG1700, OEM-HG1900, OEM-HG1930 or OEM-IMU- STIM300 IMU. See Figure 9: Connect the OEM-HG1900 IMU to the MIC (OEM Cable Kit: 01018871) below, Figure 10: Connect the OEM-HG1930 IMU to the MIC (OEM Cable Kit: 01018869) below or Figure 12: Connect the OEM-IMU-STIM300 IMU to the MIC (OEM Cable Kit: 01019174) on the next page.
Page 65: Install A Mic In A Standalone Configuration
Chapter 2 SPAN Installation Figure 12: Connect the OEM-IMU-STIM300 IMU to the MIC (OEM Cable Kit: 01019174) Connect Power to the MIC Connect a +10 to +30 VDC power supply to the power connector (P101) on the MIC. See MIC Connectors on page 290 for pinout information for the power connector.
Page 66 Chapter 2 SPAN Installation Important! Assemble in accordance with applicable industry standards. Ensure all Electrostatic Discharge (ESD) measures are in place, in particular, use a ground strap before exposing or handling any electronic items, including the MIC, receiver and IMU. Take care to prevent damaging or marring painted surfaces, O-rings, sealing surfaces and the IMU.
Page 67 Chapter 2 SPAN Installation For information about the MIC connectors and pin-outs, see MIC Connectors on page 290. For information about the OEM7 receiver card connectors and pinouts, refer to the OEM7 Installation and Operation User Manual. OEM729 Recommendations Use COM1 for connection to a computer. COM1 uses RS-232 levels and can be connected to a computer without additional interface circuitry.
Page 68 Chapter 2 SPAN Installation 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. An IMU mounting PCB is not used with the OEM-IMU-STIM300 IMU. 2.
Page 69 Chapter 2 SPAN Installation The OEM-IMU-ADIS-16488 and OEM-IMU-STIM300 are capable of a direct connection with OEM7 receivers, when a proper connection is available (OEM-IMU-ADIS-16488 = SPI, OEM-IMU-STIM300 = serial RS-422). If using the MIC connection is necessary, the following diagrams detail the cable connection parts between the MIC and IMU.
Page 70 Chapter 2 SPAN Installation Table 16: COM Port Recommendations OEM719 OEM7600 All of the COM ports on these receivers use LVCMOS levels and are signal level compatible with the MIC serial port. OEM7700 OEM7720 Use COM2 or COM3 of the OEM729 receiver to connect the MIC serial port. These COM ports use LVCMOS levels and are signal level compatible with the MIC serial port.
Page 71: 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. Use a UIC to connect the following IMUs to an OEM7 receiver: OEM-IMU-ISA-100C, LN200(C) and OEM-IMU-µIMU-IC.
Page 72: Mount The Span System Components
Chapter 2 SPAN Installation For information about the UIC connectors and pinouts, see UIC Connectors on page 304. For information about the OEM7 receiver card connectors and pinouts, refer to the OEM7 Installation and Operation User Manual. Important! Assemble in accordance with applicable industry standards. Ensure all Electrostatic Discharge (ESD) measures are in place, in particular, use a ground strap before exposing or handling any electronic items, including the UIC, receiver and IMU.
Page 73: Connect The Imu To The Uic
Chapter 2 SPAN Installation Ensure all standoffs are properly installed and the mounting location is flat. 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.
Page 74: Connect Power To The Uic And Oem7 Receiver
Chapter 2 SPAN Installation For information about the OEM7 receiver card connectors and pinouts, refer to the OEM7 Installation and Operation User Manual. 2. Connect a computer (for monitoring and configuration) to the OEM7 receiver. Refer to the OEM7 Installation and Operation User Manual for information about connecting data communications equipment to an OEM7 receiver.
Page 75 Chapter 2 SPAN Installation Table 18: UIC Status LEDs Flash Slow Flash Fast (Red) (Green) (Yellow, 1 Hz) (Yellow, 3 Hz) An error UIC is powered on with occurred no errors detected Boot up and IMU Power No power to UIC. during boot up during boot up or initialization.
Page 76: Pwrpak7 Installation
Chapter 2 SPAN Installation 2.4 PwrPak7 Installation The following diagram shows a typical SPAN installation using a PwrPak7 and an IMU in an enclosure. Figure 20: Typical Installation of a SPAN System with a PwrPak7 Complete the following steps to set up your NovAtel SPAN system. 1.
Page 77: Connect The Imu To The Pwrpak7
Chapter 2 SPAN Installation 4. Connect the antenna cable from the GNSS antenna to the ANT port on the PwrPak7. For PwrPak7D, connect the primary GNSS antenna to the ANT 1 port and the secondary GNSS antenna to the ANT 2 port. 5.
Page 78 Chapter 2 SPAN Installation This cable provides access to all of the signals available on the PwrPak7 26 pin D-SUB connector. Use the COM2 connector on this cable to connect the NovAtel IMU Interface cables. This connector includes the COM2 serial port signals and the additional signal required by the IMU-CPT, IMU-KVH1750, IMU-P1750, and IMU-FSAS.
Page 79: Pwrpak7-E1/Pwrpak7-E2 Installation
Chapter 2 SPAN Installation 2.5 PwrPak7-E1/PwrPak7-E2 Installation The following diagram shows a typical SPAN installation using a PwrPak7-E1 or PwrPak7-E2. Figure 21: Typical Installation of a SPAN System with a PwrPak7-E1 or PwrPak7-E2 Complete the following steps to set up your NovAtel SPAN system. 1.
Page 80: Imu Leds
Chapter 2 SPAN Installation secondary GNSS antenna to the ANT 2 port. 4. Connect the I/O strobe signals (optional). See the PwrPak7 Installation and Operation User Manual for information about connecting I/O signals to a PwrPak7. 5. Connect power to the PwrPak7-E1/PwrPak7-E2. See Connect Power on page 58 for details.
Page 81: Chapter 3 Span Operation
Chapter 3 SPAN Operation Before operating your SPAN system, ensure that you have followed the installation and setup instructions in SPAN Installation on page 33. You can use the NovAtel Application Suite software to configure receiver settings and to monitor data in real- time, between a rover SPAN system and base station.
Page 82: The Imu Body Frame
Chapter 3 SPAN Operation Figure 22: Local-Level Frame (NEU) 3.1.2 The IMU Body Frame The definition of the IMU Body frame is given by the physical axes of the IMU and represents how the sensors are mounted inside the IMU. If your IMU is enclosed, both the IMU Body frame axes and center of navigation are marked on the enclosure.
Page 83: The User Output Frame
Chapter 3 SPAN Operation Figure 24: Vehicle Frame 3.1.4 The User Output Frame The user output frame is an arbitrary frame, which can be optionally defined to transfer inertial output to a more useful position or reference frame. By default, SPAN position and velocity output is given at the center of navigation of the IMU. To output position and velocity at a different location, specify a user offset translation using the SETINSTRANSLATION command.
Page 84 Chapter 3 SPAN Operation Default (Position / Translation Offset Options Rotational Offset Attitude Reference Velocity / Heave) (Position / Velocity / Heave) Options (Attitude) Frame Output Location SETINSTRANSLATION SETINSROTATION IMU center of HEAVE USER navigation IMU Body (default) → IMURATEPVA IMU center of USER USER >...
Page 85: Span Translations And Rotations
Chapter 3 SPAN Operation Default (Position / Translation Offset Options Rotational Offset Attitude Reference Velocity / Heave) (Position / Velocity / Heave) Options (Attitude) Frame Output Location SETINSTRANSLATION SETINSROTATION IMU center of SYNCHEAVE USER navigation IMU Body (default) → IMU center of TSS1 USER USER >...
Page 86: Translational Offsets
Chapter 3 SPAN Operation 3.2.1 Translational Offsets The three dimensional distances between the IMU and other SPAN components are called translational offsets. The translational offsets are measured in three directions, X axis, Y axis and Z axis, typically relative to the IMU Body frame.
Page 87: Rotational Offsets
Chapter 3 SPAN Operation The measurements for the translational offsets should be done as accurately as possible, preferably to within millimetres especially for RTK operation. Any error in the offsets will translate into an error in the INS position. The translational offsets from the IMU to the GNSS antenna are required for all SPAN systems. However, some SPAN systems may have other sensors or devices integrated into the system for which the SPAN needs translational offsets.
Page 88 Chapter 3 SPAN Operation Z: +90 To reach this answer, keep in mind the following rules: The goal is to rotate the IMU Body frame to be coincident with the Vehicle frame (i.e. IMU X equals Vehicle X, IMU Y equals Vehicle Y, IMU Z equals Vehicle Z). You must rotate from the IMU Body frame to the Vehicle frame.
Page 89: Software Configuration
Chapter 3 SPAN Operation 3.3 Software Configuration On a SPAN system, both the GNSS receiver and the IMU must be configured. 3.3.1 GNSS Configuration The GNSS configuration can be set up for different accuracy levels such as single point, SBAS, DGNSS, PPP and RTK.
Page 90: Span Configuration
Chapter 3 SPAN Operation Profile Description Enhanced Profile Settings Enables intelligent vehicle dynamics modeling for rail vehicles (Dead Reckoning) RAIL INS profile for railway applications Enable course over ground attitude updates Enable direction detection on kinematic alignment routine Enables direction detection on kinematic alignment routine Enables course over ground attitude AGRICULTURE...
Page 91 Chapter 3 SPAN Operation Required Information Required Command IMU type and communication port CONNECTIMU IMU to primary antenna lever arm SETINSTRANSLATION ANT1 IMU to vehicle frame rotation SETINSROTATION RBV For optimal SPAN operation, the IMU to antenna lever arms and the IMU to vehicle frame rotation should be measured or calibrated to the best accuracy possible.
Page 92 Chapter 3 SPAN Operation IMU Type CONNECTIMU command HG1700 AG58 CONNECTIMU COMx HG1700_AG58 HG1700 AG62 CONNECTIMU COMx HG1700_AG62 IMU-CPT CONNECTIMU COMx KVH_COTS IMU-FSAS CONNECTIMU COMx IMAR_FSAS IMU-HG1900 CONNECTIMU COMx HG1900_CA50 IMU-IGM-A1 CONNECTIMU COMx ADIS16488 IMU-IGM-S1 CONNECTIMU COMx STIM300 IMU-ISA-100C CONNECTIMU COMx ISA100C IMU-KVH1750 CONNECTIMU COMx KVH_1750 IMU-LN200...
Page 93 Chapter 3 SPAN Operation IMU Type CONNECTIMU command OEM-IMU-µIMU-IC CONNECTIMU COMx LITEF_MICROIMU OEM-IMU-µIMU-UART CONNECTIMU COMx LITEF_MICROIMUD_400HZ UIMU-HG1700-AG58 CONNECTIMU COMx HG1700_AG58 UIMU-HG1700-AG62 CONNECTIMU COMx HG1700_AG62 UIMU-LN200 CONNECTIMU COMx LN200 Use the COM port number the IMU is connected to. If you are using the OEM719+MIC board stack, you must use COM1. For SPAN systems with a OEM729 receiver, COM2 is the recommended serial port for the IMU, however you can use any available port for these IMUs.
Page 94 Chapter 3 SPAN Operation This example shows a mounting configuration with a negative X offset, negative Y offset and positive Z offset. A typical RTK GNSS solution is accurate to a few centimetres. For the integrated GNSS+INS system to have this level of accuracy, the offset must be measured to within a centimetre. Any offset error between the two systems shows up directly in the output position.
Page 95: Span Configuration For Pwrpak7
Chapter 3 SPAN Operation The order of rotations is Z-X-Y. All rotations are right handed. For an example of how to solve for the IMU Body to Vehicle frame rotation refer to Rotational Offsets on page 87. If the rotation between the IMU Body frame and the Vehicle frame is not precisely known, enter an approximate rotation (to the nearest 45 degrees).
Page 96 Chapter 3 SPAN Operation For optimal SPAN operation, the IMU to antenna lever arms and the IMU to vehicle frame rotation should be measured or calibrated to the best accuracy possible. Even small errors in the lever arm or RBV can lead to significant degradation of the overall INS performance. While this is the minimum amount of information required, additional information is typically needed for SPAN systems.
Page 97 Chapter 3 SPAN Operation IMU Type CONNECTIMU command HG1700 AG62 CONNECTIMU COMx HG1700_AG62 IMU-CPT CONNECTIMU COMx KVH_COTS IMU-FSAS CONNECTIMU COMx IMAR_FSAS IMU-HG1900 CONNECTIMU COMx HG1900_CA50 IMU-IGM-A1 CONNECTIMU COMx ADIS16488 IMU-IGM-S1 CONNECTIMU COMx STIM300 IMU-ISA-100C CONNECTIMU COMx ISA100C IMU-KVH1750 CONNECTIMU COMx KVH_1750 IMU-LN200 CONNECTIMU COMx LN200 IMU-LN200C...
Page 98 Chapter 3 SPAN Operation Use the COM port number the IMU is connected to. 2. Issue the SETINSTRANSLATION command, using the ANT1 parameter, to enter the distance from the IMU, PwrPak7-E1, PwrPak7D-E1, PwrPak7-E2 or PwrPak7D-E2 to the primary GNSS antenna. Issue the SETINSTRANSLATION command, using the ANT2 parameter, to enter the distance from the IMU or PwrPak7D-E1 to the secondary GNSS antenna.
Page 99 Chapter 3 SPAN Operation If it is impossible to measure the IMU to GNSS antenna offset precisely, the offset can be estimated by carrying out the Lever Arm Calibration Routine. See Lever Arm Calibration Routine on page 113. The Lever Arm Calibration routine is not available for the OEM-HG1930, OEM-IMU-ADIS- 16488, OEM-IMU-EG320N, OEM-IMU-EG370N, OEM-IMU-HG4930, OEM-IMU-STIM300, IMU-CPT, IMU-IGM-A1, IMU-IGM-S1, PwrPak7-E1, PwrPak7D-E1, PwrPak7-E2, PwrPak7D-E2, CPT7 or CPT7700.
Page 100: Importance Of Lever Arms
Chapter 3 SPAN Operation 3.3.5 Importance Of Lever Arms For the SPAN system to provide optimum performance, the lever arm of the IMU to the antenna should be measured as accurately as possible. The accuracy of the lever arm measurement impacts the accuracy of the INS solution PVA output.
Page 101: Importance Of Rbv Calibration
Chapter 3 SPAN Operation Performing a survey with a total station can be time consuming and expensive, so a simpler method is to use a measuring tape and a plumb bob. The vehicle should be level when measuring is done. The first measurement should be the Z axis starting at the antenna to the surface where the IMU is mounted.
Page 102: Importance Of Antenna Location For Align
Chapter 3 SPAN Operation Figure 29: Side View of PwrPak7-E1 – Vehicle is not Level Figure 30: Top View of PwrPak7-E1 – PwrPak7-E1 Misalignment The misalignments shown in the previous figures have been exaggerated for illustration purposes. In a typical SPAN system installation, the slight misalignments shown in the examples above are hard to detect and difficult to measure.
Page 103: Real-Time Operation
Chapter 3 SPAN Operation the two GNSS antennas should be mounted on the vehicle securely in a stable location the two GNSS antennas should be mounted as far apart as possible the two GNSS antennas should be mounted away from other vehicle obstructions resulting in a clear view of the sky the primary GNSS antenna should be mounted as close as possible to the IMU The primary and secondary GNSS antenna can be mounted anywhere on the vehicle with a fixed distance...
Page 104: System Start-Up And Alignment Techniques
Chapter 3 SPAN Operation Table 26: Inertial Solution Status Binary ASCII Description IMU logs are present, but the alignment routine has not started; INS is INS_INACTIVE inactive. INS_ALIGNING INS is in alignment mode. The INS solution uncertainty contains outliers and the solution may be outside specifications.
Page 105 Chapter 3 SPAN Operation 3. Receiver “fine time” is solved, meaning the time on board the receiver is accurate enough to begin timing IMU measurements. 4. The INS Status field changes from INS_INACTIVE through DETERMINING_ORIENTATION and WAITING_INITIALPOS. 5. Once a GNSS position is available, an initial IMU bias estimate is conducted. During this period, the INS Status field reports INITIALIZING_BIASES.
Page 106 Chapter 3 SPAN Operation Static Coarse alignments may be degraded due to environment, vibration or IMU age effects. Any error in initial alignment can cause performance issues. Kinematic Alignment An alternate form of aligning the SPAN system is a kinematic alignment. A kinematic alignment can be used for any SPAN system and is the best alignment alternative for lower performance sensors (Grade 1 IMUs, as well as the HG4930 400Hz variant, and products that use these IMUs).
Page 107 Chapter 3 SPAN Operation Configuring SPAN Alignment Method The SPAN-enabled receiver can be configured for different alignment routines depending on the motion conditions experienced during the alignment period. For example, in marine applications, the dynamics required for either a static coarse or kinematic alignment cannot be guaranteed, so a different alignment routine will be required.
Page 108: Ins Seed / Fast Ins Initialization
Chapter 3 SPAN Operation 3.4.2 INS Seed / Fast INS Initialization The INS Seed functionality is an alignment method whereby INS alignment information from a previous powerup can be injected into the system at startup to achieve an INS alignment more quickly. This is especially useful for systems that previously required a kinematic alignment.
Page 109 Chapter 3 SPAN Operation INJECT Option (Advanced Users Only) There is an advanced option available to skip the second and third validation steps described in the boot-up section above. This can be used if GNSS is not available on power-up or if speed to achieve an alignment is imperative.
Page 110: Navigation Mode
Chapter 3 SPAN Operation Table 27: NVM Seed Indication Bit 31- NVM Seed Type Value Values 0x00 INS Seed has not been injected into the solution 0x01 Valid INS Seed was not found in non-volatile memory 0x02 INS Seed has failed validation and has been discarded 0x03 INS Seed is awaiting validation 0x04...
Page 111 Chapter 3 SPAN Operation Table 28: 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 INSATT or INSATTS Attitude INSATTX or INSPVAX INSPVA or INSPVAS Solution Uncertainty INSSTDEV or INSSTDEVS The INSATTX log, INSPOSX log, INSPVAX log and INSVELX log contain solution and variance...
Page 112: Recommended Messages To Be Logged For Span Data Collection
Chapter 3 SPAN Operation Logging Restriction Important Notice Logging excessive amounts of high rate data can overload the system. When configuring the output for SPAN, NovAtel recommends that only one high rate (>50 Hz) message be configured for output at a time.
Page 113: Lever Arm Calibration Routine
Chapter 3 SPAN Operation Recommended SPAN Messages for OEM7 LOG VERSIONB ONCHANGED LOG RXCONFIGB ONCE LOG RXSTATUSB ONCHANGED LOG RANGEB ONTIME 0.5 LOG GPSEPHEMB ONALL LOG GLOEPHEMERISB ONALL LOG GALFNAVEPHEMERISB ONALL LOG GALINAVEPHEMERISB ONALL LOG BDSEPHEMERISB ONALL LOG QZSSEPHEMERISB ONALL LOG NAVICEPHEMERISB ONALL LOG BESTGNSSPOSB ONTIME 1 LOG BESTGNSSVELB ONTIME 1...
Page 114 Chapter 3 SPAN Operation We recommend that you measure the lever arm using survey methodology and equipment, for example, a total station. Only use calibrations when precise measurement of the lever arm is not possible. Initial estimates and uncertainties for the lever arm may be entered using the SETINSTRANSLATION ANT1 command.
Page 115: Body To Vehicle Frame Rotation Calibration Routine
Chapter 3 SPAN Operation An accurate Lever Arm calibration depends on observability in all axes. Often, it can be very challenging to achieve sufficient dynamics during a calibration (e.g. a land vehicle can not normally achieve the same dynamics vertically as horizontally). To overcome this limitation, complete multiple calibrations and average the results (see also INSCALIBRATE ADD or do so manually).
Page 116: Multi-Line Body To Vehicle Frame Rotation Calibration Routine
Chapter 3 SPAN Operation After the INSCALIBRATE RBV ENABLE command is entered, there are no body-vehicle rotation parameters present and a kinematic alignment is NOT possible. Therefore this command should only be entered after the system has performed either a static or kinematic alignment and has a valid INS solution.
Page 117 Chapter 3 SPAN Operation Figure 31: Multi-Line IMU Body to Vehicle Calibration The steps for the calibration routine are: 1. Apply power to the receiver and IMU. 2. Configure the SPAN system, see SPAN Configuration on page 90. 3. Ensure that an accurate lever arm has been entered into the system either manually or through a lever arm calibration, see Lever Arm Calibration Routine on page 113.
Page 118: Synchronizing External Equipment
Chapter 3 SPAN Operation 8. At this point INSCALSTATUS will report a source status of CALIBRATED. Turn the vehicle around and come to a stop on the finishing point of the previous line. 9. Initiate the second pass of the calibration by issuing the INSCALIBRATE command with the ADD parameter: INSCALIBRATE RBV ADD 10.
Page 119: Adding Timed Sensor Triggers
Chapter 3 SPAN Operation Time Bias (t_bias): 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.
Page 120: Configuring The Software
Chapter 3 SPAN Operation Table 29: Valid Event Inputs and Outputs for Timed Sensor Triggers Valid Event Outputs Valid Event Inputs MARK1 MARK1 MARK2 MARK2 MARK3 MARK3 MARK4 MARK4 3.6.2 Configuring the Software Sensor objects are defined by using the SETUPSENSOR command. This command allows the Event_In and Event_Out lines to be specified as well as some parameters for the outgoing and incoming signals.
Page 121: Dmi Communication
Chapter 3 SPAN Operation automatically estimates the size of the wheel to mitigate small changes in the size of the wheel due to hardware changes or environmental conditions. A DMI with a higher accuracy will have more wheel ticks per revolution. For example, assume a wheel with a circumference of 2 metres and a DMI rated for 1000 ticks per revolution.
Page 122: Dmi Connection
Chapter 3 SPAN Operation NovAtel SPAN-enabled 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. 3.7.2 DMI Connection Depending on the SPAN system components, the DMI can be connected to a PwrPak7, an IMU, a UIC or an intermediate processor.
Page 123 Chapter 3 SPAN Operation Table 30: Wheel Sensor Maximum Pulse Rates Maximum Pulse Product Rate PwrPak7 100,000 Hz MIC, UIC, IMU-H1900, IMU-IGM-A1, IMU-IGM-S1, IMU-ISA-100C, IMU-LN200, 300,000 Hz IMU-µIMU-IC See IMU IMU with direct wheel sensor support documentation An example of a compatible DMI is the Kistler Wheel Pulse Transducer CWPTA411 (WPT). See Figure 33: Kistler WPT below.
Page 124: Dmi Connected To A Pwrpak7
Chapter 3 SPAN Operation Table 31: 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 External Pin 2 (Input Power)
Page 125 Chapter 3 SPAN Operation Figure 34: DMI to PwrPak7 Setup The DMI connections are A+, A-, B+, B- and GND for quadrature or A+, A- and GND for single channel. DMI Data Collected on the PwrPak7 Typical DMI hardware generates wheel ticks constantly as the wheel rotates. The PwrPak7 interface is configured to accumulate wheel tick counts at a rate of 1 Hz.
Page 126: Dmi Connected To An Imu
Chapter 3 SPAN Operation 1. Connect the PwrPak7 All I/O Cable, or custom interface cable, to the HD26 COM PORT connector on the PwrPak7. For information about creating a custom interface cable, see the PwrPak7 Installation and Operation User Manual. 2. Connect the wheel sensor wires on the interface cable to the DMI. For a quadrature configuration, connect the DMI to the Wheel Sensor A+, Wheel Sensor A-, Wheel Sensor B+, Wheel Sensor B- and GND wires.
Page 127 Chapter 3 SPAN Operation Figure 35: DMI to IMU Setup DMI Data Collected on IMU Typical DMI hardware generates wheel ticks constantly as the wheel rotates. When a DMI is connected to the IMU, the wheel ticks are accumulated in the IMU. The accumulated wheel ticks, along with the raw IMU data, are sent the OEM7 receiver though the serial communication line.
Page 128: Dmi Connected To A Uic
Chapter 3 SPAN Operation 1. Install the SPAN system using the instructions in OEM7 Receiver Card Installation on page 34 or PwrPak7 Installation on page 76. 2. Connect the wheel sensor to the IMU. a. For the IMU-ISA-100C, IMU-HG1900, IMU-LN200 or IMU-µIMU-IC, use the IMU Enclosure Wheel Sensor cable (60723137), or a custom cable, to connect the DMI to the Wheel Sensor port on the IMU.
Page 129 Chapter 3 SPAN Operation Figure 36: DMI to UIC Setup DMI Data Collected on UIC Typical DMI hardware generates wheel ticks constantly as the wheel rotates. When a DMI is connected to the UIC, the wheel ticks are accumulated in the UIC. The accumulated wheel ticks, along with the raw data received from the IMU, are sent the OEM7 receiver though the serial communication line.
Page 130: Dmi Connected To An Intermediate Processor
Chapter 3 SPAN Operation Configure the DMI 1. Send the following command to enable a DMI on the UIC wheel sensor inputs. DMICONFIG DMI1 ENABLE IMU 2. Send the following commands to log the DMI data. LOG DMICONFIGA ONCHANGED LOG RAWDMIA ONNEW LOG INSUPDATESTATUSA ONNEW 3.
Page 131 Chapter 3 SPAN Operation serial communication line using the RAWDMI command. The RAWDMI command should be timed using the 1PPS output from the receiver. DMI Update Logic DMI data is available through the RAWDMI log. The RAWDMI log can be used for applying DMI updates in post-processing.
Page 132: Dmi Command Compatibility
Chapter 3 SPAN Operation LOG DMICONFIGA ONCHANGED LOG RAWDMIA ONNEW LOG INSUPDATESTATUSA ONNEW 4. Check the RAWDMI log to ensure the DMI is producing data. 5. Check the INSUPDATESTATUS log to ensure the DMI is being used in the SPAN solution. If there is no DMI data being produced or the DMI status is not USED, refer to DMI Troubleshooting on the next page.
Page 133: Dmi Troubleshooting
Chapter 3 SPAN Operation Table 32: DMI Command and Log Compatibility Firmware 7.06.xx and earlier Type Firmware 7.07.00 and later Type WHEELVELOCITY Command RAWDMI Log/Command TIMEDWHEELDATA RAWDMI Log/Command WHEELSIZE None INSWHEELUPDATE Command None SETWHEELPARAMETERS Command DMICONFIG Command ENCLOSUREWHEELSENSOR Command DMICONFIG Command For firmware versions 7.06.xx and earlier, refer to docs.novatel.com/OEM7/Content/Appendix/PreviousVersionsDocument.htm...
Page 134: Azimuth Sources On A Span System
Chapter 3 SPAN Operation 3.8 Azimuth Sources on a SPAN System The SPAN system use three different methods to calculate the azimuth. Course Over Ground Inertial Azimuth ALIGN Azimuth 3.8.1 Course Over Ground The course over ground azimuth is determined using the position delta between two position solutions computed by the OEM7 receiver.
Page 135: Data Collection For Post Processing
Chapter 3 SPAN Operation Azimuth Source Format Course Over Ground GPVTG NMEA From the best system solution which could be either GNSS or INS HEADING2 / NovAtel ALIGN DUALANTENNAHEADING INSATT / INSATTS / INSATTX NovAtel Inertial INSPVA / INSPVAS / INSPVAX NovAtel Inertial Course Over Ground...
Page 136 Chapter 3 SPAN Operation LOG HEADING2B ONNEW LOG INSCONFIGB ONCHANGED LOG RANGECMPB ONTIME 1 LOG GPSEPHEMB ONNEW LOG GLOEPHEMERISB ONNEW (if using GLONASS) LOG GALINAVEPHEMERISB ONNEW (if using Galileo) LOG GALFNAVEPHEMERISB ONNEW (if using Galileo) LOG BDSEPHEMERISB ONNEW (if using BeiDou) LOG QZSSEPHEMERISB ONNEW (if using QZSS) LOG RAWIMUSXB ONNEW LOG TIMEB ONTIME 1...
Page 137: Firmware Updates And Model Upgrades
Chapter 3 SPAN Operation 3.10 Firmware Updates and Model Upgrades Firmware updates are firmware releases which include fixes and enhancements to the receiver functionality. Firmware updates are released on the web site as they become available. Model upgrades enable features on the receiver and may be purchased through NovAtel authorized dealers. Contact your local NovAtel dealer first for more information.
Page 138 Chapter 3 SPAN Operation SETINSROTATION USER 0 0 90 SETINSROTATION RBV 0 0 -90 Figure 39: Operating Gimbal on the next page shows the gimbal in operation; the gimbal platform has moved relative to the mount body frame. The gimbal frame and IMU Body frame move together, as does the user output (or mark output) frame.
Page 139: How To Use Variable Lever Arm
Chapter 3 SPAN Operation Figure 39: Operating Gimbal 3.11.3 How to Use Variable Lever Arm The variable lever arm functionality is simple to use in a SPAN system. It requires the input of gimbal angles from the camera mount or platform that the IMU is mounted on. After that is provided, the system will automatically compute the variable lever arm and produce several messages for output.
Page 140 Chapter 3 SPAN Operation Table 34: Logs used with Variable Lever Arm Description This log displays the calculated variable lever arm. The VARIABLELEVERARM log is output in IMU Body frame. VARIABLELEVERARM The VARIABLELEVERARM log will not be published or used internally unless a SETINSROTATION RBM command is sent.
Page 141: Relative Ins
Chapter 3 SPAN Operation Command Purpose By default, attitude information output by SPAN is for the vehicle frame. If attitude SETINSROTATION output is required to be referenced to another frame (typically the axes of a gimbal- USER mounted sensor), the USER offset can be used to rotate the attitude output in general SPAN logs to this frame.
Page 142: Configure Relative Ins
Chapter 3 SPAN Operation Figure 40: Relative INS Example An important command that can be used with Relative INS to manually change the maximum amount of time to use RTK data is the RTKTIMEOUT command. This command is used to set the maximum age of RTK data to use when operating as a rover station.
Page 143 Chapter 3 SPAN Operation To configure Relative INS using the RELINSAUTOMATION command, the base and rover receivers must be communicating using a COM port. If the base and rover are communicating via an ICOM port, the RELINSCONFIG command must be used. The base and rover receiver must be using the same datum. OEM7 SPAN Installation and Operation User Manual v1...
Page 144: Chapter 4 Span With Dual Antenna
Chapter 4 SPAN with Dual Antenna NovAtel's ALIGN heading technology generates distance and bearing information between a “base” and one or more “rover” receivers. SPAN with Dual Antenna provides the hardware necessary to run an ALIGN baseline with an IMU and a second receiver.
Page 145 Chapter 4 SPAN with Dual Antenna The two receivers need to be set up as shown in the example in Figure 41: SPAN – Two Receiver Dual Antenna Installation below. Dual antenna receivers, such as the OEM7720 and PwrPak7D, contain the hardware necessary to provide an ALIGN solution without an additional receiver.
Page 146: Configuring Dual Antenna Align With Span
Chapter 4 SPAN with Dual Antenna Figure 42: SPAN – Single Receiver Dual Antenna Installation 4.2 Configuring Dual Antenna ALIGN with SPAN The Dual Antenna ALIGN updates are used to help constrain the azimuth drift of the INS solution whenever possible.
Page 147: Setup And Configuration
Chapter 4 SPAN with Dual Antenna Following the appropriate dual antenna configuration below, the SPAN system can be configured for different alignment routines depending on the motion conditions experienced during the alignment period. The different alignment routines are described in System Start-Up and Alignment Techniques on page 104. 4.2.1 Setup and Configuration Dual Antenna ALIGN with SPAN can be configured on a dual-antenna receiver, e.g.
Page 148: Optional Headingoffset Configuration
Chapter 4 SPAN with Dual Antenna Refer to the OEM7 Commands and Logs Reference Manual for the syntax of the above commands. 4.2.2 Optional HEADINGOFFSET Configuration Optionally, the HEADINGOFFSET command can be used to rotate the ALIGN solution available in the GPHDT log and HEADING2 log.
Page 149: Appendix A Imu Technical Specifications
APPENDIX A IMU Technical Specifications The following appendices detail the technical specifications of the SPAN compatible IMUs. HG1700 IMU (single-connector enclosure) on the next page LN-200 IMU (single-connector enclosure) on page 155 Universal IMU Enclosure (HG1700, LN200) on page 160 IMU-CPT on page 171 IMU-FSAS on page 178 IMU-HG1900 on page 186 IMU-IGM-A1 and IMU-IGM-S1 on page 191...
Page 150: Hg1700 Imu (Single-Connector Enclosure)
A.1 HG1700 IMU (single-connector enclosure) Table 36: HG1700 IMU Physical Specifications Physical 193 mm x 167 mm x 100 mm IMU Enclosure Size (7.6” x 6.6” x 3.9”) 160 mm x 160 mm x 100 mm IMU Size (6.3” x 6.3” x 3.9”) IMU + Enclosure Weight 3.4 kg (7.49 lb.) See the following sections for more information about the HG1700 IMU.
Page 151: Hg1700 Imu Mechanical Drawings
A.1.1 HG1700 IMU Mechanical Drawings In the following diagrams, the dimensions are in millimetres. Figure 43: HG1700 Top/Bottom Dimensions OEM7 SPAN Installation and Operation User Manual v1...
Page 152 APPENDIX A IMU Technical Specifications Figure 44: HG1700 Enclosure Side Dimensions 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.
Page 153: Hg1700 Imu Performance
APPENDIX A IMU Technical Specifications A.1.2 HG1700 IMU Performance Table 37: HG1700-AG58 IMU Performance Gyroscope Performance Technology Ring laser Dynamic range 1074 °/s Bias drift 1.0 °/hr Angular random walk 0.125 °/√hr Accelerometer Performance Technology Dynamic range 37 g Bias drift 1.0 mg Velocity random walk 0.02 m/s/√hr Data Rate...
Page 154: Hg1700 Electrical And Environmental
APPENDIX A IMU Technical Specifications A.1.3 HG1700 Electrical and Environmental Table 39: HG17000 Electrical Specifications Electrical IMU-H58: 9 W (max) IMU Power Consumption IMU-H62: 8 W (max) IMU Input Voltage +12 to +28 VDC Receiver Power Consumption 1.8 W (typical) System Power Consumption 13.8 W (typical) Input/Output Connectors...
Page 155: Imu (Single-Connector Enclosure)
APPENDIX A IMU Technical Specifications A.2 LN-200 IMU (single-connector enclosure) Table 41: LN-200 IMU Physical Specifications Physical 135 mm x 153 mm x 130 mm IMU Enclosure Size (5.315” x 6.024” x 5.118”) 89 mm D x 85 mm H IMU Size (3.504” D x 3.346” H) 3.19 kg IMU Weight (7.02 lb.)
Page 156: Imu Mechanical Drawings
APPENDIX A IMU Technical Specifications A.2.1 LN-200 IMU Mechanical Drawings In the following diagrams, the dimensions are in millimetres. Figure 45: LN-200 IMU Enclosure Top/Bottom Dimensions and Center of Navigation OEM7 SPAN Installation and Operation User Manual v1...
Page 157 APPENDIX A IMU Technical Specifications Figure 46: LN-200 Enclosure Side Dimensions OEM7 SPAN Installation and Operation User Manual v1...
Page 158 APPENDIX A IMU Technical Specifications 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. OEM7 SPAN Installation and Operation User Manual v1...
Page 159: Imu Performance
APPENDIX A IMU Technical Specifications A.2.2 LN-200 IMU Performance Table 42: LN-200 IMU Performance Gyroscope Performance Technology Dynamic range 1420 °/s Bias repeatability 1.0 °/hr Angular random walk 0.07 °/√hr Accelerometer Performance Technology MEMS Dynamic range 40 g Bias repeatability 0.3 mg Data Rate IMU measurement...
Page 160: Universal Imu Enclosure (Hg1700, Ln200)
APPENDIX A IMU Technical Specifications A.3 Universal IMU Enclosure (HG1700, LN200) The Universal IMU Enclosure is available with the HG1700 and LN-200 IMUs. Table 45: Universal IMU Enclosure Physical Specifications PHYSICAL IMU Enclosure Size 168 mm x 195 mm x 146 mm IMU Enclosure Weight 4.25 kg See the following sections for more information about the IMUs available in the Universal IMU Enclosure.
Page 161: Universal Imu Enclosure Mechanical Drawings
APPENDIX A IMU Technical Specifications A.3.1 Universal IMU Enclosure Mechanical Drawings In the following diagrams, the dimensions are in millimetres [inches]. Figure 47: Universal IMU Enclosure Side Dimensions OEM7 SPAN Installation and Operation User Manual v1...
Page 162 APPENDIX A IMU Technical Specifications Figure 48: Universal IMU Enclosure Top/Bottom Dimensions OEM7 SPAN Installation and Operation User Manual v1...
Page 163 APPENDIX A IMU Technical Specifications OEM7 SPAN Installation and Operation User Manual v1...
Page 164 APPENDIX A IMU Technical Specifications Figure 49: Universal IMU Center of Navigation OEM7 SPAN Installation and Operation User Manual v1...
Page 165 APPENDIX A IMU Technical Specifications Figure 50: Universal IMU Frame Axis OEM7 SPAN Installation and Operation User Manual v1...
Page 166: Imu Performance
APPENDIX A IMU Technical Specifications A.3.2 IMU Performance Table 46: HG1700-AG58 IMU Performance Gyroscope Performance Technology Ring laser Dynamic range 1074 °/s Bias drift 1.0 °/hr Angular random walk 0.125 °/√hr Accelerometer Performance Technology Dynamic range 37 g Bias drift 1.0 mg Velocity random walk 0.02 m/s/√hr Data Rate...
Page 167 APPENDIX A IMU Technical Specifications Table 48: LN-200 IMU Performance Gyroscope Performance Technology Dynamic range 1420 °/s Bias repeatability 1.0 °/hr Angular random walk 0.07 °/√hr Accelerometer Performance Technology MEMS Dynamic range 40 g Bias repeatability 0.3 mg Data Rate IMU measurement 200 Hz OEM7 SPAN Installation and Operation User Manual v1...
Page 168: Electrical And Environmental
APPENDIX A IMU Technical Specifications A.3.3 Electrical and Environmental Table 49: Universal IMU Enclosure Electrical Specifications Electrical HG1700-AG58: 9 W (max) IMU Power Consumption HG1700-AG62: 8 W (max) LN-200: 16 W (typical) IMU Input Voltage +12 to +28 VDC (all IMUs) Receiver Power Consumption 1.8 W (typical, for all IMUs) Input/Output Connectors MIL-C-38999-III, 22 pin (all IMUs)
Page 169: Universal Imu Enclosure Interface Cable
APPENDIX A IMU Technical Specifications A.3.4 Universal IMU Enclosure Interface Cable The NovAtel part number for the Universal IMU Enclosure interface cable is 01018977 (see Figure 51: 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 170 APPENDIX A IMU Technical Specifications J2 Pinout Function Connector Pin/Label OEM_Rx/Rx+ Not used DGND DGND Not used Not used Not used OEM_Tx/Tx+ OEM_RTS/Tx- J1 Shield Shield Pins 4, 6 and 9 of the J1 connector are not used. Custom Cable Recommendations The tables below provide recommendations for creating custom cables to replace the Universal IMU Enclosure interface cable (01018977).
Page 171: Imu-Cpt
APPENDIX A IMU Technical Specifications A.4 IMU-CPT Table 54: IMU-CPT Physical Specifications Physical IMU Size 168 mm W X 152 mm L X 89 mm H IMU Weight 2.29 kg 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 174 IMU-CPT Electrical and Environmental on page 175 IMU-CPT Cable on page 176...
Page 172: Imu-Cpt Mechanical Drawings
APPENDIX A IMU Technical Specifications A.4.1 IMU-CPT Mechanical Drawings In the following diagrams, the dimensions in inches and [millimetres]. Figure 52: IMU-CPT Side and Perspective View OEM7 SPAN Installation and Operation User Manual v1...
Page 173 APPENDIX A IMU Technical Specifications Figure 53: IMU-CPT Top, Front and Bottom View OEM7 SPAN Installation and Operation User Manual v1...
Page 174: Imu-Cpt Sensor Specifications
APPENDIX A IMU Technical Specifications A.4.2 IMU-CPT Sensor Specifications Table 55: IMU-CPT Performance Gyroscope Performance Bias Offset ±20 °/hr Turn On To Turn On Bias Repeatability (Compensated) ±3 °/hr In Run Bias Variation, At Constant Temperature 1 °/hr @ 1σ Scale Factor Error (Total) 1500 ppm, 1σ...
Page 175: Imu-Cpt Electrical And Environmental
APPENDIX A IMU Technical Specifications A.4.3 IMU-CPT Electrical and Environmental Table 56: IMU-CPT Electrical Specifications Electrical Input Power 9 - 18 VDC Power Consumption 13 W (max) Power and I/O Connector MIL-DTL-38999 Series 3 Start-Up Time (Valid Data) < 5 seconds Table 57: IMU-CPT Environmental Specifications Environmental Temperature, operational...
Page 176: Imu-Cpt Cable
APPENDIX A IMU Technical Specifications A.4.4 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 54: IMU-CPT Development Terminated Cable Table 58: IMU-CPT Connector Pinout Descriptions Bare Function...
Page 177 APPENDIX A IMU Technical Specifications Table 59: Connectors Connector Description MIL-DTL 38999, 37 connector, plug DB-9, female Table 60: Maximum Cable Length RS-422 IMU-CPT < 1.5 metres OEM7 SPAN Installation and Operation User Manual v1...
Page 178: Imu-Fsas
APPENDIX A IMU Technical Specifications A.5 IMU-FSAS Table 61: IMU-FSAS Physical Specifications Physical 128 mm x 128 mm x 98 mm IMU Size (5.04” x 5.04” x 3.86”) IMU Weight 2.1 kg (4.63 lb.) See the following sections for more information about the IMU-FSAS. IMU-FSAS Mechanical Drawings on the next page IMU-FSAS Performance on page 182 IMU-FSAS Electrical and Environmental on page 182...
Page 179: Imu-Fsas Mechanical Drawings
APPENDIX A IMU Technical Specifications A.5.1 IMU-FSAS Mechanical Drawings In the following diagrams, the dimensions are in millimetres. Figure 55: IMU-FSAS Top Dimensions Figure 56: IMU-FSAS Bottom Dimensions OEM7 SPAN Installation and Operation User Manual v1...
Page 180 APPENDIX A IMU Technical Specifications Figure 57: IMU-FSAS Side Dimensions OEM7 SPAN Installation and Operation User Manual v1...
Page 181 APPENDIX A IMU Technical Specifications Figure 58: IMU-FSAS Center of Navigation OEM7 SPAN Installation and Operation User Manual v1...
Page 182: Imu-Fsas Performance
APPENDIX A IMU Technical Specifications A.5.2 IMU-FSAS Performance Table 62: IMU-FSAS Performance Gyroscope Performance Gyro Input Range ±450 °/s Gyro Rate Bias <0.75°/hr Gyro Rate Scale Factor 300 ppm Angular Random Walk 0.1 °/√hr Accelerometer Performance Accelerometer Range ±5 g (±20 g optional) Accelerometer Scale Factor 300 ppm Accelerometer Bias 1.0 mg...
Page 183: Interface Cable For Imu-Fsas
APPENDIX A IMU Technical Specifications A.5.4 Interface Cable for IMU-FSAS The IMU interface cable can be one of the following cables: NovAtel Cable Part Comment For more information Number Universal IMU Enclosure See Universal IMU Enclosure 01018977 For standard pinout enclosures. Interface cable Interface Cable on page 169 For standard pinout enclosures.
Page 184 APPENDIX A IMU Technical Specifications Table 65: IMU-FSAS Cable with Wheel Sensor Pinout MIL-C-38999 III Power P4 Male Function Female Comments Connector Pin 4 mm plugs Vin(-) Color: black Power ground Label: Vin (-) Vin(-) Wheel sensor input A(-), ODO_AN opto-coupler: +2 to +6 V (RS-422 compatible) Wheel sensor input A(+), ODO_A...
Page 185 APPENDIX A IMU Technical Specifications MIL-C-38999 III Power P4 Male Function Female Comments Connector Pin 4 mm plugs OEM_Tx/ Twisted pair; serial data in / RS-422(+) OEM_ RTS/ Twisted pair; serial data in / RS-422(-) Custom Cable Recommendations The tables below provide recommendations for creating custom cables to replace the IMU-FSAS cable with Wheel Sensor (01018388).
Page 186: Imu-Hg1900
APPENDIX A IMU Technical Specifications A.6 IMU-HG1900 The IMU-HG1900 contains a Honeywell HG1900 IMU. Table 68: IMU-HG1900 Physical Specifications Physical IMU Enclosure Size 130 mm x 130 mm x 125 mm IMU Enclosure Weight 2.5 kg 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 189 IMU-HG1900 Electrical and Environmental on page 190...
Page 187: Imu-Hg1900 Mechanical Drawings
APPENDIX A IMU Technical Specifications A.6.1 IMU-HG1900 Mechanical Drawings In the following diagrams, the dimensions are in millimetres. Figure 60: IMU-HG1900 Dimensions OEM7 SPAN Installation and Operation User Manual v1...
Page 188 APPENDIX A IMU Technical Specifications Figure 61: IMU-HG1900 Center of Navigation OEM7 SPAN Installation and Operation User Manual v1...
Page 189: Imu-Hg1900 Sensor Specifications
APPENDIX A IMU Technical Specifications A.6.2 IMU-HG1900 Sensor Specifications Table 69: IMU-HG1900 IMU Performance Gyroscope Performance Technology MEMS Dynamic range 1000 °/s Bias instability 1 °/hr Angular random walk 0.06 °/√hr Accelerometer Performance Technology Dynamic range 30 g Bias instability 0.3 mg Velocity random walk 0.02 m/s/√hr Data Rate...
Page 190: Imu-Hg1900 Electrical And Environmental
APPENDIX A IMU Technical Specifications A.6.3 IMU-HG1900 Electrical and Environmental Table 70: IMU-HG1900 Electrical Specifications Electrical IMU Power Consumption 8 W (typical) IMU Input Voltage +10 to +34 VDC IMU Interface RS-422 Connectors Power SAL M12, 5 pin, male Data SAL M12, 5 pin, female Wheel Sensor SAL M12, 8 pin, male...
Page 191: Imu-Igm-A1 And Imu-Igm-S1
APPENDIX A IMU Technical Specifications A.7 IMU-IGM-A1 and IMU-IGM-S1 This section contains the specifications for both the IMU-IGM-A1 and IMU-IGM-S1. Table 72: IMU-IGM-A1 Physical Specifications Physical Enclosure Size 152.0 mm x 137.0 mm x 50.5 mm Weight 475 g Connectors MAIN DB-15HD Female DB-15HD Male...
Page 192: Imu-Igm-A1 And Imu-Igm-S1 Mechanical Drawings
APPENDIX A IMU Technical Specifications A.7.1 IMU-IGM-A1 and IMU-IGM-S1 Mechanical Drawings In the following diagrams, the dimensions are in millimetres. Figure 62: IMU-IGM-A1 Dimensions The center of navigation is at the location marked by the axis labels on the enclosure and indicated on the drawing above.
Page 193 APPENDIX A IMU Technical Specifications Figure 63: IMU-IGM-S1 Dimensions 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. OEM7 SPAN Installation and Operation User Manual v1...
Page 194: Imu-Igm-A1 And Imu-Igm-S1 Ports
APPENDIX A IMU Technical Specifications A.7.2 IMU-IGM-A1 and IMU-IGM-S1 Ports Table 74: IMU-IGM-A1 and IMU-IGM-S1 Main Port Pinout Pin # Label Description MODE2 open: MIC port transmit (RS-232) MIC_TX/MIC_TX+ MODE2 low: MIC port transmit positive (RS-422) MODE2 open: No connection MIC_TX- MODE2 low: MIC port transmit negative (RS-422) DGND Digital ground...
Page 195 APPENDIX A IMU Technical Specifications Pin # Label Description ODM_A- 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 v1...
Page 196: Imu-Igm-A1 And Imu-Igm-S1 Sensor Specifications
APPENDIX A IMU Technical Specifications A.7.3 IMU-IGM-A1 and IMU-IGM-S1 Sensor Specifications Table 76: IMU-IGM-A1 IMU Performance Gyroscope Performance Technology MEMS Gyro Input Range ± 450 °/s In Run Gyro Rate Bias Stability 6.25 °/hr Angular Random Walk 0.3 °/√hr Accelerometer Performance Technology MEMS Accelerometer Range...
Page 197: Imu-Igm-A1 And Imu-Igm-S1 Electrical And Environmental
APPENDIX A IMU Technical Specifications A.7.4 IMU-IGM-A1 and IMU-IGM-S1 Electrical and Environmental Table 78: IMU-IGM-A1 Electrical Specifications Electrical Input Voltage 10 - 30 VDC Power consumption 2.5 W (typical) Table 79: IMU-IGM-A1 Environmental Specifications Environmental Temperature, operational -40°C to +65°C Temperature, storage -50°C to +80°C Humidity...
Page 198: Imu-Igm Interface Cable
APPENDIX A IMU Technical Specifications A.7.5 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. In the following diagram, the dimensions are in millimetres. Figure 64: IMU-IGM Interface Cable Table 82: IMU-IGM Interface Cable Pinout Descriptions MAIN...
Page 199 APPENDIX A IMU Technical Specifications MAIN Function Wire Bundle MIC Port Pin # Label Pin # Digital Ground Reserved MODE 2 MODE 2 Reserved Reserved The MIC port can operate as either an RS-232 or RS-422 serial port. To set the MIC port to RS-232, leave the MODE 2 pin open/unconnected. To set the MIC port to RS-422, tie the MODE 2 pin low.
Page 200: Imu-Isa-100C
APPENDIX A IMU Technical Specifications A.8 IMU-ISA-100C The IMU-ISA-100C contains an ISA-100C IMU. Table 85: IMU-ISA-100C Physical Specifications Physical IMU Enclosure Size 180 mm x 150 mm x 137 mm IMU Enclosure Weight 5.0 kg See the following sections for more information about the IMU-ISA-100C IMU. IMU-ISA-100C Mechanical Drawings on the next page Optional Side Mounting Holes on page 203 IMU-ISA-100C Sensor Specifications on page 205...
Page 201: Imu-Isa-100C Mechanical Drawings
APPENDIX A IMU Technical Specifications A.8.1 IMU-ISA-100C Mechanical Drawings In the following diagrams, the dimensions are in millimetres. Figure 65: IMU-ISA-100C Dimensions OEM7 SPAN Installation and Operation User Manual v1...
Page 202 APPENDIX A IMU Technical Specifications Figure 66: IMU-ISA-100C Center of Navigation OEM7 SPAN Installation and Operation User Manual v1...
Page 203: Optional Side Mounting Holes
APPENDIX A IMU Technical Specifications A.8.2 Optional Side Mounting Holes There are mounting and alignment holes on both sides of the IMU enclosure to allow the IMU to be mounted on its side. These holes have the same pattern and spacing as the mounting and alignment holes on the bottom of the IMU enclosure.
Page 204 APPENDIX A IMU Technical Specifications Figure 67: Optional Side Mounting Holes OEM7 SPAN Installation and Operation User Manual v1...
Page 205: Imu-Isa-100C Sensor Specifications
APPENDIX A IMU Technical Specifications A.8.3 IMU-ISA-100C Sensor Specifications Table 86: IMU-ISA-100C IMU Performance Gyroscope Performance Technology Dynamic range 495 °/s Bias instability 0.05 °/hr Angular random walk (typical) 0.005 °/√hr Accelerometer Performance Technology MEMS Dynamic range 10 g Bias instability 0.1 mg Velocity random walk (typical) 0.018 m/s/√hr...
Page 206: Imu-Isa-100C Electrical And Environmental
APPENDIX A IMU Technical Specifications A.8.4 IMU-ISA-100C Electrical and Environmental Table 87: IMU-ISA-100C Electrical Specifications Electrical IMU Power Consumption 18 W (typical) IMU Input Voltage +10 to +34 VDC IMU Interface RS-422 Connectors Power SAL M12, 5 pin, male Data SAL M12, 5 pin, female Wheel Sensor SAL M12, 8 pin, male...
Page 207: Imu Enclosure Interface Cable
APPENDIX A IMU Technical Specifications A.8.5 IMU Enclosure Interface Cable The NovAtel part number for the IMU Enclosure interface cable is 01019319 (see Figure 68: IMU Enclosure Interface Cable below). This cable enables communication between the receiver and the IMU. This cable is used for all versions of the IMU Enclosure (IMU-ISA-100C, IMU-LN200, IMU-HG1900 and IMU-µIMU-IC).
Page 208 APPENDIX A IMU Technical Specifications Custom Cable Recommendations The tables below provide recommendations for creating custom cables to replace the IMU Enclosure interface cable (01019319). Table 90: Connectors Connector Description M12x1, 5 position, male DB-9, female Table 91: Maximum Cable Length RS-422 IMU-ISA-100C...
Page 209: Imu Enclosure Power Cable
APPENDIX A IMU Technical Specifications A.8.6 IMU Enclosure Power Cable The NovAtel part number for the IMU Enclosure power cable is 60723136 (see Figure 69: IMU Enclosure Power Cable below). This cable provides power to the IMU from an external power source. This cable is used for all versions of the IMU Enclosure (IMU-ISA-100C, IMU-LN200, IMU-HG1900 and IMU-µIMU-IC).
Page 210: Imu Enclosure Wheel Sensor Cable
APPENDIX A IMU Technical Specifications A.8.7 IMU Enclosure Wheel Sensor Cable The NovAtel part number for the IMU Enclosure wheel sensor cable is 60723137 (see Figure 70: IMU Enclosure Wheel Sensor Cable below). This cable enables communication between the IMU and the wheel sensor.
Page 211 APPENDIX A IMU Technical Specifications P1 Pinout Function Bare Wire Color (M12) Grey Chassis Ground Pink Reserved Blue Reserved Custom Cable Recommendations The tables below provide recommendations for creating custom cables to replace the IMU Enclosure Wheel Sensor cable (60723137). Table 94: Connectors Connector Description...
Page 212: Imu-Kvh1750
APPENDIX A IMU Technical Specifications A.9 IMU-KVH1750 Table 96: IMU-KVH1750 Physical Specifications Physical Enclosure Size (Ø x H) 88.9 mm X 73.7 mm Weight <0.7 kg See the following sections for more information about the IMU-KVH1750. IMU-KVH1750 Mechanical Drawings on the next page IMU-KVH1750 Sensor Specifications on page 218 IMU-KVH1750 Electrical and Environmental on page 219 IMU-KVH1750 and IMU-P1750 Cable on page 220...
Page 213: Imu-Kvh1750 Mechanical Drawings
APPENDIX A IMU Technical Specifications A.9.1 IMU-KVH1750 Mechanical Drawings In the following diagrams, the dimensions are in millimetres [inches]. Figure 71: IMU-KVH1750 Bottom view OEM7 SPAN Installation and Operation User Manual v1...
Page 214 APPENDIX A IMU Technical Specifications Figure 72: IMU-KVH1750 Top View OEM7 SPAN Installation and Operation User Manual v1...
Page 215 APPENDIX A IMU Technical Specifications Figure 73: IMU-KVH1750 Side View OEM7 SPAN Installation and Operation User Manual v1...
Page 216 APPENDIX A IMU Technical Specifications Figure 74: IMU-KVH1750 Gyro Axes OEM7 SPAN Installation and Operation User Manual v1...
Page 217 APPENDIX A IMU Technical Specifications OEM7 SPAN Installation and Operation User Manual v1...
Page 218: Imu-Kvh1750 Sensor Specifications
APPENDIX A IMU Technical Specifications A.9.2 IMU-KVH1750 Sensor Specifications Table 97: IMU-KVH1750 Performance Gyroscope Performance Maximum Input Rate ±490 °/s 0.05°/hr (typical) Bias Stability (constant temperature) 0.1°/hr (max) 0.7°/hr (typical) Bias Temperature Sensitivity (full temp.) 1°/hr (max) Bias Offset (at 25° C) ±2°/hr Scale Factor (nominal) 1 ±0.2%...
Page 219: Imu-Kvh1750 Electrical And Environmental
APPENDIX A IMU Technical Specifications A.9.3 IMU-KVH1750 Electrical and Environmental Table 98: IMU-KVH1750 Electrical Specifications Electrical Input Voltage 9 - 36 VDC 5W (typical), Power Consumption 8W (max) Turn-On Time (room temp.) ≤1.25 seconds Full Performance Time (room temp.) ≤60 seconds IMU Interface RS-422 Connectors...
Page 220: Imu-Kvh1750 And Imu-P1750 Cable
APPENDIX A IMU Technical Specifications A.9.4 IMU-KVH1750 and IMU-P1750 Cable The NovAtel part number for the IMU-KVH1750 and IMU-P1750 cable is 01019211. This cable provides power to the IMU from an external power source and enables communication between the receiver and the IMU.
Page 221 APPENDIX A IMU Technical Specifications J1 (15 Pin Micro D Female) P2 (Female DB9) Pin # Signal Name Pin # Signal Name Labels Signal Ground Signal Ground Shell Chassis Ground Shell Chassis Ground A hardware change by KVH regarding KVH1750 IMUs (manufactured after November 2015) expect a differential MSYNC signal input (J1 (15 pin micro D female) of the IMU: Pin 11 MSync+, Pin 7 MSync-).
Page 222: Imu-P1750
APPENDIX A IMU Technical Specifications A.10 IMU-P1750 Table 103: IMU-P1750 Physical Specifications Physical Enclosure Size (Ø x H) 88.9 mm X 73.7 mm Weight 0.7 kg See the following sections for more information about the IMU-P1750. IMU-P1750 Mechanical Drawings on the next page IMU-P1750 Sensor Specifications on page 228 IMU-P1750 Electrical Environmental on page 229 IMU-KVH1750 and IMU-P1750 Cable on page 220...
Page 223: Imu-P1750 Mechanical Drawings
APPENDIX A IMU Technical Specifications A.10.1 IMU-P1750 Mechanical Drawings In the following diagrams, the dimensions are in millimetres [inches]. Figure 76: IMU-P1750 Bottom view OEM7 SPAN Installation and Operation User Manual v1...
Page 224 APPENDIX A IMU Technical Specifications Figure 77: IMU-P1750 Top View OEM7 SPAN Installation and Operation User Manual v1...
Page 225 APPENDIX A IMU Technical Specifications Figure 78: IMU-P1750 Side View OEM7 SPAN Installation and Operation User Manual v1...
Page 226 APPENDIX A IMU Technical Specifications Figure 79: IMU-P1750 Gyro Axes OEM7 SPAN Installation and Operation User Manual v1...
Page 227 APPENDIX A IMU Technical Specifications OEM7 SPAN Installation and Operation User Manual v1...
Page 228: Imu-P1750 Sensor Specifications
APPENDIX A IMU Technical Specifications A.10.2 IMU-P1750 Sensor Specifications Table 104: IMU-P1750 Performance Gyroscope Performance Technology Dynamic range 490 °/s Bias instability 0.05 °/hr Angular random walk 0.012 °/√hr Accelerometer Performance Technology MEMS Dynamic range 16 g Bias instability 0.024 mg Velocity random walk 0.032 m/s/√hr Data Rate IMU measurement...
Page 229: Imu-P1750 Electrical Environmental
APPENDIX A IMU Technical Specifications A.10.3 IMU-P1750 Electrical Environmental Table 105: IMU-P1750 Electrical Specifications Electrical Input Voltage 9 - 36 VDC 5W (typical), Power Consumption 8W (max) IMU Interface RS-422 Connectors Power and I/O 15-pin Micro-D (male) Table 106: IMU-P1750 Environmental Specifications Environmental Temperature, operational -40°C to +75°C...
Page 230: Imu-Ln200
APPENDIX A IMU Technical Specifications A.11 IMU-LN200 The IMU-LN200 contains an LN200 or LN200C IMU. Table 107: IMU-LN200 Physical Specifications Physical IMU Enclosure Size 150 mm x 134 mm x 134 mm IMU Enclosure Weight 3.2 kg See the following sections for more information about the IMU-LN200. IMU-LN200 Mechanical Drawings on the next page IMU-LN200 Sensor Specifications on page 233 IMU-LN200 Electrical and Environmental on page 234...
Page 231: Imu-Ln200 Mechanical Drawings
APPENDIX A IMU Technical Specifications A.11.1 IMU-LN200 Mechanical Drawings In the following diagrams, the dimensions are in millimetres. Figure 80: IMU-LN200 Dimensions OEM7 SPAN Installation and Operation User Manual v1...
Page 232 APPENDIX A IMU Technical Specifications Figure 81: IMU-LN200 Center of Navigation OEM7 SPAN Installation and Operation User Manual v1...
Page 233: Imu-Ln200 Sensor Specifications
APPENDIX A IMU Technical Specifications A.11.2 IMU-LN200 Sensor Specifications Table 108: LN-200 IMU Performance Gyroscope Performance Technology Dynamic range 1420 °/s Bias repeatability 1.0 °/hr Angular random walk 0.07 °/√hr Accelerometer Performance Technology MEMS Dynamic range 40 g Bias repeatability 0.3 mg Data Rate IMU measurement...
Page 234: Imu-Ln200 Electrical And Environmental
APPENDIX A IMU Technical Specifications A.11.3 IMU-LN200 Electrical and Environmental Table 110: IMU-LN200 Electrical Specifications Electrical IMU Power Consumption 17 W (typical) IMU Input Voltage +10 to +34 VDC IMU Interface RS-422 Connectors Power SAL M12, 5 pin, male Data SAL M12, 5 pin, female Wheel Sensor SAL M12, 8 pin, male...
Page 235: Imu-Μimu-Ic
APPENDIX A IMU Technical Specifications A.12 IMU-µIMU-IC The IMU-µIMU-IC contains a Litef µIMU. Table 112: IMU-µIMU-IC Physical Specifications Physical IMU Enclosure Size 130 mm x 130 mm x 115 mm IMU Enclosure Weight 2.57 kg See the following sections for more information about the IMU-µIMU-IC. IMU-µIMU-IC Mechanical Drawings on the next page IMU-µIMU-IC Sensor Specifications on page 238 IMU-µIMU-IC Electrical and Environmental on page 239...
Page 236: Imu-Μimu-Ic Mechanical Drawings
APPENDIX A IMU Technical Specifications A.12.1 IMU-µIMU-IC Mechanical Drawings In the following diagrams, the dimensions are in millimetres. Figure 82: IMU-µIMU-IC Dimensions OEM7 SPAN Installation and Operation User Manual v1...
Page 237 APPENDIX A IMU Technical Specifications Figure 83: IMU-µIMU-IC Center of Navigation OEM7 SPAN Installation and Operation User Manual v1...
Page 238: Imu-Μimu-Ic Sensor Specifications
APPENDIX A IMU Technical Specifications A.12.2 IMU-µIMU-IC Sensor Specifications Table 113: IMU-µIMU-IC IMU Performance Gyroscope Performance Technology MEMS Dynamic range 499 °/s Bias instability 6 °/hr Angular random walk 0.12 °/√hr Accelerometer Performance Technology MEMS Dynamic range 15 g Bias instability 3 mg Velocity random walk 0.150 m/s/√hr...
Page 239: Imu-Μimu-Ic Electrical And Environmental
APPENDIX A IMU Technical Specifications A.12.3 IMU-µIMU-IC Electrical and Environmental Table 114: IMU-µIMU-IC Electrical Specifications Electrical IMU Power Consumption 11 W (typical) IMU Input Voltage +10 to +34 VDC IMU Interface RS-422 Connectors Power SAL M12, 5 pin, male Data SAL M12, 5 pin, female Wheel Sensor SAL M12, 8 pin, male...
Page 240: Oem-Imu-Adis-16488
APPENDIX A IMU Technical Specifications A.13 OEM-IMU-ADIS-16488 The OEM-IMU-ADIS-16488 requires a MEMS Interface Card (MIC) to connect to an OEM719 or OEM729 receiver. See MIC - MEMS Interface Card on page 286. To connect the OEM-IMU-ADIS-16488 to an OEM7600, OEM7700 or OEM7720 receiver, you can use either a MIC or a direct connection via the SPI port.
Page 241: Oem-Imu-Adis-16488 Mechanical Drawings
APPENDIX A IMU Technical Specifications A.13.1 OEM-IMU-ADIS-16488 Mechanical Drawings The following two drawings include the OEM-IMU-ADIS-16488 interface board. The OEM-IMU-ADIS-16488 with interface board is intended for use with a MIC. In the following diagrams, the dimensions are in millimetres. Figure 84: OEM-IMU-ADIS-16488 Dimensions – with Interface Board OEM7 SPAN Installation and Operation User Manual v1...
Page 242 APPENDIX A IMU Technical Specifications Figure 85: OEM-IMU-ADIS-16488 Center of Navigation The following diagram shows the OEM-IMU-ADIS-16488 without the interface board. The OEM-IMU-ADIS- 16488 without interface board is for applications where the IMU connects directly to the OEM7 receiver using a SPI port.
Page 243 APPENDIX A IMU Technical Specifications Figure 86: OEM-IMU-ADIS-16488 Dimensions OEM7 SPAN Installation and Operation User Manual v1...
Page 244: Oem-Imu-Adis-16488 Sensor Specifications
APPENDIX A IMU Technical Specifications A.13.2 OEM-IMU-ADIS-16488 Sensor Specifications Table 117: OEM-IMU-ADIS-16488 Performance Gyroscope Performance Gyro Input Range ±450°/s In-run Gyro Rate Bias Stability 6.25°/hr Angular Random Walk 0.30°/√hr Accelerometer Performance Accelerometer Range ±18 g In-run Accelerometer Bias Stability 0.1 mg Velocity Random Walk 0.029 m/s/√hr Data Rate...
Page 245: Oem-Imu-Adis-16488 Spi Connection
APPENDIX A IMU Technical Specifications A.13.4 OEM-IMU-ADIS-16488 SPI Connection The following table shows the connections required when connecting the OEM-IMU-ADIS-16488 IMU to a SPI compatible OEM7 receiver, such as the OEM7600, OEM7700 or OEM7720. Pins not shown on the following table are not connected. Table 120: Receiver to OEM-IMU-ADIS-16488 Pin Connections ADIS-16488 Receiver...
Page 246: Oem-Imu-Adis-16488 Imu-To-Mic Cable Assembly
APPENDIX A IMU Technical Specifications A.13.5 OEM-IMU-ADIS-16488 IMU-to-MIC Cable Assembly The NovAtel part number for the OEM-IMU-ADIS-16488 IMU-to-MIC interface cable is 01019008 (Figure 87: OEM-IMU-ADIS-16488 IMU-to-MIC Cable Assembly below). This cable provides power to the IMU and enables communication between the MIC and the IMU. Figure 87: OEM-IMU-ADIS-16488 IMU-to-MIC Cable Assembly Table 121: OEM-IMU-ADIS-16488 IMU-to-MIC Cable Pinout...
Page 247: Oem-Imu-Eg320N
APPENDIX A IMU Technical Specifications A.14 OEM-IMU-EG320N Table 122: OEM-IMU-EG320N Physical Specifications Physical IMU Size 24 mm x 24 mm x 10 mm IMU Weight 10 g 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 249 OEM-IMU-EG320N Electrical and Environmental on page 250 OEM-IMU-EG320N Interface Connector on page 251...
Page 248: Oem-Imu-Eg320N Mechanical Drawings
APPENDIX A IMU Technical Specifications A.14.1 OEM-IMU-EG320N Mechanical Drawings The following graphics are courtesy of Seiko Epson Corporation. In the following diagram, the dimensions are in millimetres. Figure 88: EG320N Dimensions OEM7 SPAN Installation and Operation User Manual v1...
Page 249: Oem-Imu-Eg320N Sensor Specifications
APPENDIX A IMU Technical Specifications A.14.2 OEM-IMU-EG320N Sensor Specifications IMU specifications are provided by the Seiko Epson Corporation. For more information about the IMU specifications, refer to the Epson website. Peak vibration amplitude in the frequency range of 700 Hz to 900 Hz must be minimized to achieve optimal SPAN performance.
Page 250: Oem-Imu-Eg320N Electrical And Environmental
APPENDIX A IMU Technical Specifications A.14.3 OEM-IMU-EG320N Electrical and Environmental Table 124: OEM-IMU-EG320N Electrical Specifications Electrical +3.15 to +3.45 VDC Input Power +3.3 VDC typical Power consumption 0.1 W nominal Table 125: OEM-IMU-EG320N Environmental Specifications Environmental Temperature, operational -40°C to +85°C Temperature,storage -40°C to +85°C Vibration, operating...
Page 251: Oem-Imu-Eg320N Interface Connector
APPENDIX A IMU Technical Specifications A.14.4 OEM-IMU-EG320N Interface Connector This graphic is courtesy of Seiko Epson Corporation. Figure 89: OEM-IMU-EG320N Pin Locations Table 126: OEM-IMU-EG320N Connector Pin Name Description SCLK SPI Serial Clock SPI Data Output Digital ground Digital ground SPI Data Input SPI Chip Select SOUT...
Page 252 APPENDIX A IMU Technical Specifications Pin Name Description 3.3 VDC power supply DRDY(GPIO1) Data Ready GPIO2(EXT) External Trigger Digital ground Reset IMU RST must be high for the IMU to be active. Do not connect Do not connect Do not connect Do not connect The OEM-IMU-EG320N requires a Samtec CLM-110-02-H-D mating connector.
Page 253: Oem-Imu-Eg370N
APPENDIX A IMU Technical Specifications A.15 OEM-IMU-EG370N Table 127: OEM-IMU-EG370N Physical Specifications Physical IMU Size 24 mm x 24 mm x 10 mm IMU Weight 10 g 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 255 OEM-IMU-EG370N Electrical and Environmental on page 255 OEM-IMU-EG370N Interface Connector on page 257...
Page 254: Oem-Imu-Eg370N Mechanical Drawings
APPENDIX A IMU Technical Specifications A.15.1 OEM-IMU-EG370N Mechanical Drawings The following graphics are courtesy of Seiko Epson Corporation. In the following diagram, the dimensions are in millimetres. Figure 90: EG370N Dimensions OEM7 SPAN Installation and Operation User Manual v1...
Page 255: Oem-Imu-Eg370N Sensor Specifications
APPENDIX A IMU Technical Specifications A.15.2 OEM-IMU-EG370N Sensor Specifications IMU specifications are provided by the Seiko Epson Corporation. For more information about the IMU specifications, refer to the Epson website. Table 128: OEM-IMU-EG370N Performance Gyroscope Performance Technology MEMS Dynamic range 450 °/s Bias instability 0.8 °/hr Angular random walk 0.06 °/√hr...
Page 256 APPENDIX A IMU Technical Specifications Environmental 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 v1...
Page 257: Oem-Imu-Eg370N Interface Connector
APPENDIX A IMU Technical Specifications A.15.4 OEM-IMU-EG370N Interface Connector This graphic is courtesy of Seiko Epson Corporation. Figure 91: OEM-IMU-EG370N Pin Locations Table 131: OEM-IMU-EG370N Connector Pin Name Description SCLK SPI Serial Clock SPI Data Output Digital ground Digital ground SPI Data Input SPI Chip Select SOUT...
Page 258 APPENDIX A IMU Technical Specifications Pin Name Description 3.3 VDC power supply DRDY(GPIO1) Data Ready GPIO2(EXT) External Trigger Digital ground Reset IMU RST must be high for the IMU to be active. Do not connect Do not connect Do not connect Do not connect The OEM-IMU-EG370N requires a Samtec CLM-110-02-H-D mating connector.
Page 259: Oem-Imu-Hg4930
APPENDIX A IMU Technical Specifications A.16 OEM-IMU-HG4930 Table 132: OEM-IMU-HG4930 Physical Specifications Physical IMU Size 64.8 mm diameter × 35.7 mm height IMU Weight 200 g 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 261 OEM-IMU-HG4930 Electrical and Environmental on page 261 OEM-IMU-HG4930 Interface Connector on page 262...
Page 260: Oem-Imu-Hg4930 Mechanical Drawings
APPENDIX A IMU Technical Specifications A.16.1 OEM-IMU-HG4930 Mechanical Drawings Figure 92: 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 v1...
Page 261: Oem-Imu-Hg4930 Sensor Specifications
APPENDIX A IMU Technical Specifications A.16.2 OEM-IMU-HG4930 Sensor Specifications Table 133: OEM-IMU-HG4930 Performance Gyroscope Performance Technology MEMS Dynamic range 400 °/s Bias instability 0.45 °/hr Angular random walk 0.06 °/√hr Accelerometer Performance Technology MEMS Dynamic range 20 g Bias instability 0.075 mg Velocity random walk 0.06 m/s/√hr...
Page 262: Oem-Imu-Hg4930 Interface Connector
APPENDIX A IMU Technical Specifications A.16.4 OEM-IMU-HG4930 Interface Connector Table 136: OEM-IMU-HG4930 Connector Pin Name Description Ground +5 VDC power supply input Timing input No connect No connect No connect No connect Reserved Reserved No connect No connect No connect No connect SER_DATA_OUT_H Serial Data High Output (RS-485) SER_DATA_OUT_L Serial Data Low Output (RS-485)
Page 263: Oem-Imu-Isa-100C
APPENDIX A IMU Technical Specifications A.17 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 299. Table 137: OEM-IMU-ISA-100C Physical Specifications Physical IMU Size 100 mm x 130 mm x 125 mm IMU Weight 2 kg See the following sections for more information about the OEM-IMU-ISA-100C IMU.
Page 264: Oem-Imu-Isa-100C Mechanical Drawings
APPENDIX A IMU Technical Specifications A.17.1 OEM-IMU-ISA-100C Mechanical Drawings The following graphics are courtesy of Northrop Grumman LITEF GmbH. In the following diagrams, the dimensions are in millimetres. Figure 93: OEM-IMU-ISA-100C Center of Gravity OEM7 SPAN Installation and Operation User Manual v1...
Page 265 APPENDIX A IMU Technical Specifications Figure 94: OEM-IMU-ISA-100C Center of Accelerometers OEM7 SPAN Installation and Operation User Manual v1...
Page 266 APPENDIX A IMU Technical Specifications Figure 95: OEM-IMU-ISA-100C Coordinate Axis OEM7 SPAN Installation and Operation User Manual v1...
Page 267: Oem-Imu-Isa-100C Sensor Specifications
APPENDIX A IMU Technical Specifications A.17.2 OEM-IMU-ISA-100C Sensor Specifications Table 138: OEM-IMU-ISA-100C IMU Performance Gyroscope Performance Technology Dynamic range 495 °/s Bias instability 0.05 °/hr Angular random walk (typical) 0.005 °/√hr Accelerometer Performance Technology MEMS Dynamic range 10 g Bias instability 0.1 mg Velocity random walk (typical) 0.018 m/s/√hr Data Rate...
Page 268: Oem-Imu-Isa-100C Imu To Uic Cable Assembly
APPENDIX A IMU Technical Specifications A.17.4 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 96: OEM-IMU-ISA-100C IMU to UIC Cable Assembly below). This cable provides power to the IMU and enables communication between the UIC and the IMU.
Page 269 APPENDIX A IMU Technical Specifications J2 Pin J1 Pin Signal (ISA-100C) (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 RESETIMUx...
Page 270 APPENDIX A IMU Technical Specifications J2 Pin J1 Pin Signal (ISA-100C) (UIC) – – – – TXC- SYNC+ TXD- – – 5.25 V OEM7 SPAN Installation and Operation User Manual v1...
Page 271: Oem-Imu-Stim300
APPENDIX A IMU Technical Specifications A.18 OEM-IMU-STIM300 The OEM-IMU-STIM300 can use a MEMS Interface Card (MIC) or a direct RS-422 link to connect to an OEM7 receiver. For information about using a MIC, see MIC - MEMS Interface Card on page 286. For information about using a direct RS-422 link, see Connect an OEM-IMU-STIM300 Directly to an OEM7 Receiver on page 46.
Page 272: Oem-Imu-Stim300 Mechanical Drawings
APPENDIX A IMU Technical Specifications A.18.1 OEM-IMU-STIM300 Mechanical Drawings The following graphics are courtesy of Sensonor AS. In the following diagrams, the dimensions are in millimetres. Figure 97: OEM-IMU-STIM300 Dimensions Figure 98: OEM-IMU-STIM300 Center of Navigation OEM7 SPAN Installation and Operation User Manual v1...
Page 273: Oem-Imu-Stim300 Sensor Specifications
APPENDIX A IMU Technical Specifications A.18.2 OEM-IMU-STIM300 Sensor Specifications IMU specifications are provided by the Safran Sensing Technologies. For more information about the IMU specifications, refer to the Safran website. Table 143: OEM-IMU-STIM300 Performance Gyroscope Performance Technology MEMS Dynamic range 400 °/s Bias instability 0.3 °/hr Angular random walk 0.15 °/√hr...
Page 274: Oem-Imu-Stim300 Direct Connection
APPENDIX A IMU Technical Specifications A.18.4 OEM-IMU-STIM300 Direct Connection The following table shows the connections required when connecting the OEM-IMU-STIM300 to an OEM7 receiver using a RS-422 link. Pins not shown on the following tables are not connected. Table 146: OEM7 Receiver Card to OEM-IMU-STIM300 Pin Connections STIM300 RS-422 Line Driver Receiver...
Page 275 APPENDIX A IMU Technical Specifications Table 147: OEM729 COM1 or PwrPak7 to OEM-IMU-STIM300 Pin Connections STIM300 Receiver Pin Name Pin Name Description OEM729 COM1: 15 COMx_ STIM TxD- Part of RS-422 transmit pair from STIM300 PwrPak7 RXD- COM1: 4 COM2: 12 OEM729 COM1: 17 COMx_ STIM RxD- Part of RS-422 receive pair from STIM300 PwrPak7 TXD-...
Page 276 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 46. OEM7 SPAN Installation and Operation User Manual v1...
Page 277: Oem-Imu-Stim300 Imu-To-Mic Cable Assembly
APPENDIX A IMU Technical Specifications A.18.5 OEM-IMU-STIM300 IMU-to-MIC Cable Assembly The NovAtel part number for the OEM-IMU-STIM300 IMU-to-MIC interface cable is 01019161 (Figure 99: OEM-IMU-STIM300 IMU-to-MIC Cable Assembly below). This cable provides power to the IMU and enables communication between the MIC and the IMU. In the following diagram, the dimensions are in millimetres.
Page 278: Oem-Imu-Μimu-Ic / Oem-Imu-Μimu-Ic-Uart
APPENDIX A IMU Technical Specifications A.19 OEM-IMU-µIMU-IC / OEM-IMU-µIMU-IC-UART The specifications in this section apply to both the OEM-IMU-µIMU-IC and OEM-IMU-µIMU-IC-UART. The OEM-IMU-µIMU-IC requires a Universal IMU Controller to connect to a NovAtel receiver. See UIC – Universal IMU Controller on page 299. Table 149: OEM-IMU-µIMU-IC / OEM-IMU-µIMU-IC-UART Physical Specifications...
Page 279 APPENDIX A IMU Technical Specifications OEM-IMU-µIMU-IC OEM-IMU-µIMU-IC-UART Requires the SYNCOUT signal on the IMU to Event Signals The UIC handles timing with the IMU. be connected to an EVENTIN on the receiver. (EVENTIN2 is the default) An IMU to UIC cable is available from A cable is not available from NovAtel.
Page 280: Oem-Imu-Μimu-Ic / Oem-Imu-Μimu-Ic-Uart Mechanical Drawings
APPENDIX A IMU Technical Specifications A.19.2 OEM-IMU-µIMU-IC / OEM-IMU-µIMU-IC-UART Mechanical Drawings The following graphics are courtesy of Northrop Grumman LITEF GmbH. In the following diagrams, the dimensions are in millimetres. Figure 100: OEM-IMU-µIMU-IC / OEM-IMU-µIMU-IC-UART Top Dimensions Figure 101: OEM-IMU-µIMU-IC / OEM-IMU-µIMU-IC-UART Side Dimensions OEM7 SPAN Installation and Operation User Manual v1...
Page 281 APPENDIX A IMU Technical Specifications Figure 102: OEM-IMU-µIMU-IC / OEM-IMU-µIMU-IC-UART Bottom Dimensions Figure 103: OEM-IMU-µIMU-IC / OEM-IMU-µIMU-IC-UART Coordinate Axis OEM7 SPAN Installation and Operation User Manual v1...
Page 282: Oem-Imu-Μimu-Ic / Oem-Imu-Μimu-Ic-Uart Sensor Specifications
APPENDIX A IMU Technical Specifications A.19.3 OEM-IMU-µIMU-IC / OEM-IMU-µIMU-IC-UART Sensor Specifications Table 150: OEM-IMU-µIMU-IC / OEM-IMU- µIMU-IC-UART Performance Gyroscope Performance Technology MEMS Dynamic range 499 °/s Bias instability 6 °/hr Angular random walk 0.12 °/√hr Accelerometer Performance Technology MEMS Dynamic range 15 g Bias instability 3 mg...
Page 283: Oem-Imu-Μimu-Ic / Oem-Imu-Μimu-Ic-Uart Electrical And Environmental
APPENDIX A IMU Technical Specifications A.19.4 OEM-IMU-µIMU-IC / OEM-IMU-µIMU-IC-UART Electrical and Environmental Table 151: OEM-IMU-µIMU-IC Electrical Specifications Electrical +5.0 VDC Input Power Provided by the UIC. See UIC Electrical and Environmental on page 303. Power consumption <8 W Connector 31 pin Micro-D, plug Table 152: OEM-IMU-µIMU-IC-UART Electrical Specifications Electrical...
Page 284: Oem-Imu-Μimu-Ic To Uic Cable Assembly
APPENDIX A IMU Technical Specifications A.19.5 OEM-IMU-µIMU-IC to UIC Cable Assembly The NovAtel part number for the OEM-IMU-µIMU-IC to UIC interface cable is 01019760 (Figure 104: OEM- IMU-µIMU-IC to UIC Cable Assembly below). This cable provides power to the IMU and enables communication between the UIC and the IMU.
Page 285 APPENDIX A IMU Technical Specifications P1 Pin J2 Pin Signal (µIMU) (UIC) IMU_5V25 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 v1...
Page 286: Mic - Mems Interface Card
APPENDIX A IMU Technical Specifications A.20 MIC - MEMS Interface Card Table 155: MEMS Interface Card Physical Specifications Physical 74.9 mm x 45.7 mm x 19.5 mm MIC Size (2.94” x 1.80” x 0.76”) 31 g MIC Weight (0.0683 lb) See the following sections for more information about the MIC. MIC Mechanical Drawings on the next page MIC Electrical and Environmental on page 289 MIC Connectors on page 290...
Page 287: Mic Mechanical Drawings
APPENDIX A IMU Technical Specifications A.20.1 MIC Mechanical Drawings In the following diagrams, the dimensions are in millimetres [inches]. Figure 105: MIC Top/Bottom Dimensions OEM7 SPAN Installation and Operation User Manual v1...
Page 288 APPENDIX A IMU Technical Specifications Figure 106: 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. OEM7 SPAN Installation and Operation User Manual v1...
Page 289: Mic Electrical And Environmental
APPENDIX A IMU Technical Specifications A.20.2 MIC Electrical and Environmental Table 156: MIC Electrical Specifications Electrical MIC Input Voltage 10 VDC to 30 VDC +5 VDC @ 1 Amp for IMU +3.3 VDC @ 1 Amp for IMU Power Consumption +15 VDC @ 0.5 Amp for IMU -15 VDC @ 0.08 Amp for IMU +3.3 VDC @ 0.6 Amp for OEM719...
Page 290: Mic Connectors
APPENDIX A IMU Technical Specifications A.20.3 MIC Connectors Table 158: MIC Connectors Mating Connector Description Part Number Connector Part number ASP-163577- Connects only to J301 20-pin OEM719 mating connector OEM719 receiver. SAMTEC 43650-0313 43645-0300 P101 3-pin locking power connector Molex Molex Electronics Electronics 501571-3007...
Page 291 APPENDIX A IMU Technical Specifications Signal Type Description Comments Status LED 1 / LED1 Output IMU Data Status Leave as no Reserved connect DGND Power Digital ground Leave as no Reserved connect Leave as no Reserved connect Only available in board stackup with OEM719 USB interface USB D- Bidirectional...
Page 292 APPENDIX A IMU Technical Specifications Signal Type Description Comments Only available in board stackup with OEM719 Event1 input/ In standalone, no connect EVENT1/ Input COM3 transmit The Event1 input is enabled by default and the COM3 COM3 TX data port is disabled by default. If you enable the COM3 port, the Event1 input is disabled.
Page 293 APPENDIX A IMU Technical Specifications Table 161: Pinouts for IMU Connector (P601) Signal Type Description Comments Chassis ground Chassis ground Enabled/disabled depending on the IMU type Output Power Positive 15 VDC supply detected Enabled/disabled depending on the IMU type Output Power Positive 15 VDC supply detected Enabled/disabled depending on the IMU type -15V...
Page 294 APPENDIX A IMU Technical Specifications Table 162: Pinouts for IMU Connector (P701) Signal Type Description Comments IMU_VDD Output Power Positive voltage supply for IMU logic circuits IMU_VDD must be +3.3 VDC IMU_VDD Output Power Positive voltage supply for IMU logic circuits SPI_NSS Slave Select LVCMOS level, not 5V tolerant...
Page 295: Oem-Hg1930 Imu-To-Mic Cable Assembly
APPENDIX A IMU Technical Specifications A.20.4 OEM-HG1930 IMU-to-MIC Cable Assembly The NovAtel part number for the OEM-HG1930 IMU-to-MIC interface cable is 01018827 (Figure 107: OEM- HG1930 IMU-to-MIC Cable Assembly below). This cable provides power to the IMU and enables communication between the MIC and the IMU. In the following diagram, the dimensions are in millimetres.
Page 296 APPENDIX A IMU Technical Specifications For more information, refer to the IMU documentation provided by Honeywell. OEM7 SPAN Installation and Operation User Manual v1...
Page 297: Hg1700 And Oem-Hg1900 Imu-To-Mic Cable Assembly
APPENDIX A IMU Technical Specifications A.20.5 HG1700 and OEM-HG1900 IMU-to-MIC Cable Assembly The NovAtel part number for the HG1700 and OEM-HG1900 IMU-to-MIC interface cable is 01018828 (Figure 108: HG1700 and OEM-HG1900 IMU-to-MIC Cable Assembly below). This cable provides power to the IMU and enables communication between the MIC and the IMU.
Page 298 APPENDIX A IMU Technical Specifications For more information, refer to the IMU documentation provided by Honeywell. OEM7 SPAN Installation and Operation User Manual v1...
Page 299: Uic - Universal Imu Controller
APPENDIX A IMU Technical Specifications A.21 UIC – Universal IMU Controller Table 166: UIC Physical Specifications Physical 100 mm x 113 mm x 17.54 mm UIC Size (3.94” x 4.45” x 0.69”) 125 g UIC Weight (0.28 lb) See the following sections for more information about the UIC. UIC Mechanical Drawings on the next page UIC Electrical and Environmental on page 303 UIC Connectors on page 304...
Page 300: Uic Mechanical Drawings
APPENDIX A IMU Technical Specifications A.21.1 UIC Mechanical Drawings In the following diagrams, the dimensions are in millimetres. OEM7 SPAN Installation and Operation User Manual v1...
Page 301 APPENDIX A IMU Technical Specifications Figure 109: UIC Dimensions and Keep Out Zones OEM7 SPAN Installation and Operation User Manual v1...
Page 302 APPENDIX A IMU Technical Specifications Figure 110: UIC Connectors, LEDs and Heat Sink Details OEM7 SPAN Installation and Operation User Manual v1...
Page 303: Uic Electrical And Environmental
APPENDIX A IMU Technical Specifications A.21.2 UIC Electrical and Environmental Table 167: UIC Electrical Specifications Electrical UIC Input Voltage 10 VDC to 34 VDC Power Consumption (at 12 VDC input) IMU Data Interfaces UART and SDLC over RS-422 Table 168: UIC Environmental Specifications Environmental Operating Temperature -40°C to +75°C (-40°F to 167°F) Storage Temperature...
Page 304: Uic Connectors
APPENDIX A IMU Technical Specifications A.21.3 UIC Connectors Table 169: UIC Connectors Mating Connector Connector Description Part Number Part number 43650-0513 43645-0500 J101 5-pin UIC power connector Molex Electronics Molex Electronics 98464-G61-16LF 90311-016LF J102 16-pin UIC to receiver communication connector FCI Electronics FCI Electronics LTMM-125-02-L-D...
Page 305 APPENDIX A IMU Technical Specifications Signal 1 Type Description Comments Reserved Reserved Reserved EVENT_OUT+ Output Event output (+) EVENT_OUT- Output Event output (-) Input Wheel sensor input B (+) Connects to the wheel sensor. Input Wheel sensor input B (-) Connects to the wheel sensor.
Page 306 APPENDIX A IMU Technical Specifications Signal 1 Type Description MISO Input SPI Master Input / Slave Output NOGOx MOSI Output SPI Master Output / Slave Input DIO2 Power Digital ground Power Digital ground IMU_TYPE0 Input Detect IMU type 0 IMU_EVENT_IN IMU_TYPE1 Input Detect IMU type 1...
Page 307 APPENDIX A IMU Technical Specifications Signal 1 Type Description Power Digital ground 5.25V Output Power 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 v1...
Page 308: Oem-Hg1900 Imu To Uic Cable Assembly
APPENDIX A IMU Technical Specifications A.21.4 OEM-HG1900 IMU to UIC Cable Assembly The NovAtel part number for the OEM-HG1900 IMU to UIC interface cable is 01019762 (Figure 111: OEM- HG1900 IMU to UIC Cable Assembly below). This cable provides power to the IMU and enables communication between the MIC and the IMU.
Page 309: Ln200 Imu To Uic Cable Assembly
APPENDIX A IMU Technical Specifications A.21.5 LN200 IMU to UIC Cable Assembly The NovAtel part number for the LN200 IMU to UIC interface cable is 01019763 (Figure 112: 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 310 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 v1...
Page 311: Appendix B Hg1700 Imu In Universal Enclosure
APPENDIX B HG1700 IMU in Universal Enclosure Important! Assemble in accordance with applicable industry standards. Ensure all ESD measures are in place, in particular, use a ground strap before exposing or handling any electronic items, including the IMU. Take care to prevent damaging or marring painted surfaces, O-rings, sealing surfaces and the IMU.
Page 312: Disassemble The Universal Enclosure
APPENDIX B HG1700 IMU in Universal Enclosure B.1 Disassemble the Universal Enclosure Disassemble the Universal Enclosure as follows: 1. Using a 3 mm hex bit, remove the M4 screws (they will be reused) and the base, as shown in Figure 114: Remove Base below.
Page 313: Install The Hg1700 Sensor Unit
APPENDIX B HG1700 IMU in Universal Enclosure 3. Using a 2.5 mm hex bit, unscrew the M4 screws and remove the IMU mounting plate, bracket and cable harness, as shown in Figure 116: Remove IMU Mounting Plate and Bracket below: Figure 116: Remove IMU Mounting Plate and Bracket B.2 Install the HG1700 Sensor Unit To install the HG1700 sensor unit in the Universal Enclosure: 1.
Page 314 APPENDIX B HG1700 IMU in Universal Enclosure Figure 117: Remove IMU Mounting Screws 2. Check the connection of the internal cable harness to the board assembly and route as shown in Figure 118: Connect IMU to IMU Mounting Plate below. Before you connect the IMU cable harness, make sure the connector on the board assembly is clicked open.
Page 315 APPENDIX B HG1700 IMU in Universal Enclosure harness. Screw the IMU and mounting plate together, using thread-locking fluid on the 8-32 screws, as shown in Figure 119: Installing IMU to Mounting Plate below. Figure 119: Installing IMU to Mounting Plate 4.
Page 316 APPENDIX B HG1700 IMU in Universal Enclosure Figure 120: Assemble Into Enclosure Body 5. Connect the internal cable harness to the enclosure body, as shown in Figure 121: Fasten Internal Cable Harness on the next page. During this step, ensure the connector O-ring (supplied with the connector of the internal cable harness) remains flat within the connector’s groove, and make sure the groove is clean and free of debris.
Page 317 APPENDIX B HG1700 IMU in Universal Enclosure Figure 121: Fasten Internal Cable Harness 6. Ensure the O-rings are in place. If they are not, as necessary, make sure the grooves of the enclosure base are clean and free of debris, using isopropyl alcohol. As shown in Figure 122: Install O-rings below, install the outer environmental and inner EMI O-rings in the enclosure base, being careful not to stretch or twist them.
Page 318 APPENDIX B HG1700 IMU in Universal Enclosure Figure 123: Install Enclosure Body on the Base 8. While squeezing and holding the enclosure body and base together to maintain tight contact, carefully turn the assembly over and place it on its top, as shown in Figure 124: Screw Enclosure Base to Body below. Using a 3 mm hex bit, lightly fasten four equally spaced M4 screws to hold the parts together.
Page 319 APPENDIX B HG1700 IMU in Universal Enclosure Figure 125: Final Assembly OEM7 SPAN Installation and Operation User Manual v1...
Page 320: Appendix C Ln-200 Imu In Universal Enclosure
APPENDIX C LN-200 IMU in Universal Enclosure Important! Assemble in accordance with applicable industry standards. Ensure all ESD measures are in place, in particular, use a ground strap before exposing or handling any electronic items, including the IMU. Take care to prevent damaging or marring painted surfaces, O-rings, sealing surfaces, and the IMU.
Page 321: Disassemble The Universal Enclosure
APPENDIX C LN-200 IMU in Universal Enclosure C.1 Disassemble the Universal Enclosure Disassemble the Universal Enclosure as follows: 1. Using a 3 mm hex bit, remove the M4 screws (they will be reused) and the base, as shown in Figure 127: Remove Base below.
Page 322: Install The Ln-200 Sensor Unit
APPENDIX C LN-200 IMU in Universal Enclosure 3. Lift the enclosure lid off the assembly to expose the IMU bracket, shown in Figure 129: IMU Bracket below. Disconnect the harness at the SDLC card and remove. Figure 129: IMU Bracket 4.
Page 323 APPENDIX C LN-200 IMU in Universal Enclosure Figure 131: Install LN-200 IMU to Base 2. Using a long 3 mm hex bit, install the IMU bracket/SDLC to the base, as shown in Figure 132: Install Bracket to Base below. Use thread-locking fluid on each M4 screw. Figure 132: Install Bracket to Base 3.
Page 324 APPENDIX C LN-200 IMU in Universal Enclosure Figure 133: Making Connections Make sure the tape of the harness is positioned for maximum protection. 4. While carefully holding the body over the bracket, connect the internal cable harness to the board assembly, as shown in Figure 134: Connect Internal Cable Harness below.
Page 325 APPENDIX C LN-200 IMU in Universal Enclosure holes/screws of the enclosure body and base, and carefully lower the body onto the base, observing the O-rings and the alignment of corners. Start with the round pilot hole indicated in Figure 135: Installing the Enclosure Body to the Base below, then press the assembly into place.
Page 326 APPENDIX C LN-200 IMU in Universal Enclosure 7. 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 is shown in Figure 137: Final Assembly below.
Page 327: 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 Install the HG1700 Sensor Unit Make Electrical Connections Reassemble the SPAN HG Enclosure...
Page 328 APPENDIX D HG1700 IMU in SPAN HG Enclosure Figure 139: Bolts and Hex Key 2. Set aside the bolts with their sealing washers. 3. Lift the top cover off the tube body and set it aside, as shown in Figure 140: Lift Top Cover, Tube Body and 3 Ring Spacer Screws on the next page.
Page 329: Install The Hg1700 Sensor Unit
APPENDIX D HG1700 IMU in SPAN HG Enclosure Figure 140: Lift Top Cover, Tube Body and 3 Ring Spacer Screws D.2 Install the HG1700 Sensor Unit To re-assemble the SPAN IMU with the HG1700 sensor, see Figure 141: SPAN IMU Re-Assembly on the next page and follow these steps: 1.
Page 330: Make The Electrical Connections
APPENDIX D HG1700 IMU in SPAN HG Enclosure Figure 141: SPAN IMU Re-Assembly D.3 Make the Electrical Connections To make the electrical connections you need a 3/32” hex key, the flex cable and the partially assembled SPAN IMU from Install the HG1700 Sensor Unit on the previous page. Now follow these steps: 1.
Page 331 APPENDIX D HG1700 IMU in SPAN HG Enclosure Figure 142: Attach Flex Cable 2. Tighten the screws to 4 in-lbs. 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 142: Attach Flex Cable above.
Page 332: Re-Assemble The Span Imu Enclosure
APPENDIX D HG1700 IMU in SPAN HG Enclosure Figure 143: Incorrect (Bowed) Flex Cable Installation below shows an incorrect installation of the flex cable where it is bowed in the middle. It will not operate properly in this position. Figure 144: Correct (Flat) Flex Cable Installation below shows the proper installation of the flex cable.
Page 333 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: Disassemble the SPAN IMU Enclosure Install the LN-200 Sensor Unit Make Electrical Connections...
Page 334 APPENDIX E LN-200 IMU in SPAN IMU Enclosure 1. Remove the six bolts from the top cover using a hex key, as shown in Figure 147: Bolts and Hex Key below: Figure 147: Bolts and Hex Key 2. Set aside the bolts with their sealing washers. 3.
Page 335 APPENDIX E LN-200 IMU in SPAN IMU Enclosure Figure 148: Lift Top Cover and Tube Body E.2 Install the LN-200 Sensor Unit To install the LN-200 sensor, follow these steps: 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.
Page 336 APPENDIX E LN-200 IMU in SPAN IMU Enclosure Figure 149: SPAN IMU Re-Assembly E.3 Make the Electrical Connections To make the electrical connections you will need a 3/32” a hex key, the wiring harness and the partially assembled SPAN IMU from Install the LN-200 Sensor Unit on the previous page. Now follow these steps: 1.
Page 337 APPENDIX E LN-200 IMU in SPAN IMU Enclosure Figure 150: Attach Wiring Harness 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 151: Attach Samtec Connector on the next page. Ensure that the connector is locked in place.
Page 338 APPENDIX E LN-200 IMU in SPAN IMU Enclosure Figure 151: Attach Samtec Connector E.4 Re-Assemble the SPAN IMU Enclosure Use a hex key to align the long bolts with the threaded holes in the base, as shown in Figure 147: Bolts and Hex Key on page 334.
Page 339 APPENDIX E LN-200 IMU in SPAN IMU Enclosure Figure 152: LN-200 SPAN IMU OEM7 SPAN Installation and Operation User Manual v1...
Page 340 APPENDIX F Frequently Asked Questions 1. How do I know if my IMU is connected properly? a. Refer to the VERSION log. If your IMU is communicating with a SPAN enabled receiver, the IMU details will be included in the log. b.
Page 341 APPENDIX F Frequently Asked Questions b. If the INSCOMMAND command has been set to START_FINE_TIME, the RAWIMU logs are not available until the system has solved for time. This requires that an antenna is attached and satellites are visible to the system. You can verify that time is solved by checking the time status in the header of any standard header log such as BESTPOS.
Page 342 APPENDIX G Importance of Antenna Selection An antenna behaves both as a spatial and frequency filter, therefore, selecting the right GNSS antenna is critical for optimizing performance. An antenna must match the receiver’s capabilities and specifications, as well as meet size, weight, environmental and mechanical specifications for the intended application. Factors to consider when choosing a GNSS antenna include: 1.
Page 343 APPENDIX G Importance of Antenna Selection Figure 153: Plot of Good and Poor Antenna Phase Center Variation over Elevation Angle 0-90° Many users can accept accuracies of less than a metre so these small phase center variations cause a negligible amount of position error. But if you require high precision, Real Time Kinematic (RTK) receivers can achieve position accuracies of 2-4 cm and a few millimetres of phase center error translates to a 10- 15% error in reported position.
Page 344 APPENDIX G Importance of Antenna Selection OEM7 SPAN Installation and Operation User Manual v1...
Page 345 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 175: OEM7 Receivers NovAtel Part Part Description OEM719 OEM7 receiver card with OEM6 compatible 20 pin header OEM729...
Page 346 APPENDIX H Accessories and Replacement Parts NovAtel Part Part Description Single enclosure SPAN GNSS+INS receiver with dual antenna inputs, HG4930 IMU and built- CPT7 in data storage CPT7700 Single enclosure SPAN GNSS+INS receiver with HG4930 IMU and built-in data storage Table 176: SPAN Compatible IMUs NovAtel Part Part Description IMU-CPT...
Page 347 APPENDIX H Accessories and Replacement Parts NovAtel Part Part Description UIMU-HG1700-AG62 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...
Page 348 APPENDIX H Accessories and Replacement Parts NovAtel Part Part Description 2.7" circular form factor G3Ant-2A196MNS-4 (GPS L1, GLONASS L1, BeiDou B1, Galileo E1 and L-Band) ARINC-743 bolt pattern G3Ant-42A4T1 (GPS L1, GLONASS L1, BeiDou B1, Galileo E1, L-Band) Mini-ARINC pattern G3Ant-4AT1 (GPS L1, GLONASS L1, Galileo E1, BeiDou B1, L-Band) 3.5"...
Page 349 APPENDIX H Accessories and Replacement Parts Table 179: GNSS Antenna Cables NovAtel Part Part Description GPS-C006 5 metres – TNC to TNC cable GPS-C016 15 metres – TNC to TNC cable GPS-C032 30 metres – TNC to TNC cable 60723177 2.5 metres –...
Page 350 OEM7 SPAN Installation and Operation User Manual v1...

Hexagon 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

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