Novatel SPAN-SE User Manual
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Novatel SPAN-SE User Manual

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SPAN-SE
USER MANUAL
OM-20000124
Rev 9

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  • Page 1 ™ SPAN-SE USER MANUAL OM-20000124 Rev 9...

  • Page 2: Proprietary Notice

    Information in this document is subject to change without notice and does not represent a commitment on the part of NovAtel Inc. The software described in this document is furnished under a licence agreement or non-disclosure agreement. The software may be used or copied only in accordance with the terms of the agreement.

  • Page 3: Table Of Contents

    1 Introduction 1.1 Fundamentals of GNSS/INS....................30 1.2 Models and Features ......................31 2 SPAN-SE Installation 2.1 SPAN-SE Hardware Description ................... 33 2.2 SPAN-SE Hardware Installation .................... 37 2.2.1 Mount Antenna ......................37 2.2.2 Mount IMU ........................38 2.2.3 Connect Interface Cables .................... 38 2.2.4 Connect Power ......................
  • Page 4 3.5.3 Wheel Sensor Updates using the WHEELVELOCITY Command ....... 65 3.5.4 Logging Wheel Sensor Data from SPAN-SE............... 65 3.6 Data Collection for Post Processing ..................66 3.7 Status Indicators ........................67 3.7.1 SPAN-SE Status LEDs ....................67 3.7.2 SPAN-MPPC Status LED .................... 68 3.8 SD Card ..........................
  • Page 5 B.4.14 GIMBALSPANROTATION Gimbal frame to SPAN frame rotation ....... 147 B.4.15 GNSSCARDCONFIG GNSS port configuration ........... 148 B.4.16 ICOMCONFIG Set ICOMx Protocol ..............151 B.4.17 INPUTGIMBALANGLE Input gimbal angles into the SPAN-SE ......152 B.4.18 IPCONFIG Set IP information................153 B.4.19 INSCOMMAND INS control command ..............154 B.4.20 INSZUPT Request Zero Velocity Update .............
  • Page 6 B.4.45 SETUPSENSOR Add a new camera sensor............194 B.4.46 SETWHEELPARAMETERS Set wheel parameters ..........195 B.4.47 SOFTLOADFILE Loads a file to the SPAN-SE............. 197 B.4.48 SOFTPOWER Power down the SPAN-SE ............198 B.4.49 SPANAUTH Add an authorization code for a new model ........199 B.4.50 SPANMODEL Switch to a previously authorized model........
  • Page 7 D.3.54 RANGECMP Compressed Version of the RANGE Log ........316 D.3.55 RAWEPHEM Raw Ephemeris................318 D.3.56 RAWIMU Raw IMU Data ..................319 D.3.57 RAWIMUS Short Raw IMU Data ................327 D.3.58 RXCONFIG Receiver Configuration..............329 D.3.59 RXSTATUS Receiver Status .................. 331 SPAN-SE User Manual Rev 9...
  • Page 8 H.2 Install the LN-200 Sensor Unit .................... 380 H.3 Make the Electrical Connections ..................381 H.4 Re-Assemble the SPAN IMU Enclosure ................383 Appendix I SPAN-SE Interface Card Appendix J SPAN-MPPC Interface Card J.1 SPAN-MPPC Mechanical Drawings..................391 J.2 SPAN-MPPC Connector Pin-Outs ..................394 J.3 SPAN MPPC Breakout Board ....................
  • Page 9 Enclosure Side Dimensions ................111 iIMU-FSAS Center of Navigation ..................112 Universal IMU Interface Cable ................... 113 iIMU Interface Cable Connections with a SPAN-SE ............114 Corrsys Datron WPT ......................117 iMAR iMWS Pre-Installed ....................117 IMU-CPT - Side and Perspective View ................120 IMU-CPT Top, Front and Bottom View ................
  • Page 10 SPAN IMU Re-Assembly ....................380 Attach Wiring Harness ....................... 381 Attach Samtec Connector ....................382 LN-200 SPAN IMU ......................383 SPAN-SE Interface Card ....................385 SPAN-MPPC Interface Card ....................391 SPAN-MPPC Board Stack (perspective view) ..............392 SPAN-MPPC Board Stack (dimensions) ................393 SPAN MPPC Breakout Board ....................
  • Page 11 COM Serial Port Identifiers ....................136 Parity ..........................136 Handshaking........................136 Tx, DTR and RTS Availability ..................... 138 SPAN-SE COM Port Values ....................139 FRESET Target ........................146 Serial Port Interface Modes ....................150 NMEA Messages ......................164 DGPS Type ........................167 Dynamics Mode ........................
  • Page 12 OEMV-3 Status ........................335 OEMV-2 Status ........................335 Status Word ........................338 Event Type.......................... 338 OEMV in SPAN-SE Model Designators................346 SPAN-SE Model Designators ..................... 346 Component Types ......................347 VERSION Log: Field Formats .................... 347 SPAN-SE Interface Card Header Description..............386 J401 (LED Header) ......................
  • Page 13 SPAN MPPC Breakout Board - J32 Serial Port Connection..........403 SPAN MPPC Breakout Board - J33 Serial Port Connection..........403 SPAN MPPC Breakout Board - J34 Serial Port Connection..........404 SPAN MPPC Breakout Board - J35 Serial Port Connection..........404 SPAN-MPPC IMU Connections..................405 SPAN-SE User Manual Rev 9...

  • Page 14: Software License

    However, should NovAtel elect to take such legal proceedings, at NovAtel's request, Licensee shall co-operate reasonably with NovAtel in all legal actions concerning this license of the Software under this Agreement taken against any third party by NovAtel to protect its rights in the Software.
  • Page 15 NovAtel. This provision shall survive termination of this Agreement howsoever arising. 6. Warranty: NovAtel does not warrant the contents of the Software or that it will be error free. The Software is furnished "AS IS" and without warranty as to the performance or results you may obtain by using the Software.

  • Page 16: Terms And Conditions

    NovAtel in writing to be confidential and shall not disclose it without NovAtel's prior consent in writing to any third party or use it other than for the operation and maintenance of any Equipment provided.
  • Page 17 NovAtel shall not be liable to the Buyer by way of indemnity or by reason of any breach of the Order or of statutory duty or by reason of tort (including but not limited to negligence) for any loss of profit, loss of use, loss of production, loss of contracts or for any financing costs or for any indirect or consequential damage whatsoever that may be suffered by the Buyer.

  • Page 18: Warranty Policy

    Software Warranty One (1) Year Date of sale shall mean the date of the invoice to the original customer for the product. NovAtel’s responsibility respecting this warranty is solely to product replacement or product repair at an authorized NovAtel location only.
  • Page 19 Warranty Policy NovAtel warrants that during the Warranty Period that (a) the Product will be free from defects in material and workmanship and conform to NovAtel specifications; and (b) the software will be free from error which materially affect performance. THESE WARRANTIES ARE EXPRESSLY IN...

  • Page 20: Customer Support

    INSCOVSB onchanged INSUPDATEB onchanged BESTGPSPOSB ontime 1 Send the file containing the log to NovAtel Customer Support, using either the NovAtel FTP site at Support | Firmware/Software and Manuals | Access FTP Site on the NovAtel website at www.novatel.com or through the support@novatel.com...

  • Page 21: Contact Information

    Customer Support Contact Information Use one of the following methods to contact NovAtel Customer Support: Call the NovAtel Hotline at 1-800-NOVATEL (U.S. & Canada) [1-800-668-2835] or +1-403-295-4900 (international) Fax: +1-403-295-4901 Write: NovAtel Inc. Customer Support Department E-mail: support@novatel.ca 1120 - 68 Avenue NE Website: http://www.novatel.com...

  • Page 22: Firmware Updates And Model Upgrades

    Firmware updates are released on the website 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. To locate a dealer in your area visit www.novatel.com | Where to Buy | Dealer Network or contact NovAtel Customer Support directly.

  • Page 23: Notices

    (1) this device may not cause harmful interference, and (2) this device must accept any interference received, including interference that may cause undesired operation. SPAN-SE and SPAN-SE-D comply with the radiated and conducted emission limits for a Class B digital device. The Class B limits are designed to provide reasonable protection against harmful interference in a residential installation.
  • Page 24 Directive 1999/5/EC." WEEE NOTICE If you purchased your SPAN-SE or SPAN-SE-D product in Europe, please return it to your dealer or supplier at the end of its life. The objectives of the European Community'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 25 The primary and secondary lightning protections should be as close to the building's entrance as possible. Where feasible they should be mounted onto the grounding plate itself. See also Figure 1, Primary and Secondary Lightning Protection below. SPAN-SE User Manual Rev 9...

  • Page 26: Primary And Secondary Lightning Protection

    Where applicable, follow the electrical codes for the country of installation. Examples of country codes include: • National Electrical Code (NFPA 70) • Canada Canadian Electrical Code (CSA C22) • British Standards Institute (BSI 7671) SPAN-SE User Manual Rev 9...

  • Page 27: Foreword

    This manual contains sufficient information on the installation and operation of the SPAN system. It is beyond the scope of this manual to provide details on service or repair. Contact your local NovAtel dealer for any customer-service related inquiries, see Customer Service on page 21.
  • Page 28 Foreword What’s new in this version of the User Guide? This version of the SPAN-SE user manual provides users with additional information about the following: • The SPAN-SE operational procedures have been changed to show NovAtel Connect. • Added the new log and command for Heave functionality.

  • Page 29: Introduction

    GNSS and the continuity of INS through traditionally difficult GNSS conditions. SPAN-SE is the solution engine of NovAtel’s leading-edge SPAN technology. It provides the user interface to SPAN and outputs raw measurement data or solution data over several communication protocols or to a removable SD card.

  • Page 30: Fundamentals Of Gnss/Ins

    The GNSS receiver is connected to the IMU enclosure with an RS-232 or RS-422 serial link, which is the dedicated IMU COM port in SPAN-SE (and SPAN-MPPC). A NovAtel GNSS antenna must also be connected to the receiver to track GNSS signals. Once the IMU enclosure, GNSS antenna and appropriate power supplies are attached, and a few simple configuration commands are entered, the SPAN system will be up, running and ready to navigate.

  • Page 31: Models And Features

    | Support | Knowledge and Learning | Application Notes. Each model has the following standard features: • NovAtel's advanced OEMV L1/L2 GNSS/GLONASS and PAC technology • Four bidirectional COM ports, three of which support data transfer rates of up to 921,600 bits/s •...

  • Page 32: Supported Imu Types

    GNSS receivers and can be configured for single or dual antenna operation. There are no hardware or software upgrade paths available from the SE-S to the SE-D, so NovAtel recommends the dual-antenna SPAN-SE-D if you are unsure if your application required a single or dual antenna.

  • Page 33: Span-Se Installation

    SPAN-SE Hardware Description The basic hardware setup consists of a SPAN-SE receiver (see Figure 1 on page 29) connected to an IMU (see Figure 2 on page 29), a GNSS antenna and a power supply. For real time differential operation, a communication link between the base and rover(s) is necessary.

  • Page 34: Span-Se Example Installation

    Connect an LN-200, HG-1700, iIMU FSAS or a Litef-LCI with an IMU interface cable to the connector labelled IMU on the SPAN-SE I/O 2 yellow cable. For the other connections, that only apply to the iIMU- FSAS, see Section A.2.4.1, iIMU-FSAS Interface Cable starting on page 113.

  • Page 35: Typical Static Base Set-Up

    Connect user supplied PC for set up and monitoring to COM1. Connect user supplied radio device to COM2.  Ensure a user-supplied radio device is connected to the connector labelled OEMV3 on the SPAN-SE I/O green cable. SPAN-SE User Manual Rev 9...

  • Page 36: Sd Memory Card

    USB is recommended for logging of high-rate data. Data storage is via a Secure Digital (SD) memory card that you access in the front of the SPAN-SE. See also Section 3.8, SD Card starting on page 69.

  • Page 37: Span-Se Hardware Installation

    SPAN-SE GPS2 Antenna 2 (optional) Green multi-pin connector 1 containing I/O 1 SPAN-SE COM ports, OEMV COM port, event inputs, and output strobes Yellow multi-pin connector 2 containing I/O 2 SPAN-SE COM ports, IMU COM port, event inputs, and output strobes Each connector can be inserted in only one way, to prevent damage to both the receiver and the cables.

  • Page 38: Mount Imu

    2.2.3 Connect Interface Cables The SPAN-SE has two circular connectors on the back panel. Each connector has a cable that breaks out the serial ports into DB9 connectors and the input and output event signals to bare wires. Each peripheral signal is identified on the cable with a label.

  • Page 39: Span-Se Cable Connections

    SPAN-SE Installation Chapter 2 Figure 7: SPAN-SE cable connections Connect the antenna to the antenna port on the receiver using an appropriate coaxial cable. SPAN-SE User Manual Rev 9...

  • Page 40: Connect Power

    2.2.5 Power Button The power button on the front of the SPAN-SE, see Figure 8, is managed by software. When the system receives sufficient power, it powers itself on without the need to press the power button. However, the power button is connected directly to the onboard power supply to re-enable the system when it has been automatically shut down and to manually power down the system.

  • Page 41: Span-Se Power Button

    Figure 8: SPAN-SE Power Button When installing the SPAN-SE in a vehicle, we recommend that you put a back-up battery between the receiver and its voltage supply to act as a power buffer. When a vehicle engine is started, power can dip to 9.6 VDC or cut-out to ancillary equipment causing the receiver and IMU to reset.

  • Page 42: Span-Se Led Indicators

    After you press the power button, the front panel LED indicators (shown in Figure 10) will operate as follows, with the changes in LED status occurring in 0.5 second intervals: Figure 10: SPAN-SE LED Indicators Press and hold down power button.

  • Page 43: Connect Additional Equipment

    SPAN-SE, see Section 3.11, Synchronizing External Equipment starting on page 74. See Section A.1.1.3, I/O 2 Yellow Cable (NovAtel part number 01018133) on page 95 for its bare wire pin-outs. The jacket insulation is cut away slightly from the end but the insulation on each wire is intact.

  • Page 44: Span-Se Operation

    Before operating your SPAN system, ensure that you have followed the installation and setup instructions in Chapter 2, SPAN-SE Installation starting on page 33. You can use NovAtel’s Connect software to configure receiver settings and monitor data in real-time. SPAN system output is compatible with post-processing software from NovAtel's Waypoint Products Group.

  • Page 45: Span Computation Frame

    Appendix A.2.2, HG1700 IMU (Single-Connector Enclosure) starting on page 104 for the LN200 and HG1700 enclosure markings respectively. Contact NovAtel for center of navigation drawings for the HG1900 and HG1930 IMUs. Figure 13: Enclosure Frame SPAN-SE User Manual Rev 9...

  • Page 46: Vehicle Frame

    RVBCALIBRATE command on page 174 for information on calibrating this rotation. Figure 14: Vehicle Frame Communicating with the SPAN System Once the receiver is connected to the PC, antenna, and power supply, install NovAtel’s OEMV PC Utilities (Connect and Convert4), available from the NovAtel website at www.novatel.com through Support | Firmware/Software and Manuals.
  • Page 47 If selecting a network connection, you must have configured an IP address into the receiver prior to connecting, see SPAN-SE Ethernet Connection on page 76. Select the computer port that the SPAN receiver is connected to from the Port list.
  • Page 48 12. Use the Console window to enter commands. See also Section 3.6, Data Collection for Post Pro- cessing on page 66.  If you have to power down your receiver, ensure that all windows, other than the Console window, are closed in Connect and then use the SAVECONFIG command. SPAN-SE User Manual Rev 9...

  • Page 49: Ins Window In Connect

    Type field shows the GPS-only position type from the BESTGPSPOS log. The INS Config- uration/Status section displays the IMU type, IMU Status and local date/time information. The dial is a graphical display of the Roll, Pitch and Azimuth values indicated by an arrow on each axis. SPAN-SE User Manual Rev 9...

  • Page 50: Software Configuration

    GNSS Configuration The GNSS configuration can be set up for different accuracy levels such as single point, SBAS, DGPS and RTK (RTCA, RTCM, RTCM V3 and CMR). SPAN-SE receivers can also be set up for OmniSTAR HP or OmniSTAR VBS.
  • Page 51  Command description brackets [ ] represent optional parameters. RTK correction data is input to SPAN-SE using the port labelled OEMV3 on the green cable. The port is configured using the GNSSCARDCONFIG command at the rover as follows: gnsscardconfig [card] [port] rx_type tx_type baud [com control parameters]...

  • Page 52: Span Imu Configuration

    Vehicle to SPAN Frame Angular Offsets Calibration Routine on page 63. 3.3.2.2 SPAN Configuration with Connect Follow these steps to enable INS as part of the SPAN system using the NovAtel Connect software utility:  The NovAtel Connect screen shots in this manual may differ from your version on NovAtel Connect.
  • Page 53 SPAN-SE Operation Chapter 3 SPAN-SE User Manual Rev 9...

  • Page 54: Real-Time Operation

    The INS filter is in navigation mode, but not enough vehicle dynamics have been experienced for the system to be within specifications. 1. See also the Frequently Asked Question appendix, question #7 on page 409 SPAN-SE User Manual Rev 9...

  • Page 55: Configuration For Alignment

    They are also available to you in the RAWIMU or RAWIMUS log, see page 319 and page 327. The INS Status field reports INS_INACTIVE. The inertial alignment routine starts and the INS Status field reports INS_ALIGNING. SPAN-SE User Manual Rev 9...
  • Page 56 IMU is pointing.) Additional configuration parameters are necessary to enable the kinematic alignment. In order to simplify this configuration it is strongly suggested that you mount the IMU in parallel to the vehicle SPAN-SE User Manual Rev 9...

  • Page 57: Navigation Mode

    Page 190. 3.4.3.4 Dual Antenna Alignment SPAN can also use information available from a NovAtel ALIGN solution to perform an alignment. See Chapter 4, Dual-Antenna Functionality starting on page 78 for details. 3.4.4 Navigation Mode Once the alignment routine has successfully completed, SPAN enters navigation mode.

  • Page 58: Data Collection

    1Hz, 2Hz, 4Hz and 5Hz from any SPAN-SE port. Other GNSS logs (RANGE, PSRPOS, and so on) can be logged up to 20 Hz from the SPAN ports. The BESTGPSPOS log is available from SPAN-SE only, at <1Hz, 1Hz, 2Hz, 4Hz and 5Hz. ...

  • Page 59: Lever Arm Calibration Routine

    Monitor the calibration, log BESTLEVERARM, see page 237, using the ONCHANGED trigger. The lever arm is saved automatically in non-volatile memory. If the IMU or GNSS antenna are re- mounted, the calibration routine should be re-run to compute an accurate lever arm. SPAN-SE User Manual Rev 9...

  • Page 60: Vehicle To Body Rotations

    This direction cosine matrix (DCM) expresses mathematically the sequence of rotations as:     where: is a rotation around the z-axis (that is, the third axis of the x, y, and z set), as in: SPAN-SE User Manual Rev 9...
  • Page 61 The body frame (IMU axes) are nominally assumed to have Y pointing in the direction of travel, X to the right (perpendicular to the direction of travel), and SPAN-SE User Manual Rev 9...
  • Page 62         (in code, use atan2 for proper quadrant resolution.)                     SPAN-SE User Manual Rev 9...

  • Page 63: Vehicle To Span Frame Angular Offsets Calibration Routine

    After the RVBCALIBRATE ENABLE command is entered, there are no vehicle-body 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. SPAN-SE User Manual Rev 9...

  • Page 64: Span Wheel Sensor Configuration

    Wheel Sensor Updates Using the Event Input Lines The event input lines in SPAN-SE can be configured to accept a wheel sensor signal directly. Any of the four available event input lines can be used, but only one can be used at a time – the system does not support multiple wheel sensors.

  • Page 65: Wheel Sensor Updates Using The Iimu-Fsas Imu

    If you have wheel sensor hardware that accumulates the pulses from a wheel sensor, you can send the accumulated tick-count to the SPAN-SE at 1 Hz using the WHEELVELOCITY command (see page 209). The command can be sent in ASCII or binary format. The tick count in the WHEELVELOCITY command should reference the number of ticks accumulated at the time of the GNSS second boundary.

  • Page 66: Data Collection For Post Processing

    RAWIMUSB ONNEW • IMUTOANTOFFSETSB ONCHANGED • HEADINGB ONNEW (Dual Antenna Only) Post processing is performed through the Waypoint Inertial Explorer software package available from NovAtel's Waypoint Products Group. Visit our website at www.novatel.com for details. SPAN-SE User Manual Rev 9...

  • Page 67: Status Indicators

    INS (which indicates the status of the GNSS/INS solution computed by the SPAN-SE). In the event of a receiver error on the SPAN-SE, the LEDs flash the binary number of the receiver error. Red is “1” and green is “0”. If you have an invalid auth code, the LEDs will be green-green-red- green-red, which is 5 in binary indicating bit 5 of the receiver error word is set.

  • Page 68: Span-Mppc Status Led

    End of previous sequence Yellow Beginning of sequence 1 second pause Most significant bit of binary value Word identifier flash Lease significant bit of binary value Bit identifier flashes Start of next sequence End of sequence SPAN-SE User Manual Rev 9...

  • Page 69: Sd Card

    Chapter 3 SD Card Data commands and logs can be recorded from the SPAN-SE to a removable SD Card. The need for a companion handheld data logger is avoided and continuous user interaction is not required, since the SPAN-SE is capable of logging data according to pre-configured parameters without any user intervention.

  • Page 70: Logging Data To The Sd Card

    3.9.2 Prepare the Card To prepare the SD Card in the SPAN-SE for data logging: Connect to the receiver through the serial, USB or Ethernet ports. If necessary, format the card using the command FORMAT SD. During the format process, the SD LED flashes alternating green and orange.

  • Page 71: Select Logs To Send To The Sd Card

    163. Once a list of logs has been specified for logging, press the Log button, on the SPAN-SE, once, to start the logging into an auto-named logging file in the current working directory. Press the button a second time to stop the logging and close the file.

  • Page 72: Log A Pre-Defined List Of Logs

    Log requests using the ONCE trigger are not saveconfigable. Every time the receiver powers-up, the SD Card logging configuration you specified starts. See also the SAVECONFIG command on page 175 and the SETAUTOLOGGING command on page 178. SPAN-SE User Manual Rev 9...

  • Page 73: Reading Data From The Card

    Only use FTP on a secure connection as this port has no security settings at this time.  For information about setting up the Ethernet port, refer to Section 3.12, SPAN-SE Ethernet Connection starting on page 76. For information on connecting the Ethernet port, refer to Section 3.12.4, Connecting to the Ethernet Port starting on page 77.

  • Page 74: Configuring The Software

    See TIMEDEVENTPULSE on page 203 for details. 3.11 Synchronizing External Equipment The SPAN-SE allows you to synchronize with external equipment in two ways: The receiver has three configurable output strobes. Each strobe is synchronous with GPS time and can be configured for pulse length and polarity.

  • Page 75: Configuring An Input Strobe

    3.11.2 Configuring an Input Strobe SPAN-SE has four available input strobes. The input strobes apply an accurate GPS time to the rising, or falling, edge of an input pulse called an event. For each event, an accurate position, velocity or attitude solution is also available.

  • Page 76: Span-Se Ethernet Connection

    The MAC address is available to the user through the MAC log. 3.12.1 Configuring for TCP or UDP Operation Each SPAN-SE Ethernet port can be configured for either TCP or UDP. The default configuration of the Ethernet ports is for TCP operation. To configure the Ethernet ports, see the ICOMCONFIG command on page 151.

  • Page 77: Configuring Log Requests Destined For The Ethernet Port

    The last octet of the IP address can be any number from 1 to 255 inclusive except for 10, which is the last value in the SPAN-SE default IP address. In the above example, we have used 9 for the last octet.

  • Page 78: Dual-Antenna Functionality

    Chapter 4 Dual-Antenna Functionality This chapter describes the SPAN-SE dual-antenna functionality, with references to the user commands and logs that have been added for this feature. In this chapter, “SPAN-SE-D” refers to SPAN-SE with dual-antenna functionality.  Not all SPAN-SE enclosures have the hardware necessary to perform dual antenna operations.

  • Page 79: Configuring Align With Span-Se-D

    Chapter 4 Configuring ALIGN with SPAN-SE-D The SPAN-SE-D hardware is built into a single enclosure, so there is no hardware setup required other than having two GNSS antennas connected to the GPS1 and GPS2 connectors on the SPAN-SE. SPAN-SE-D are pre-configured to compute the GNSS baseline ALIGN solution. No specific configuration commands need to be sent to the receiver to start the ALIGN processing.

  • Page 80: Alignment On A Moving Vessel - Aided Transfer Alignment (Default)

    If your vehicle is not stationary during the alignment, such as on a ship, the Aided Transfer Alignment is the alignment routine to use. This is the default alignment for SPAN-SE-D so the configuration is relatively simple. This alignment method uses the ALIGN baseline solution to perform an instantaneous alignment of the vehicle attitude.

  • Page 81: Span Align Attitude Updates

    This is of greatest value with lower quality IMUs and in environments with poor ability to observe Earth rotation. Slow-moving marine, or train applications are good examples of the intended use. By providing an external heading source, the solution drift can be constrained in these environments. SPAN-SE User Manual Rev 9...

  • Page 82: Api Functionality

    SPANCARD string. In addition to other model options, the API model must include an A character to enable SPAN API. If the API model is not correct, contact NovAtel Customer Service to obtain an authorization code that includes the SPAN API model option.

  • Page 83: Verifying Loaded User Applications

    Stopping a User Application When a user application is opened, it continues to execute until the SPAN receiver is powered down. The SPAN-SE is a specialized system and does not allow for de-allocation of resources like a typical desktop computer.

  • Page 84: Removing A User Application

    To delete a user application, use command. For example: APPLICATION <userapp> REMOVE APPLICATION USERAPP2 REMOVE Alternatively, you can use the application loading procedure on page 82 to overwrite a user application in a slot with a newer user application. SPAN-SE User Manual Rev 9...

  • Page 85: Variable Lever Arm

    SPAN frames are coincident when gimbal angles are zero Gimbal SPAN frame Mapping 5 and GIMBALSPANROTATION applied to the gimbal frame so that the gimbal and SPAN frames are coincident SPAN-SE User Manual Rev 9...

  • Page 86: Simple Configuration

    SPAN frame. The second figure shows the desired result of all rotations: all three frames have the same axis definitions. Figure 19: Simple Configuration Figure 20: Rotation Results SPAN-SE User Manual Rev 9...

  • Page 87: Usage

    (b). This applies if the axes of the IMU and gimbal mount are not the same after commands are applied SETIMUORIENTATION SETGIMBALORIENTATION • defines the rotation from the vehicle frame (v) to the SPAN computation VEHICLEBODYROTATION frame (b). See 3.1.4, Vehicle Frame on Page 46 for more information. SPAN-SE User Manual Rev 9...

  • Page 88: Appendix A Technical Specifications

    Appendix A Technical Specifications This appendix details the technical specifications of the IMUs and the SPAN-SE receiver. A.1 SPAN-SE SPAN-SE is a SPAN-capable receiver. The SPAN-SE receiver’s technical specifications follow. For the other OEMV-based and SPAN-capable receivers’ details, refer to the OEMV Family Installation and Operation User Manual.
  • Page 89 IEC 60529 IPX6 Dust IEC 68-2-27, 60 g Shock (non-operating) RTCA D0-160D, curve C Vibration (random) IEC 68-2-6 Vibration (sinusoidal) FCC Part 15, Class B Emissions EN 55022, Class B Emissions EN 55024 Immunity EN 60950-1 Safety SPAN-SE User Manual Rev 9...
  • Page 90 Appendix A Technical Specifications DIMENSIONS Note: All dimensions are in millimetres. SPAN-SE User Manual Rev 9...
  • Page 91 Technical Specifications Appendix A SPAN-SE Mounting Plate Dimensions: Note: All dimensions are in millimetres. SPAN-SE User Manual Rev 9...

  • Page 92: Span-Se Power Cable

    A.1.1.1 Power Adapter Cable (NovAtel part number 01018135S) The power adapter cable supplied with the SPAN-SE, see Figure 21, provides a means for supplying +9 to +28 V DC while operating in the field. Input is provided through the bare wire power outlets. The exposed wires (red and orange for positive, brown and black for negative) can then be tied to a supply capable of at least 10 W for a single antenna or 12 W for dual antennas.

  • Page 93: Span-Se I/O 1 Green Cable

    A.1.1.2 I/O 1 Green Cable (NovAtel part number 01018134) This cable, supplied with the SPAN-SE, see Figure 22, provides a means of connecting with communications and I/O devices. The cable is equipped with a 30-pin connector at the receiver end plus four DB-9 connectors at the other end, one for each serial port.

  • Page 94: I/O 1 Green Cable Connector Pin-Outs

    RXD_V2 OEMV2 TXD_V2 OEMV2 OEMV2 RTS_V2 OEMV2 CTS_V2 OEMV2 RXD_V3 OEMV3 TXD_V3 OEMV3 VDC OUT OEMV3 OEMV3 RTS_V3 OEMV3 CTS_V3 OEMV3 a. Refer to connector numbers, P1 through P6 in Figure 22 on page 93 SPAN-SE User Manual Rev 9...

  • Page 95: Span-Se I/O 2 Yellow Cable

    A.1.1.3 I/O 2 Yellow Cable (NovAtel part number 01018133) This cable, supplied with the SPAN-SE, see Figure 23, provides a means of connecting with communications and I/O devices. The cable is equipped with a 30-pin connector at the receiver end plus three DB-9 connectors at the other end, each connected to a serial port.

  • Page 96: I/O 2 Yellow Cable Connector Pin-Outs

    COM1 CTS1 COM1 EVENT-OUT 4 RXD_IMU TXD_IMU RTS_IMU CTS_IMU a. Refer to connectors P1, P2, P7 and P10, and to the bare wires in Detail A and Detail B, in Figure 23 on page 95 SPAN-SE User Manual Rev 9...

  • Page 97: Inertial Measurement Units (Imus)

    (in square brackets). FOR GROUNDING. ENSURE SUF- FICIENT CONNECTION TO GROUND. SEE NOTE 1 195.0 7.68 180.00 7.087 4X R7.9 0.31 0.30 BOTTOM 6.60 0.260 [0.02] MARKERS, TYP. Figure 24: Universal IMU Enclosure Top/Bottom Dimensions SPAN-SE User Manual Rev 9...

  • Page 98: Universal Imu Enclosure Side Dimensions

    Appendix A Technical Specifications LEFT FRONT Dimensions are shown in millimetres and in inches (in square brackets). Figure 25: Universal IMU Enclosure Side Dimensions SPAN-SE User Manual Rev 9...

  • Page 99: Imu Center Of Navigation

    LITEF 'X' HG 'Y' HG 'X' LN 'Y' LN 'X' FRONT 5.30 LEFT 0.209 3.00 0.118 25.09 0.988 1. Dimensions are shown in mm and, in square brackets, in inches. Figure 26: IMU Center of Navigation SPAN-SE User Manual Rev 9...

  • Page 100: Universal Imu Enclosure Interface Cable

    A.2.1.1 Universal IMU Enclosure Interface Cable NovAtel’s part number for the Universal IMU Enclosure interface cable is 01018299 (see Figure 27). This cable provides power to the IMU from an external power source, and enables input and output between the receiver and the IMU.

  • Page 101: Universal Imu Enclosure Interface Cable Pinouts

    Not used DAS (+) Not used DAS GND (-) Not used OEM_CTS /Rx- OEM_Rx/Rx+ Not used DGND DGND Not used Not used Not used OEM_Tx/Tx+ OEM_RTS/Tx- Shield (GRN) a. OEM stands for Original Equipment Manufacturer. SPAN-SE User Manual Rev 9...
  • Page 102 Gyro Rate Bias < 1.0 deg/hr Gyro Rate Scale Factor < 500 ppm Angular Random Walk < 0.15 deg/rt-hr Accelerometer Range +40 g Accelerometer Linearity Accelerometer Scale Factor < 1000 ppm Accelerometer Bias < 1.0 mg SPAN-SE User Manual Rev 9...

  • Page 103: Universal Imu Enclosure Electrical And Environmental

    HG1700-AG58, HG1700-AG62 Operating C to +60 Storage C to +71 LN200 Operating C to +60 Storage C to +80 LCI-1 Operating C to +60 Storage C to +71 Humidity Operates at 95% RH, non-condensing (all IMU’s) SPAN-SE User Manual Rev 9...

  • Page 104: Hg1700 Imu (Single-Connector Enclosure)

    HG1700 label, for the internal IMU is the same as the enclosure’s center. The enclosure center measurements are labelled as: IMU Enclosure Center in this figure. 2. Dimensions are shown in millimetres. Figure 29: HG1700 Top/Bottom Dimensions SPAN-SE User Manual Rev 9...
  • Page 105 Technical Specifications Appendix A SPAN-SE User Manual Rev 9...
  • Page 106 -30C to +60C (-22F to 140F) Storage -45C to +80C (-49F to 176F) Humidity 95% non-condensing a. For replacement connectors on the interface and power cables, see Section K.3, Manufacturer’s Part Numbers on page 407. SPAN-SE User Manual Rev 9...

  • Page 107: Imu (Single-Connector Enclosure)

    Navigation Center R92.9 center. The enclosure center is labelled as: Enclosure Center in this figure. 76.3 2. Dimensions are shown in millimetres. Enclosure Center Figure 31: LN-200 IMU Enclosure Top/Bottom Dimensions and Centre of Navigation SPAN-SE User Manual Rev 9...
  • Page 108 Appendix A Technical Specifications SPAN-SE User Manual Rev 9...
  • Page 109 -30C to +60C (-22F to 140F) Storage -45C to +80C (-49F to 176F) Humidity 95% non-condensing a. For replacement connectors on the interface and power cables, see Section K.3, Manufacturer’s Part Numbers on page 407. SPAN-SE User Manual Rev 9...

  • Page 110: Iimu-Fsas

    128 mm x 128 mm x 104 mm (5.04” x 5.04” x 4.09”) IMU Weight 2.1 kg (4.63 lb.) MECHANICAL DRAWINGS 35.5 Dimensions are shown in millimetres. Figure 33: iIMU-FSAS Top/Bottom Dimensions a. See Figure 35 on page 112 for the center of navigation dimensions SPAN-SE User Manual Rev 9...

  • Page 111: Iimu-Fsas Enclosure Side Dimensions

    Technical Specifications Appendix A Dimensions are shown in millimetres. Figure 34: iIMU-FSAS Enclosure Side Dimensions SPAN-SE User Manual Rev 9...

  • Page 112: Iimu-Fsas Center Of Navigation

    Appendix A Technical Specifications Dimensions are shown in millimetres. Figure 35: iIMU-FSAS Center of Navigation SPAN-SE User Manual Rev 9...

  • Page 113: Universal Imu Interface Cable

     To connect the SPAN-SE with a legacy iIMU-FSAS interface cable (NovAtel part number 01018221), a FSAS SPAN-SE Y Adapter cable is needed. Please see Table 17 on page 116 for cable pin-out information. Figure 36: Universal IMU Interface Cable...

  • Page 114: Iimu Interface Cable Connections With A Span-Se

    Description SPAN-SE receiver iIMU-FSAS IMU I/O 2 yellow cable’s 30-pin connector to I/O 2 port on the SPAN-SE iIMU interface cable’s DB-9 IMU connector to I/O 2 yellow cable’s DB-9 IMU connector iIMU interface cable’s DB-9 ODO connector to (optional) wheel sensor cable iIMU interface cable’s (+ve) and (-ve) connectors to user-supplied...

  • Page 115: Imu Interface Cable Pin-Out

    Twisted pair; serial data in / RS- 422(-) SW_ON_ Connected to Pin 3; switch IMU signal ON/OFF (voltage applied = ON) +4 to +34 V SW_ON_ Connected to Pin 1; ground for IMU signal ON a. RS-422 compatible SPAN-SE User Manual Rev 9...

  • Page 116: Legacy Iimu-Fsas Cable Y Adapter Pin-Out

    ODO connector on the IMU cable. See also Figure 39 below. • WPT (Wheel Pulse Transducer) from Corrsys-Datron SPAN-SE User Manual Rev 9...

  • Page 117: Corrsys Datron Wpt

    The NovAtel IMU interface cable, with ODO, is the same as that in Section A.2.4.1 but with some of the reserved pins having odometer uses. It still provides power to the IMU from an external source, and enables input and output between the receiver and IMU.

  • Page 118: Cable Modification For Corrsys Datron Wpt

    WPT needs power to operate (+10 to +30 V). Solder the shield on the WPT cable to the female DB9 housing. b. This modification is for the Corrsys Datron WPT 8-pin M12-plug cable number 14865. SPAN-SE User Manual Rev 9...
  • Page 119 14.8 W (typical) Data Connector MIL-C-38999-III Power Connector MIL-C-38999-III (same as data connector) IMU Interface RS-422 ENVIRONMENTAL IMU-FSAS) Temperature Operating -40C to +71C (-40F to 160F) Storage -40C to +85C (-40F to 185F) Humidity 95% non-condensing SPAN-SE User Manual Rev 9...

  • Page 120: Imu-Cpt

    MECHANICAL DRAWINGS 1.22 30.9 .51 [13.0] 3.39 86.1 Note: All dimensions are in Dimensions are in inches and in inches [mm] millimetres (in square brackets). 6.00 152.4 Figure 40: IMU-CPT - Side and Perspective View SPAN-SE User Manual Rev 9...

  • Page 121: Imu-Cpt Top, Front And Bottom View

    115.5 6.66 .002 169.3 4X MOUNTING SURFACE (UNPAINTED) 22.4 19.1 .277 .015 A B C 5.440 138.2 .080 5.310 ALIGNMENT HOLES FOR 0.125 DOWEL PINS. 134.9 6.104 Figure 41: IMU-CPT Top, Front and Bottom View SPAN-SE User Manual Rev 9...

  • Page 122: Imu-Cpt Development Terminated Cable

    IMU RS422 Signal Ground 26-34 Reserved TOV Output Reserved Chassis GND Chassis GND Ring lug a. This pin connects to EVENT-IN 4 of the yellow SPAN-SE cable. Refer to Table 9 on page 96 for pin-out information. SPAN-SE User Manual Rev 9...
  • Page 123 In Run Bias Variation, At Constant Temperature 0.25 mg @ 1σ Temperature Dependent Bias Variation mg/°C @ 1σ Scale Factor Error (Total) 4000 ppm, 1σ Temperature Dependent SF Variation 1000 ppm, 1σ Accel Noise μg/√Hz @ 1σ Bandwidth Max Input ±10 SPAN-SE User Manual Rev 9...
  • Page 124 8 g rms, 20 Hz -2 KHz Shock, operational 7g 6-10 msec, 1/2 sine Shock, non-operational 60 g 6-10 msec, 1/2 sine Altitude -1000 to 50,000 ft. Humidity 95% at 35°C, 48 hrs MTBF ≥ 10,500 hours SPAN-SE User Manual Rev 9...

  • Page 125: Appendix B Commands

    00000000 2304B3F1 B.2 Using a Command as a Log All NovAtel commands may be used for data input, as normal, or used to request data output. Consider the lockout command (refer to the OEMV Family Firmware Reference Manual) with the...

  • Page 126: Dos Commands

    BESTPOS, BESTVEL, BESTXYZ and BESTGPSPOS, can only be output from SPAN-SE ports at < 1 Hz, 1 Hz, 2 Hz, 4 Hz and 5Hz. Other GNSS logs (RANGE, PSRPOS, and so on) can be logged at rates up to 20 Hz from SPAN-SE ports.

  • Page 127: Dir - Show Directory

    (SD = default) Path Null terminated string B.3.5 RMDIR - Remove Directory Command: RMDIR (Message ID = 1058) Parameter Values Mass Storage Device Enum, see Table 21 on page 126 (SD = default) Path Null terminated string SPAN-SE User Manual Rev 9...

  • Page 128: Pwd - Present Working Directory

    (SD = default) B.3.7 The SPAN-SE has a built-in FTP server to simplify retrieving data from the SD Card. After the IP information has been set, using the IPCONFIG command, any FTP client can connect to the SPAN-SE on port 21. The FTP server allows basic file manipulation and directory browsing but files cannot be uploaded to the SD Card at this time.

  • Page 129: Span-Se Command Reference

    Depending on the model of the receiver, the default value will change. The default for any single antenna ‘S’ model will be UNAIDED, while the default for a dual antenna ‘D’ model will be AIDED_TRANSFER. SPAN-SE User Manual Rev 9...

  • Page 130: Application Start And Remove Applications

    ASCII, ASCII or binary AppSlot Application slot. Can be Enum USERAPP1, USERAPP2 or USERAPP3 Function Application function. Can be Enum START, REMOVE, AUTOSTART_ON or AUTOSTART_OFF xxxx 32-bit CRC H+16 CRLF Sentence terminator (ASCII only) SPAN-SE User Manual Rev 9...

  • Page 131: Applyvehiclebodyrotation Enable Vehicle To Body Rotation

    ASCII, ASCII or binary switch Disable Enable/disable vehicle body Enum rotation using values entered Enable in the vehiclebodyrotation command. default = disable SPAN-SE User Manual Rev 9...

  • Page 132: Assignlband Set L-Band Satellite Communication Parameters

    IDLE.  1. In addition to a NovAtel receiver with L-band capability, a subscription to the OmniSTAR service is required. Contact NovAtel for details, see page 20. 2. The frequency assignment, field #3 below, can be made in kHz or Hz. For example: ASSIGNLBAND OMNISTAR 1557855 1200 A value entered in Hz is rounded to the nearest 500 Hz.

  • Page 133: L-Band Mode

    Use OmniStar VBS ASSIGNLBAND OMNISTAR <freq> 1200 PSRDIFFSOURCE OMNISTAR The OmniStar beam frequency chart for <freq> can be found at http://www.omnistar.com/chart.html. For example: Eastern US (Coverage is Northern Canada to southern Mexico) 1557845 or 1557845000 SPAN-SE User Manual Rev 9...
  • Page 134 See also Beam 1525000000 to Frequencies on page 133. 1560000000 (default = 1536782 if the mode is OMNISTAR) baud 300, 600, 1200, Data rate for communication Ulong 2400 or 4800 with L-band satellite (default = 1200) SPAN-SE User Manual Rev 9...

  • Page 135: Com Port Configuration Control

    • Return the current port to its default settings • Set the interface mode to NovAtel for both input and output (see the GNSSCARDCONFIG command on page 148)  1. The COMCONTROL command, see page 138, may conflict with handshaking of the selected COM port.

  • Page 136: Com Serial Port Identifiers

    10/100 Ethernet 3 ICOM4 10/100 Ethernet 4 Table 24: Parity Binary ASCII Description No parity (default) Even parity Odd parity Table 25: Handshaking Binary ASCII Description No handshaking (default) XON/XOFF software handshaking CTS/RTS hardware handshaking SPAN-SE User Manual Rev 9...
  • Page 137 (default = 1) handshake See Table 25 on page Handshaking Enum H+20 echo No echo Enum H+24 (default) Transmit any input characters as they are received break Disable break detection Enum H+28 Enable break detection (default) SPAN-SE User Manual Rev 9...

  • Page 138: Comcontrol Control The Rs232 Hardware Control Lines

    PC computer by using the RTS or DTR lines. The accuracy of controlling the COM control signals is better than 900 s. As a SPAN-SE user, you have access to 3 event out lines that can provide precise PPS output. The other modes are typically used to control custom peripheral devices.

  • Page 139: Span-Se Com Port Values

    Commands Appendix B Table 27: SPAN-SE COM Port Values Binary ASCII COM1 COM2 COM3 THISPORT FILE USB1 COM4 ICOM1 ICOM2 ICOM3 ICOM4 Field ASCII Binary Binary Binary Binary Field Description Type Value Value Format Bytes Offset COMCONTROL This field contains the...

  • Page 140: Comvout Turn Power To The Ports On Or Off

    Value Format Bytes Offset header This field contains the command name or the message header depending on whether the command is abbreviated ASCII, ASCII or binary switch The state of the output Enum power lines. SPAN-SE User Manual Rev 9...

  • Page 141: Dualantennaportconfig Span-Mppc Dual Antenna Port Setup

    ASCII, ASCII or binary NOPORT The port that is used to Enum mark communicate with an COM1 external ALIGN receiver. Selecting NOPORT COM2 disables dual antenna (default) functionality COM3 COM4 SPAN-SE User Manual Rev 9...

  • Page 142: Eventincontrol Control Mark Input Properties

    This field is not used t_guard If Field #3 is EVENT: Ulong H+16 Time guard in milliseconds: default = 4 minimum = 2 maximum = 3 599 999 If Field #3 is COUNT: This field is not used SPAN-SE User Manual Rev 9...

  • Page 143: Eventoutcontrol Control Event-Out Properties

    25 Out signal in nanoseconds. maximum: 999 999 975 not- default: 500 000 000 Not-active period of the Ulong H+16 active minimum: 25 Event Out signal in period maximum: 999 999 975 nanoseconds. SPAN-SE User Manual Rev 9...

  • Page 144: Exthdgoffset Set The Angular Offset

    H+16 pitch between the external aiding source and the IMU forward axis. Input in degrees. Default = 0.0 PitchSTD 0 to 10.0 Input pitch offset DOUBLE H+24 standard deviation. Input in degrees. Default = 0.0 SPAN-SE User Manual Rev 9...

  • Page 145: Format The Sd Card

    Commands Appendix B B.4.12 FORMAT Format the SD Card This command allows you to format the SC card in the SPAN-SE. Abbreviated ASCII Syntax: Message ID: 1057 FORMAT device [volume] Abbreviated ASCII Example: FORMAT SD Field ASCII Binary Binary Binary...

  • Page 146: Freset Factory Reset

    The receiver is forced to hardware reset. When the SPAN-SE receives a FRESET command, it is also passed to the OEMV-3 but without any parameters. Therefore the OEMV-3 only does a full reset. SPAN-SE can do a partial reset of some of its fields.

  • Page 147: Gimbalspanrotation Gimbal Frame To Span Frame Rotation

    Default is 0 YUncert 0 – 180 Uncertainty of Y rotation in Double H+32 degrees degrees. Default is 0 ZUncert 0 – 180 Uncertainty of Z rotation in Double H+40 degrees degrees.Default is 0 SPAN-SE User Manual Rev 9...

  • Page 148: Gnsscardconfig Gnss Port Configuration

    Use this command to configure both the interface mode and COM port mode on an internal GNSS card from a SPAN-SE receiver port. The GNSSCARDCONFIG command is especially useful for configuring RTK because the OEMV-3 COM1 port is used for RTK correction input data.
  • Page 149 0 to disable Logging period for GPGGA output Float H+48 output period output (default) Valid values for high rate logging are 0.05, 0.1, 0.2, 0.25 and 0.5. For logging slower than 1Hz any integer value is accepted. SPAN-SE User Manual Rev 9...

  • Page 150: Serial Port Interface Modes

    Table 29: Serial Port Interface Modes Binary Value ASCII Mode Name Description NONE The port accepts/generates nothing NOVATEL The port accepts/generates NovAtel commands and logs RTCM The port accepts/generates RTCM corrections RTCA The port accepts/generates RTCA corrections The port accepts/generates CMR corrections OMNISTAR...

  • Page 151: Icomconfig Set Icomx Protocol

    Appendix B B.4.16 ICOMCONFIG Set ICOMx Protocol The SPAN-SE has a 10/100 RJ-45 Ethernet port, which has a MAC address hard coded into flash and user-configurable IP information. Each port can be used for both TCP and UDP traffic but not simultaneously.

  • Page 152: Inputgimbalangle Input Gimbal Angles Into The Span-Se

    Appendix B Commands B.4.17 INPUTGIMBALANGLE Input gimbal angles into the SPAN-SE This command is used by the external gimble source to input gimble angles to the SPAN-SE body mount frame. Angles are input in the body mount frame. Abbreviated ASCII Syntax:...

  • Page 153: Ipconfig Set Ip Information

    Commands Appendix B B.4.18 IPCONFIG Set IP information Use this command to configure Internet Protocol (IP) information. See also Section 3.12, SPAN-SE Ethernet Connection on page 76. Abbreviated ASCII Syntax: Message ID: 1243 IPCONFIG Interface Mode IP Mask Gateway Abbreviated ASCII Example: IPCONFIG ETHA STATIC 10.1.100.25 255.255.255.0 10.1.100.1...

  • Page 154: Inscommand Ins Control Command

    ASCII, ASCII or binary action RESET Resets the GNSS/INS Enum alignment and restarts the alignment initialization. DISABLE Disables INS positioning. ENABLE Enables INS positioning where alignment initialization starts again. (default) SPAN-SE User Manual Rev 9...

  • Page 155: Inszupt Request Zero Velocity Update

    This command allows you to manually perform a Zero Velocity Update (ZUPT), that is, to update the receiver when the system has stopped. NovAtel’s SPAN Technology System does ZUPTs automatically. It is not necessary to use this command under normal circumstances.

  • Page 156: Inszuptcontrol Ins Zero Velocity Update Control

    This field contains the command name or message header depending on whether the command is abbreviated ASCII, ASCII or binary Switch Disable Disable INS zero velocity Enum updates. Enable Enable INS zero velocity updates (default) SPAN-SE User Manual Rev 9...

  • Page 157: Leverarmcalibrate Ins Calibration Command

    <= 0.05 m in each direction (x, y, z), whichever happens first. Abbreviated ASCII Example 3: LEVERARMCALIBRATE OFF 0 This command stops the calibration. The current estimate, when the command was received, is output in the BESTLEVERARM log, and used in the SPAN computations. SPAN-SE User Manual Rev 9...
  • Page 158 ASCII, ASCII or binary switch Enable or disable the lever Enum arm calibration routine. ON (default) 1 maxtime 0 - 1000 Maximum calibration time Double maxstd 0.02 – 0.5 Maximum offset Double H+12 uncertainty (m) SPAN-SE User Manual Rev 9...

  • Page 159: Log Request Logs From The Receiver

     1. SPAN-SE users can request up to 25 GNSS only logs (that is, logs generated on the internal OEMV-3), and up to 30 SPAN-specific logs, provided the requested data amount is less than the effective baud rate of the communication port logging the data.
  • Page 160 Message type of log Char type Bits 5-6: Format 00: Binary 01: ASCII 10: Abbreviated ASCII NMEA 11: Reserved Bit 7: Response Bit 0: Original Message 1: Response Message Reserved Char Continued on the following page SPAN-SE User Manual Rev 9...
  • Page 161 2. See Appendix A in the OEMV Family Installation and Operation User Manual for the maximum raw measurement rate to calculate the minimum period. If the value entered is lower than the minimum measurement period, the value is ignored and the minimum period is used. SPAN-SE User Manual Rev 9...
  • Page 162 1 second after every minute, set the period to 60 period and the offset to 1 (default is 0) hold NOHOLD Allow log to be removed by the UNLOGALL command Enum (default) HOLD Prevent log from being removed by the UNLOGALL command SPAN-SE User Manual Rev 9...

  • Page 163: Logfile Log Data To A File On The Sd Card

    Table 21 on page 126. Default is SD filename Filename where filenames Char[12] have a maximum 12 character limit. Default is SPAN_#.log where # is the next number in the list starting at 0 SPAN-SE User Manual Rev 9...

  • Page 164: Nmeatalker Set The Nmea Talker Id

    GP or IN GPGRS GP or GN GPGSA GP or GN GPGST GP or GN GPGSV GP and GL GPRMB GP or GN GPRMC GP or GN GPVTG GP or IN GPZDA GPHDT PASHR N/A (always PASHR) SPAN-SE User Manual Rev 9...
  • Page 165 This field contains the TALKER command name or the header message header depending on whether the command is abbreviated ASCII, ASCII or binary GPS (GP) only Enum AUTO GNSS, GP, GL, GN and/or Inertial (IN) SPAN-SE User Manual Rev 9...

  • Page 166: Psrdiffsource Set The Pseudorange Correction Source

     1. To use L-band differential corrections, an L-band receiver and a subscription to the OmniSTAR service is required. Contact NovAtel for details, see page 20. 2. Since several errors affecting signal transmission are nearly the same for two receivers near each other on the ground, a base at a known location can monitor the errors and generate corrections for the rover to use.

  • Page 167: Dgps Type

    AUTO RTCA message has preference over an L-band message. In the RTKSOURCE command, AUTO means that both the NovAtel RTK filter and the OmniSTAR HP/XP filter (if authorized) are enabled. The NovAtel RTK filter selects the first received RTCM, RTCA, RTCMV3 or CMR message.
  • Page 168 1. If you choose ANY, the receiver ignores the ID string. Specify a Type when you are using base station IDs. 2. In the binary log case, an additional 3 bytes of padding are added to maintain 4-byte alignment SPAN-SE User Manual Rev 9...

  • Page 169: Reset Perform A Hardware Reset

    Bytes Offset RESET header This field contains the command name or the message header depending on whether the command is abbreviated ASCII, ASCII or binary delay Seconds to wait before Ulong resetting. Default is 0 SPAN-SE User Manual Rev 9...

  • Page 170: Rtkcommand Reset Or Set The Rtk Filter To Its Defaults

    Offset RTKCOMMAND This field contains the header command name or the message header depending on whether the command is abbreviated ASCII, ASCII or binary type USE_DEFAULTS 0 Reset to defaults Enum RESET Reset RTK algorithm SPAN-SE User Manual Rev 9...

  • Page 171: Rtkdynamics Set The Rtk Dynamics Mode

    Format Bytes Offset RTKDYNAMICS This field contains the command header name or the message header depending on whether the command is abbreviated ASCII, ASCII or binary mode See Table 32 Set the dynamics mode Enum SPAN-SE User Manual Rev 9...

  • Page 172: Rtksource Set The Rtk Correction Source

     To use OmniSTAR HP/XP differential corrections, a NovAtel receiver with L-band capability and a subscription to the OmniSTAR service are required. Contact NovAtel for details. Contact information may be found on the back of this manual or you can refer to the Customer Service section in the OEMV Family Installation and Operation User Manual.
  • Page 173 1. If you choose ANY, the receiver ignores the ID string. Specify a Type when you are using base station IDs. 2. In the binary log case, an additional 3 bytes of padding are added to maintain 4-byte alignment. SPAN-SE User Manual Rev 9...

  • Page 174: Rvbcalibrate Vehicle To Body Rotation Control

    Bytes Offset This field contains the Header command name or the message header depending on whether the command is abbreviated ASCII, ASCII or binary Switch RESET Control the vehicle/ ENUM body rotation DISABLE computation ENABLE SPAN-SE User Manual Rev 9...

  • Page 175: Saveconfig Save Current Configuration In Nvm

    If you are using this command in Connect, ensure that you have all windows other than the Console window closed. Otherwise, log commands used for the various windows are saved as well. This will result in unnecessary data being logged. Abbreviated ASCII Syntax: Message ID: 19 SAVECONFIG SPAN-SE User Manual Rev 9...

  • Page 176: Sbascontrol Set Sbas Test Mode And Prn

    Don’t use any SBAS satellites AUTO Automatically determine satellite system to use (default) Use any and all SBAS satellites found WAAS Use only WAAS satellites EGNOS Use only EGNOS satellites MSAS Use only MSAS satellites SPAN-SE User Manual Rev 9...
  • Page 177 0 messages as they are intended (as do not use) (default) ZEROTOTWO Receiver interprets Type 0 messages as Type 2 messages IGNOREZERO 2 Receiver ignores the usual interpretation of Type 0 messages (as do not use) and continues SPAN-SE User Manual Rev 9...

  • Page 178: Setautologging Start Sd Card Logging At Boot-Up

    Value Format Bytes Offset header This field contains the command name or the message header depending on whether the command is abbreviated ASCII, ASCII or binary switch Enable or disable auto- Enum logging on boot-up SPAN-SE User Manual Rev 9...

  • Page 179: Setgimbalorientation

    Mount Y axis is pointing UP Mount Y axis is pointing DOWN Mount Z axis is pointing UP (default) Mount Z axis is pointing DOWN 1. See Table 35, IMU Type, on page 187 for details SPAN-SE User Manual Rev 9...

  • Page 180: Setheavewindow Set Heave Filter Length

    This command allows user control over the length of the heave filter. This filter determines the heave (vertical displacement) of the IMU, relative to a long–term level surface.  Heave functionality is available on SPAN-SE only. Abbreviated ASCII Syntax: Message ID: 1383...

  • Page 181: Setimuorientation Set Imu Orientation

    The X (pitch), Y (roll) and Z (azimuth) directions of the inertial enclosure frame are clearly marked on the IMU, see the IMU choices and their technical specifications starting on page 88. The example of the Litef is shown in Figure 43. Figure 43: IMU Center of Navigation (example) SPAN-SE User Manual Rev 9...
  • Page 182 IMU X axis is pointing UP IMU X axis is pointing DOWN IMU Y axis is pointing UP IMU Y axis is pointing DOWN IMU Z axis is pointing UP IMU Z axis is pointing DOWN SPAN-SE User Manual Rev 9...

  • Page 183: Full Mapping Definitions

    Commands Appendix B Table 34: Full Mapping Definitions SPAN-SE User Manual Rev 9...

  • Page 184: Setimutoantoffset Set Imu To Antenna Offset

    Double H+32 10% of the y offset to a minimum of 0.01 m 0 to +10 Uncertainty in z (m). Default is Double H+40 10% of the z offset to a minimum of 0.01 m SPAN-SE User Manual Rev 9...

  • Page 185: Setimutoantoffset2 Set Imu To Gps2 Antenna Offset

    Uncertainty in y (m). Default is 10% Double H+32 of the y offset to a minimum of 0.01 0 to +10 Uncertainty in z (m). Default is 10% Double H+40 of the z offset to a minimum of 0.01 SPAN-SE User Manual Rev 9...

  • Page 186: Setimutype Set Imu Type

    Offset This field contains the Header command name or the message header depending on whether the command is abbreviated ASCII, ASCII or binary Switch See Table 35, IMU IMU Type ENUM Type, on page 187 SPAN-SE User Manual Rev 9...

  • Page 187: Imu Type

    IMU_LN200_400HZ Litton LN-200 (400 Hz model) Reserved IMU_HG1700_AG58 Honeywell HG1700 AG58 IMU_HG1700_AG62 Honeywell HG1700 AG62 IMU_IMAR_FSAS iMAR iIMU-FSAS 14-15 Reserved IMU_KVH_COTS IMU-CPT 17, 18 Reserved NG Litef IMU_LITEF_LCI1 LCI 1 IMU IMU_HG1930_AA99 Honeywell HG1930 AA99 SPAN-SE User Manual Rev 9...

  • Page 188: Setinitattitude Set Initial Attitude Of Span In Degrees

    This means that the SPAN system is very close to level with respect to the local gravity field. The azimuth is 90 degrees (see the SETINITAZIMUTH example on page 190), also with a 5 degrees standard deviation. SPAN-SE User Manual Rev 9...
  • Page 189 180 Input pitch standard deviation Double H+24 0.000278 (STD) angle in degrees rollSTD Input roll STD angle in degrees Double H+32 azSTD Input azimuth STD angle in Double H+40 degrees 1. 0.000278is equal to 1 arc second SPAN-SE User Manual Rev 9...

  • Page 190: Setinitazimuth Set Initial Azimuth And Standard Deviation

    SPAN system with the positive Z-axis (as marked on the enclosure) in a direction that is not up, please refer to the SETIMUORIENTATION command to determine the SPAN computation frame axes mapping that SPAN automatically applies. SPAN-SE User Manual Rev 9...
  • Page 191 ASCII, ASCII or binary azimuth -360 to +360 Input azimuth angle in degrees Double azSTD 0.000278 to 180 Input azimuth standard deviation Double angle in degrees SPAN-SE User Manual Rev 9...

  • Page 192: Setinsoffset Set Ins Offset

    Offset along the IMU enclosure Double frame X-axis (m) Y offset ± 100 Offset along the IMU enclosure Double frame Y-axis (m) Z offset ± 100 Offset along the IMU enclosure Double H+16 frame Z-axis (m) SPAN-SE User Manual Rev 9...

  • Page 193: Setmark1Offset, Setmark2Offset, Setmark3Offset

    Z-axis (m) for Mark1, 2, 3 or 4 offset ± 360 Roll offset for Mark in degrees Double H+24 offset ± 360 Pitch offset for Mark in degrees Double H+32 offset ± 360 Azimuth offset for Mark in degrees Double H+40 SPAN-SE User Manual Rev 9...

  • Page 194: Setupsensor Add A New Camera Sensor

    Enum H+24 POSITIVE POSITIVE MITB -99999999 – Mark input time bias in Long H+28 99999999 ms nanoseconds. Default is 0 MITG 2 – 3599999 Mark input time guard in Ulong H+32 milliseconds. Default is 4 SPAN-SE User Manual Rev 9...

  • Page 195: Setwheelparameters Set Wheel Parameters

    1000 2.03 0.002 If you have an external wheel sensor that will be connected to an EVENT line on the SPAN-SE, then the SETWHEELPARAMETERS command must be sent in order to select which MARK to use The wheel parameters must also be specified here as the default values will not be used.

  • Page 196: Setwheelparameters Input

    H+20 the wheel sensor (m) 1. In the binary log case, an additional 2 bytes of padding are added to maintain 4-byte alignment. Table 36: SETWHEELPARAMETERS Input Binary ASCII IMU (default) MARK1 MARK2 MARK3 MARK4 SPAN-SE User Manual Rev 9...

  • Page 197: Softloadfile Loads A File To The Span-Se

    Appendix B B.4.47 SOFTLOADFILE Loads a file to the SPAN-SE Use this command to load a hexadecimal file from an external source to reprogram the SPAN-SE. The SOFTLOADFILE command reprograms the system firmware using a NovAtel formatted input message. This allows anybody to reprogram the system in an embedded environment where using WinLoad isn't practical or possible.

  • Page 198: Softpower Power Down The Span-Se

    B.4.48 SOFTPOWER Power down the SPAN-SE Use the SOFTPOWER command to power down the SPAN-SE. This command is meant for automated setups where the user may not be able to physically touch the SPAN-SE but needs to shut the system down.

  • Page 199: Spanauth Add An Authorization Code For A New Model

    OEMV Family Firmware Reference Manual. The OEMV-3 card and SPAN- SE will reset after receiving the AUTH or MODEL command. We recommend that you contact NovAtel Customer Support for assistance in doing this, see page 20 or Note #2 below. ...
  • Page 200 [max. 16] date Numeric Null Expiry date entered as String Variable Variable terminated yymmdd in decimal [max. 7] 1. In the binary log case, additional bytes of padding are added to maintain 4-byte alignment SPAN-SE User Manual Rev 9...

  • Page 201: Spanmodel Switch To A Previously Authorized Model

    Max 16 character SPAN model name String Variable Variable null-terminated [max. 16] string (including the null) Reserved Ulong Variable 1. In the binary log case, additional bytes of padding are added to maintain 4-byte alignment SPAN-SE User Manual Rev 9...

  • Page 202: Tagnextmark Add A New Camera Event

    The input event mark Enum Mark2 Mark3 Mark4 TagNum The ID tag that you Ulong want to associate with the next input event on the selected mark xxxx 32-bit CRC [CR][LF] Sentence Terminator (ASCII only) SPAN-SE User Manual Rev 9...

  • Page 203: Timedeventpulse Add A New Camera Event

    0 – 604800 The GPS seconds that Double trigger the event. EventID 0 – The event’s identifier, Ulong H+16 4294967295 used to tag the TAGGEDMARKxPVA logs if a sensor input is enabled. Default is 0 SPAN-SE User Manual Rev 9...

  • Page 204: Unlog Remove A Log From Logging Control

    Bits 0-4: Reserved Message type of log Char type Bits 5-6: Format 00: Binary 01: ASCII 10: Abbreviated ASCII, NMEA 11: Reserved Bit 7: Response Bit 0: Original Message 1: Response Message Reserved Char SPAN-SE User Manual Rev 9...
  • Page 205 ASCII, ASCII or binary port See Table 23, COM Serial Port to which log is being Enum Port Identifiers, on page 136 sent. Default is THISPORT message Message Message name of log to ULong Name disable SPAN-SE User Manual Rev 9...

  • Page 206: Unlogall Remove All Logs From Logging Control

    Port to clear. Default is Enum Serial Port Identifiers, ALL_PORTS on page 136 held FALSE Does not remove logs with the Enum HOLD parameter (default) TRUE Removes previously held logs, even those with the HOLD parameter SPAN-SE User Manual Rev 9...

  • Page 207: Vehiclebodyrotation Vehicle To Span Frame Rotation

    To apply the vehicle to body rotation angles to the output attitude in the INSPVA or INSATT logs, the APPLYVEHICLEBODYROTATION command needs to be enabled, please refer to Section B.4.3, APPLYVEHICLEBODYROTATION Enable vehicle to body rotation starting on page 131. SPAN-SE User Manual Rev 9...
  • Page 208 Default is 0 xxxx 32-bit CRC H+48 [CR][LF] Sentence Terminator (ASCII only) Refer also to our application note APN-037 Vehicle to Body Rotations available on our website at www.novatel.com through Support | Knowledge and Learning. SPAN-SE User Manual Rev 9...

  • Page 209: Wheelvelocity Wheel Velocity For Ins Augmentation

    Commands Appendix B B.4.56 WHEELVELOCITY Wheel velocity for INS augmentation The WHEELVELOCITY command is used to input wheel sensor data into the SPAN-SE receiver. Abbreviated ASCII Syntax: Message ID: 504 WHEELVELOCITY latency ticks/rev wheel vel Rsrvd fwheel vel Rsrvd Rsrvd ticks/s...

  • Page 210: Appendix C Command Prompt Interface

    IMU offset. However, your only confirmation that the command was actually accepted is the return of the [COM2] prompt. If a command is incorrectly entered, the receiver responds with “Invalid Command Name” (or a more detailed error message) followed by the port prompt. SPAN-SE User Manual Rev 9...

  • Page 211: Dos

    C:\GPS>copy boot1.txt com1 1 files(s) copied C:\GPS> The SPAN system is now initialized with the contents of the BOOT1.TXT command file, and logging is directed from the receiver’s COM2 serial port to the rover terminal. SPAN-SE User Manual Rev 9...

  • Page 212: Windows

    IMU center to the GNSS antenna phase center, with the SETIMUTOANTOFFSET command. Log requests on COM1 of SPAN-SE are also made. In this case, RAWIMUSB logs are logged asynchronously at 100 Hz, RANGECMPB logs synchronously at 1 Hz, INSPVASB at 10 Hz, and the INSCOVSB log would be logged when updated which is at 1 Hz also.

  • Page 213: Appendix D Data Logs

    2. The BESTPOS position log can be logged at rates up to 20 Hz directly from the OEMV port, but is available at 1 Hz or 5 Hz from any SPAN-SE port. Other GNSS logs (RANGE, PSRPOS, and so on) can be logged up to 20 Hz from the SPAN ports.

  • Page 214: Log Types

     1. A SPAN-SE user can request up to 25 logs from the OEMV-3, in addition to 30 SPAN-specific logs. If you attempt to log more than 30 logs at a time, the receiver responds with an Insufficient Resources error.

  • Page 215: Ascii

    Most logs only come out one at a time in which case this number is 0 % Idle Time Float The minimum percentage of time that the processor is idle between successive logs with the same Message Continued on the following page SPAN-SE User Manual Rev 9...
  • Page 216 Reserved for internal use Receiver Ulong This is a value (0 - 65535) that represents the receiver s/w Version software build number Char This character indicates the end of the header Example Log: #RAWEPHEMA,COM1,0,35.0,SATTIME,1364,496230.000,00100000,97b7,2310; 30,1364,496800,8b0550a1892755100275e6a09382232523a9dc04ee6f794a0000090394ee,8b055 0a189aa6ff925386228f97eabf9c8047e34a70ec5a10e486e794a7a,8b0550a18a2effc2f80061c2f ffc267cd09f1d5034d3537affa28b6ff0eb*7a22f279 SPAN-SE User Manual Rev 9...

  • Page 217: Abbreviated Ascii

    COM3 RXSTATUSEVENTA ONNEW 0.000000 0.000000 HOLD < COM4 RXSTATUSEVENTA ONNEW 0.000000 0.000000 HOLD < COM1 LOGLIST ONCE 0.000000 0.000000 NOHOLD As you can see the array of five logs are offset from the left hand side and start with ‘<’. SPAN-SE User Manual Rev 9...

  • Page 218: Binary

    This is the Message ID number of the log. Each log has its own unique message ID that you can find as part of each log description in this chapter Continued on the following page SPAN-SE User Manual Rev 9...
  • Page 219 1. The 8 bit size means that you will only see 0xA0 to 0xBF when the top bits are dropped from a port value greater than 8 bits; for example ASCII port USB1 will be seen as 0xA0 in the binary output. SPAN-SE User Manual Rev 9...

  • Page 220: Detailed Serial Port Identifiers

    3744 COM port 4 XCOM1 Internal virtual COM channels for use with SPAN API. XCOM2 Internal virtual COM channels for use with SPAN API. XCOM3 2464 Internal virtual COM channels for use with SPAN API. SPAN-SE User Manual Rev 9...

  • Page 221: Ascii And Binary Logs With Short Headers

    Table 43: GPS Time Status GPS Time Status GPS Time Status Description (Decimal) (ASCII) UNKNOWN Time validity is unknown. APPROXIMATE Time is set approximately. COARSE This time is valid to coarse precision. Continued on the following page SPAN-SE User Manual Rev 9...
  • Page 222 1 microsecond. This state is qualified by the FINE time status flag. If for some reason position is lost and the range bias cannot be calculated, the time status degrades to FREEWHEELING. SPAN-SE User Manual Rev 9...

  • Page 223: Message Time Stamps

    D.1.6 Message Time Stamps NovAtel format messages, generated by the OEMV family receivers, have a GPS time stamp in their header. GPS time is referenced to UTC with zero point defined as midnight on the night of January 5 1980. The time stamp consists of the number of weeks since that zero point and the number of seconds since the last week number change (0 to 604,799).

  • Page 224: Log Type Examples

    For synchronous and asynchronous logs, the following examples are invalid: [offset is not a multiple of the minimum logging period] LOG PSRPOS ONTIME 1 0.08 [offset is larger than the logging period] LOG PSRPOS ONTIME 1 1.05 SPAN-SE User Manual Rev 9...

  • Page 225: Nmea Standard Logs

    Here is an example of an NMEA sentence that describes time, position, and fix related data: $GPGGA,134658.00,5106.9792,N,11402.3003,W,2,09,1.0,1048.47,M,-16.27,M,08,AAAA*60 This example, and other NMEA logs, are output the same, no matter what GPS receiver is used, providing a standard way to communicate and process GPS information. SPAN-SE User Manual Rev 9...
  • Page 226 All data fields are delimited by a comma Null fields are indicated by no data between two commas. Null fields indicate invalid data or no data available The NMEA Standard requires that message lengths be limited to 82 characters SPAN-SE User Manual Rev 9...

  • Page 227: Span-Se Logs

    Appendix D D.3 SPAN-SE Logs The receivers are capable of generating many NovAtel-format output logs, in either Abbreviated ASCII, ASCII or binary format. For convenience, some commonly used OEMV logs are included in this manual. All SPAN-specific logs are included in this manual. Please refer to the OEMV Family Firmware Reference Manual for a complete list of logs containing GNSS-only information, categorized by function and then detailed in alphabetical order.

  • Page 228: Applicationstatus Display Installed And Running Applications

    CompTime The time at which the Char[12] H+64 application was compiled Next component offset Variable xxxx 32-bit CRC Variable CRLF Sentence terminator (ASCII only) ** – offset = H+(component number x 76) SPAN-SE User Manual Rev 9...

  • Page 229: Bestpos Best Position And Bestgpspos Best Gps Position

    When in INS mode, the position is calculated at the antenna phase center.  On SPAN-SE, the BESTPOS and BESTGPSPOS logs are available at <1 Hz, 1 Hz and 5 Hz only. BESTGPSPOS is a SPAN-only log and is not available directly from the OEMV.
  • Page 230 CDGPS Position solution using CDGPS corrections 1. In addition to a NovAtel receiver with L-band capability, a subscription to the OmniSTAR, or use of the free CDGPS, service is required. Contact NovAtel for details 2. These types appear in position logs such as BESTPOS...

  • Page 231: Solution Status

    GPS receiver has locked onto its first few satellites. If your antenna is obstructed (or not plugged in) and you have entered a FIX POSITION command, then you may see PENDING indefinitely SPAN-SE User Manual Rev 9...
  • Page 232 Number of GPS and GLONASS L2 ranges above Uchar H+67 the RTK mask angle Reserved Uchar H+68 Uchar H+69 Uchar H+70 Uchar H+71 xxxx 32-bit CRC (ASCII and Binary only) H+72 [CR][LF] Sentence terminator (ASCII only) SPAN-SE User Manual Rev 9...

  • Page 233: Signal-Used Mask

    2: SBAS Broadcast 3: Multi-frequency Computed 4: PSRDiff Correction 5: NovAtel Blended Iono value 0xF0 Reserved 1. Unknown can indicate that the Iono Correction type is None or that the default Klobuchar parameters are being used. SPAN-SE User Manual Rev 9...
  • Page 234 32-bit CRC (ASCII and Binary only) H+72 [CR][LF] Sentence terminator (ASCII only) 1. When using a datum other than WGS84, the undulation value also includes the vertical shift due to differences between the datum in use and WGS84 SPAN-SE User Manual Rev 9...

  • Page 235: Bestvel Best Available Velocity Data And Bestgpsvel Best Available Gps Velocity Data

    For integration purposes, the velocity latency should be applied to the record time tag. On SPAN-SE, BESTVEL and BESTGPSVEL are available at less than 1 Hz, 1 Hz or 5 Hz. Higher rate velocity information is available in the INSVEL, INSPVA or INSSPD logs.
  • Page 236 Vertical speed, in metres per second, where Double H+32 positive values indicate increasing altitude (up) and negative values indicate decreasing altitude (down) Reserved Float H+40 xxxx 32-bit CRC (ASCII and Binary only) H+44 [CR][LF] Sentence terminator (ASCII only) SPAN-SE User Manual Rev 9...

  • Page 237: Bestleverarm/Bestleverarm2 Imu To Antenna Lever Arm

    IMU Enclosure Frame (m) Double H+32 Z Uncertainty IMU Enclosure Frame (m) Double H+40 iMapping See Table 34, Full Mapping Integer H+48 Definitions on page 183 xxxx 32-bit CRC H+52 [CR][LF] Sentence Terminator (ASCII only) SPAN-SE User Manual Rev 9...

  • Page 238: Comconfig Current Com Port Configuration

    This log outputs the current COM port configuration for each port on your receiver. Message ID: 317 Log Type: Polled Recommended Input: log comconfiga once ASCII examples: #COMCONFIGA,COM1,0,98.5,FINESTEERING,1635,320272.363,00000000,0000,407;10,COM 1,9600,N,8,1,N,OFF,ON,NOVATEL,NOVATEL,ON,COM2,9600,N,8,1,N,OFF,ON,NOVATEL,NOV ATEL,ON,COM3,9600,N,8,1,N,OFF,ON,NOVATEL,NOVATEL,ON,COM4,9600,N,8,1,N,OFF,ON, NOVATEL,NOVATEL,ON,IMU,9600,N,8,1,N,OFF,OFF,IMU,IMU,OFF,USB1,12000000,N,0,0,N ,OFF,OFF,NOVATEL,NOVATEL,ON,ICOM1,10000000,N,0,0,N,OFF,OFF,NOVATEL,NOVATEL,ON ,ICOM2,10000000,N,0,0,N,OFF,OFF,NOVATEL,NOVATEL,ON,ICOM3,10000000,N,0,0,N,OFF ,OFF,NOVATEL,NOVATEL,ON,ICOM4,10000000,N,0,0,N,OFF,OFF,NOVATEL,NOVATEL,ON*a8e 10684 SPAN-SE User Manual Rev 9...
  • Page 239 Responses are turned on or off Enum H+44 0: OFF 1: ON next port offset = H + 4 + (port number x 44) xxxx 32-bit CRC (ASCII and Binary only) H+4+( #port x44) [CR][LF] Sentence terminator (ASCII only) SPAN-SE User Manual Rev 9...

  • Page 240: Comprotocol Com Port Protocol

    Data Logs D.3.6 COMPROTOCOL COM Port Protocol This log reports what the current protocol settings are on each SPAN-SE COM port. The protocol can be set with the COMCONTROL command, described on page 138 of this manual. Message ID: 1145...

  • Page 241: Corrimudata And Corrimudatas Corrected Imu Measurements

    (see page 131), the values in CORRIMUDATA(S) logs will be in the vehicle frame, not the SPAN computation frame. Message ID: 812 and 813 Log Type: Synch Recommended Input: log corrimudatasb ontime 0.01 Example log: %CORRIMUDATASA,1581,341553.000;1581,341552.997500000,-0.000000690,- 0.000001549,0.000001654,0.000061579,-0.000012645,-0.000029988*770c6232 Recommended Input: log direnta ontime 30 SPAN-SE User Manual Rev 9...
  • Page 242 H+28 handed) LateralAcc INS Lateral Acceleration (along DOUBLE H+36 X-axis) LongitudinalAcc INS Longitudinal Acceleration DOUBLE H+44 (along Y-axis) VerticalAcc INS Vertical Acceleration (along DOUBLE H+52 Z-axis) xxxx 32-bit CRC H+60T [CR][LF] Sentence Terminator (ASCII only) SPAN-SE User Manual Rev 9...

  • Page 243: Dirent Sd Card File List

    Note that the file size information in this log will only update once per second. The date and time for the DIRENT log is in UTC (Universal Coordinated Time). If the SPAN-SE receiver has no almanac, UTC is unavailable.
  • Page 244 Format Units Offset Log Header Filename Char[ ] none Size (bytes) Ulong bytes H+12 Size (packets) Ulong packets H+16 Date of Last Change 4 Ulong yyyymmdd H+20 Time of Last Change 4 Ulong hhmmss H+24 SPAN-SE User Manual Rev 9...

  • Page 245: Exthdgoffset Log The Angular Offset

    Section 4.5 on page 79). The angular offsets between the dual antenna baseline and the SPAN computation frame will be computed internally and be available for output via the EXTHDGOFFSET log. For message structure, refer to Section B.4.11 on page 144. SPAN-SE User Manual Rev 9...

  • Page 246: Gimballedpva Display Gimballed Position

    Double H+68 local level around X-axis in degrees Azimuth Right handed rotation from Double H+76 local level around Z-axis in degrees Status INS status Enum H+84 xxxx 32-bit CRC H+88 [CR][LF] Sentence Terminator (ASCII only) SPAN-SE User Manual Rev 9...

  • Page 247: Gloclock Glonass Clock Information

    The GLONASS-M satellites broadcasts this difference in the navigation message. This log also contains information from the GLONASS navigation data relating GLONASS time to UTC. Message ID: 719 Log Type: Asynch Recommended Input: log gloclocka onchanged ASCII Example: #GLOCLOCKA,COM1,0,54.5,SATTIME,1364,411884.000,00000000,1d44,2310; 0,0.000000000,0.000000000,0,0,-0.000000275,792,-0.000001207, 0.000000000,0.000000000,0*437e9afaf SPAN-SE User Manual Rev 9...
  • Page 248 (5 to 9). xxxx 32-bit CRC (ASCII and Binary only) H+61 [CR][LF] Sentence terminator (ASCII only) 1. In the binary log case, an additional bytes of padding are added to maintain 4-byte align- ment SPAN-SE User Manual Rev 9...

  • Page 249: Gloephemeris Glonass Ephemeris Data

     GLONASS measurements can be used for post-processed positioning solutions or in user-designed programs. NovAtel plans to offer GLONASS-only positioning in the future. In the meantime, OEMV-based output is compatible with post-processing software from the Waypoint Products Group, NovAtel Inc. See also www.novatel.com...

  • Page 250: Glonass Ephemeris Flags Coding

    Current data number. This field is only output for Ushort H+16 the new M type satellites. See example output from both satellite types (field 4) on page 249 Reserved H+18 Continued on the following page SPAN-SE User Manual Rev 9...
  • Page 251 Age of data, in days Ulong H+136 Flags Information flags, see Table 49, GLONASS Ulong H+140 Ephemeris Flags Coding on page 250 xxxx 32-bit CRC (ASCII and Binary only) H+144 [CR][LF] Sentence terminator (ASCII only) SPAN-SE User Manual Rev 9...

  • Page 252: Glorawephem Raw Glonass Ephemeris Data

    Next record offset = H + 20 + (#recs x [string size + 1]) variable xxxx 32-bit CRC (ASCII and Binary only) variable variable [CR][LF] Sentence terminator (ASCII only) 1. In the binary log case, additional bytes of padding are added to maintain 4-byte alignment. SPAN-SE User Manual Rev 9...

  • Page 253: Gpalm Almanac Data

    Standards and References section of the GNSS Reference Book, available on our website. Refer also to NMEA contact information there. Message ID: 217 Log Type: Asynch Recommended Input: log gpalm onchanged Example: $GPALM,28,01,01,1337,00,305a,90,1b9d,fd5b,a10ce9,ba0a5e,2f48f1,cccb76,006,001*27 $GPALM,28,02,02,1337,00,4aa6,90,0720,fd50,a10c5a,4dc146,d89bab,0790b6,fe4,000*70 $GPALM,28,24,26,1337,00,878c,90,1d32,fd5c,a10c90,1db6b6,2eb7f5,ce95c8,00d,000*23 $GPALM,28,25,27,1337,00,9cde,90,07f2,fd54,a10da5,adc097,562da3,6488dd,00e,000*2F $GPALM,28,26,28,1337,00,5509,90,0b7c,fd59,a10cc4,a1d262,83e2c0,3003bd,02d,000*78 $GPALM,28,27,29,1337,00,47f7,90,1b20,fd58,a10ce0,d40a0b,2d570e,221641,122,006*7D $GPALM,28,28,30,1337,00,4490,90,0112,fd4a,a10cc1,33d10a,81dfc5,3bdb0f,178,004*28 SPAN-SE User Manual Rev 9...
  • Page 254 A measurement along the orbital path from the ascending node to the point where the SV is closest to the Earth, in the direction of the SV's motion SPAN-SE User Manual Rev 9...

  • Page 255: Gpgga Gps Fix Data And Undulation

    WARNING since it may not be 100% accurate. When a valid almanac is available, the receiver uses the real parameters. Then the UTC time is set to VALID. Message ID: 218 Log Type: Synch Recommended Input: log gpgga ontime 1 Example: $GPGGA,134658.00,5106.9792,N,11402.3003,W,2,09,1.0,1048.47,M,-16.27,M, 08,AAAA*60 SPAN-SE User Manual Rev 9...
  • Page 256 1. An indicator of 9 has been temporarily set for WAAS (NMEA standard for WAAS not decided yet). This indicator can be customized using the GGAQUALITY command. 2. The maximum age reported here is limited to 99 seconds. SPAN-SE User Manual Rev 9...

  • Page 257: Gpgll Geographic Position

    Estimated (dead reckoning) mode Manual input Data not valid Table 52: Position Precision of NMEA Logs NMEA Latitude (# of Longitude (# of Altitude (# of decimal places) decimal places) decimal places) GPGGA GPGLL GPRMC SPAN-SE User Manual Rev 9...
  • Page 258 UTC time of position (hours/minutes/ hhmmss.ss 220152.50 seconds/decimal seconds) data status Data status: A: Data valid V: Data invalid mode ind Positioning system mode indicator, see Table 51 on page 257 Checksum [CR][LF] Sentence terminator [CR][LF] SPAN-SE User Manual Rev 9...

  • Page 259: Gpgrs Gps Range Residuals For Each Satellite

    GGA position was computed (preferred mode) 4 - 15 res Range residuals for satellites used in x.x,x.x,..-13.8,-1.9,11.4,-33.6,0.9, the navigation solution. Order matches 6.9,-12.6,0.3,0.6, -22.3 order of PRN numbers in GPGSA Checksum [CR][LF] Sentence terminator [CR][LF] SPAN-SE User Manual Rev 9...

  • Page 260: Gpgsa Gps Dop And Active Satellites

    DOP value, 9999.0 is reported for PDOP and HDOP. VDOP is reported as 0.0 in this case. Message ID: 221 Log Type: Synch Recommended Input: log gpgsa ontime 1 Example 1 (GPS only): $GPGSA,M,3,17,02,30,04,05,10,09,06,31,12,,,1.2,0.8,0.9*35 SPAN-SE User Manual Rev 9...
  • Page 261 1. The NMEA GLONASS PRN numbers are 64 plus the GLONASS slot number. Current slot numbers are 1 to 24 which give the range 65 to 88. PRN numbers 89 to 96 are available if slot numbers above 24 are allocated to on-orbit spares. SPAN-SE User Manual Rev 9...

  • Page 262: Gpgst Pseudorange Measurement Noise Statistics

    95% reliability (error is less than 2 m 95% of the time). Generally, GPS heights are 1.5 times poorer than horizontal positions. As examples of statistics, the GPSGST message and NovAtel performance specifications use root mean square RMS. Specifications may be quoted in CEP:...
  • Page 263 (degrees from true north) lat std Standard deviation of latitude error (m) 2.51 lon std Standard deviation of longitude error (m) 1.94 alt std Standard deviation of altitude error (m) 4.30 Checksum [CR][LF] Sentence terminator [CR][LF] SPAN-SE User Manual Rev 9...

  • Page 264: Gpgsv Gps Satellites In View

    Null fields are not required for unused sets when less than four sets are transmitted. Message ID: 223 Log Type: Synch Recommended Input: log gpgsv ontime 1 Example (Including GPS and GLONASS sentences): $GPGSV,3,1,11,18,87,050,48,22,56,250,49,21,55,122,49,03,40,284,47*78 $GPGSV,3,2,11,19,25,314,42,26,24,044,42,24,16,118,43,29,15,039,42*7E $GPGSV,3,3,11,09,15,107,44,14,11,196,41,07,03,173,*4D SPAN-SE User Manual Rev 9...
  • Page 265 1. The NMEA GLONASS PRN numbers are 64 plus the GLONASS slot number. Current slot numbers are 1 to 24 which give the range 65 to 88. PRN numbers 89 to 96 are available if slot numbers above 24 are allocated to on-orbit spares. SPAN-SE User Manual Rev 9...

  • Page 266: Gphdt Nmea Heading Log

    HDTOUTTHRESHOLD command section of the OEMV Family Firmware Reference Manual. You must have a SPAN-SE dual antenna model to use this log. For further information, refer to Table 83 on page 346.

  • Page 267: Gpvtg Track Made Good And Ground Speed

    Nautical speed indicator (N: Knots) speed Km Speed, kilometers/hour 0.781608 Speed indicator (K: km/hr) mode ind Positioning system mode indicator Checksum [CR][LF] Sentence terminator [CR][LF] Refer also to Table 51, NMEA Positioning System Mode Indicator on page 257. SPAN-SE User Manual Rev 9...

  • Page 268: Gpzda Utc Time And Date

    Local zone minutes description - (empty when no data is present) not available Checksum [CR][LF] Sentence terminator [CR][LF] 1. Local time zones are not supported by OEMV family receivers. Fields 6 and 7 are always null. SPAN-SE User Manual Rev 9...

  • Page 269: Heading Heading Information

    An example of this occurrence is in the ONTIME trigger. If this trigger is not logged ONCHANGED, it may cause inaccurate time tags.  This log is only available on the SPAN-SE-D. Message ID: 971 Log Type: Asynch Recommended Input:...
  • Page 270 H+42 sig mask Signals used mask. If 0, signals used in solution Uchar H+43 are unknown (see Table 46 on page 233) xxxx 32-bit CRC (ASCII and Binary only) H+44 [CR][LF] Sentence terminator (ASCII only) SPAN-SE User Manual Rev 9...

  • Page 271: Heave Heave Filter Log

    The log provides vessel heave computed by the integrated heave filter. Refer also to information in the SETHEAVEWINDOW command section. This log is asynchronous, but is available at approximately 10Hz.  Heave functionality is available on SPAN-SE only. You must have an inertial solution to use this log. Message ID: 1382 Log Type: Asynch...

  • Page 272: Icomstatus Show Communication Port Status

    Data Logs D.3.26 ICOMSTATUS Show communication port status Use this command to view a list of all ICOM port ICOMCONFIG settings.  ETHA is the only Ethernet adapter available to SPAN-SE. Message ID: 1292 Abbreviated ASCII Syntax log ICOMSTATUS ONCE Example output <ICOMSTATUS ICOM1 0 98.5 UNKNOWN 0 87.125 404c0020 0000 411...

  • Page 273: Imutoantoffsets Imu To Antenna(S) Lever Arm

    [COM1]<IMUTOANTOFFSETS COM1 0 98.5 FINESTEERING 1581 339209.733 60000041 0000 < < LEVER_ARM_PRIMARY -0.326000000 0.126000000 1.285000000 0.032600000 0.012600000 0.128500000 LEVER_ARM_FROM_COMMAND < LEVER_ARM_SECONDARY -0.325000000 -1.155000000 1.287000000 0.032500000 0.115500000 0.128700000 LEVER_ARM_FROM_COMMAND [COM1] ASCII Example: #IMUTOANTOFFSETSA,COM1,0,98.5,FINESTEERING,1581,339209.733,60000041,0000,265; 0,2,LEVER_ARM_PRIMARY,-0.326000000,0.126000000,1.285000000,0.032600000,0 .012600000,0.128500000,LEVER_ARM_FROM_COMMAND,LEVER_ARM_SECONDARY,- 0.325000000,-1.155000000, 1.287000000, 0.032500000, 0.115500000, 0.128700000, LEVER_ARM_FROM_COMMAND*8f0f90b5 SPAN-SE User Manual Rev 9...

  • Page 274: Lever Arm Type

    Table 53: Lever Arm Type Value Lever Arm Source (ASCII) Description (binary) LEVER_ARM_INVALID An invalid lever arm LEVER_ARM_PRIMARY Primary lever arm entered for all SPAN systems LEVER_ARM_SECONDARY Secondary lever arm entered for dual antenna SPAN systems. SPAN-SE User Manual Rev 9...

  • Page 275: Lever Arm Source

    Lever arm computed from calibration routine via LEVERARMCALIBRATE command LEVER_ARM_FROM_COMMAND Lever arm entered via command LEVER_ARM_RESET If the current IMU orientation does not match the value restored from NVM then the lever arm will be reset to zero with this status. SPAN-SE User Manual Rev 9...

  • Page 276: Insatt Ins Attitude

    1. Axis of the SPAN computation frame. If the APPLYVEHICLEBODYROTATION command has been invoked, it will be the axis of the vehicle frame. See Section 3.1, Definition of Ref- erence Frames within SPAN on page 44 for frame definitions. SPAN-SE User Manual Rev 9...

  • Page 277: Insatts Short Ins Attitude

    1. Axis of the SPAN computation frame. If the APPLYVEHICLEBODYROTATION command has been invoked, it will be the axis of the vehicle frame. See Section 3.1, Definition of Ref- erence Frames within SPAN on page 44 for frame definitions. SPAN-SE User Manual Rev 9...

  • Page 278: Inscov Ins Covariance Matrices

    3.4.1, Configuration for Alignment starting on page 55 and Section 3.1, Definition of Reference Frames within SPAN on page 44. Message ID: 264 Log Type: Asynch Recommended Input: log inscova onchanged ASCII Example: #INSCOVA,COM3,0,0.0,EXACT,1105,425385.020,00040000,c45c,0; 1105,425385.000000000, 0.0997319969301073,-0.0240959791179416,-0.0133921499963209, -0.0240959791179416,0.1538605784734939,0.0440068023663888, -0.0133921499963210,0.0440068023663887,0.4392033415009359, 0.0034190251365443,0.0000759398593357,-0.1362852812808768, 0.0000759398593363,0.0032413999569636,-0.0468473344270137, -0.1362852812808786,-0.0468473344270131,117.5206493841025100, 0.0004024901765302,-0.0000194916086028,0.0000036582459112, -0.0000194916086028,0.0004518869575566,0.0000204616202028, 0.0000036582459112,0.0000204616202028,0.0005095575483948*1fc92787 SPAN-SE User Manual Rev 9...
  • Page 279 Velocity Covariance Velocity covariance matrix in local List of 9 H+156 level frame. (meters per second Doubles squared) xxxx 32-bit CRC (ASCII, Binary and H+228 Short Binary only) [CR][LF] Sentence terminator (ASCII only) SPAN-SE User Manual Rev 9...

  • Page 280: Inscovs Short Ins Covariance Log

    Velocity Velocity covariance matrix in local List of 9 H+156 Covariance level frame. (Meters per second Doubles squared) xx,xy,xz,yx,yy,yz,zx,zy,zz xxxx 32-bit CRC (ASCII, Binary and H+228 Short Binary only) [CR][LF] Sentence terminator (ASCII only) SPAN-SE User Manual Rev 9...

  • Page 281: Inspos Ins Position

    Longitude (WGS84) Double H+20 Height Ellipsoidal Height (WGS84) Double H+28 Status INS status, see Table 5 on Enum H+36 page 54 xxxx 32-bit CRC (ASCII, Binary and H+40 Short Binary only) [CR][LF] Sentence terminator (ASCII only) SPAN-SE User Manual Rev 9...

  • Page 282: Insposs Short Ins Position

    Double H+20 Height Ellipsoidal Height (WGS84) Double H+28 Status INS status, see Table 5 on Enum H+36 page 54 xxxx 32-bit CRC (ASCII, Binary and H+40 Short Binary only) [CR][LF] Sentence terminator (ASCII only) - SPAN-SE User Manual Rev 9...

  • Page 283: Inspossync Time Synchronized Ins Position

    Double H+16 ECEF Z coordinate Double H+24 ECEF covariance matrix (a 3 x 3 Double[9] H+32 array of length 9) xxxx 32-bit CRC (ASCII, Binary and H+104 Short Binary only) [CR][LF] Sentence terminator (ASCII only) SPAN-SE User Manual Rev 9...

  • Page 284: Inspva Ins Position, Velocity And Attitude

    X-axis in degrees Azimuth Left handed rotation around Z-axis Double H+76 Degrees clockwise from North Status INS Status, see Table 5 on page 54 Enum H+84 xxxx 32-bit CRC H+88 [CR][LF] Sentence Terminator (ASCII only) SPAN-SE User Manual Rev 9...

  • Page 285: Inspvas Short Ins Position, Velocity And Attitude

    X-axis in degrees Azimuth Left handed rotation around Z-axis degrees Double H+76 clockwise from North Status INS Status, see Table 5 on page 54 Enum H+84 xxxx 32-bit CRC H+88 [CR][LF] Sentence Terminator (ASCII only) SPAN-SE User Manual Rev 9...

  • Page 286: Insspd Ins Speed

    Status INS status, see Table 5 on page 54 Enum H+36 xxxx 32-bit CRC (ASCII, Binary and H+40 Short Binary only) [CR][LF] Sentence terminator (ASCII only) SPAN-SE User Manual Rev 9...

  • Page 287: Insspds Short Ins Speed

    Vertical Speed Vertical speed in metres per Double H+28 second Status INS status, see Table 5 on Enum H+36 page 54 xxxx 32-bit CRC (ASCII, Binary and H+40 Short Binary only) [CR][LF] Sentence terminator (ASCII only) SPAN-SE User Manual Rev 9...

  • Page 288: Insupdate Ins Update

    H+20 Status during the last INS update See Table 56 on page 289. Heading Refer to Status of the heading Enum H+24 Update Table 55 on update during the last page 289 INS filter update SPAN-SE User Manual Rev 9...

  • Page 289: Heading Update Enums

    The last 1 second recorded a turn of over 5 degrees/second. HEADING_UPDATE_BAD_MISC The difference between the ALIGN heading and the INS heading failed a 3 sigma check with the inertial standard deviation. The Heading Update enums are available on the SPAN-SE-D. Table 56: Wheel Status Binary ASCII Description WHEEL_SENSOR_INACTIVE The Wheel Sensor is not configured properly.

  • Page 290: Insvel Ins Velocity

    Up Velocity Velocity Up in metres per second Double H+28 Status INS status, see Table 5 on Enum H+36 page 54 xxxx 32-bit CRC (ASCII, Binary and H+40 Short Binary only) [CR][LF] Sentence terminator (ASCII only) SPAN-SE User Manual Rev 9...

  • Page 291: Insvels Short Ins Velocity

    Up Velocity Velocity Up metres per second Double H+28 Status INS status, see Table 5 on page 54 Enum H+36 xxxx 32-bit CRC (ASCII, Binary and H+40 Short Binary only) [CR][LF] Sentence terminator (ASCII only) SPAN-SE User Manual Rev 9...

  • Page 292: Ipstatus Displays Ethernet Port Settings

    Log header Interface Always ETHA Enum IPAddress Ethernet IP address Ulong NetMask Network mask Ulong Gateway Network gateway Ulong H+12 xxxx 32-bit CRC (ASCII, Binary and Short H+16 Binary only) [CR][LF] Sentence terminator (ASCII only) SPAN-SE User Manual Rev 9...

  • Page 293: Lbandinfo L-Band Configuration Information

    This log outputs configuration information for an L-band service.  In addition to a NovAtel receiver with L-band capability, a subscription to the OmniSTAR service is required. Contact NovAtel for details. Contact information may be found on the back of this manual or you can refer to the Customer Service section in the OEMV Family Installation and Operation User Manual.
  • Page 294 GPS week contain the amount of running time remaining in the subscription. If the subscription type is COUNTDOWNOVERRUN, the expiration week and expiration seconds into GPS week count the amount of the overrun time. SPAN-SE User Manual Rev 9...

  • Page 295: Lbandstat L-Band Status Information

    OmniSTAR HP (High Performance) service.  1. In addition to a NovAtel receiver with L-band capability, a subscription to the OmniSTAR service is required. Contact NovAtel for details. 2. In binary, the receiver outputs 48 bytes without the checksum when the LBANDSTATB log is requested.

  • Page 296: Omnistar Vbs Status Word

    True 0x0100 Reserved 0x0200 0x0400 0x0800 0x1000 0x2000 0x4000 0x8000 Updating Data False True 1. Contact OmniSTAR for subscription support. All other status values are updated by collecting OmniSTAR data for 20 – 35 minutes. SPAN-SE User Manual Rev 9...

  • Page 297: Omnistar Hp/Xp Additional Status Word

    0x0080 0x0100 0x0200 0x0400 0x0800 0x1000 0x2000 0x4000 0x8000 1. This authorization is related to the receiver model and not the OmniStar subscription. To view OmniSTAR subscription information use the LBANDINFO log, see page 293. SPAN-SE User Manual Rev 9...

  • Page 298: Omnistar Hp/Xp Status Word

    0x04000000 Static initialization mode False True Reserved 28-30 0x80000000 Updating data False True 1. Contact OmniSTAR for subscription support. All other status values are updated by collecting the OmniSTAR data for 20 – 35 minutes. SPAN-SE User Manual Rev 9...
  • Page 299 Number of bytes fed to the HP or XP process Ulong H+36 hp status Status from the HP or XP process (see Table 61 H+40 on page 298) Reserved H+44 xxxx 32-bit CRC (ASCII and Binary only) H+48 [CR][LF] Sentence terminator (ASCII only) SPAN-SE User Manual Rev 9...

  • Page 300: Logfilestatus Displays Information About System Logging

    Bytes Offset Log header Header FileState OPEN The file status Enum CLOSE FileName Output filename in Char 8.3 format FileSize Output filesize in KB ULONG H+16 Media 0 (default) Output media. Enum H+20 USBSTICK 1 SPAN-SE User Manual Rev 9...

  • Page 301: Loglist List Of System Logs

    Log Type: Polled Recommended Input: log loglista once ASCII Example: #LOGLISTA,COM1,0,93.5,FINESTEERING,1521,319135.030,00000000,0000,149; COM1,RXSTATUSEVENTA,ONNEW,0.000000,0.000000,HOLD, COM2,RXSTATUSEVENTA,ONNEW,0.000000,0.000000,HOLD, COM3,RXSTATUSEVENTA,ONNEW,0.000000,0.000000,HOLD, COM4,RXSTATUSEVENTA,ONNEW,0.000000,0.000000,HOLD, COM1,LOGLISTA,ONCE,0.000000,0.000000,NOHOLD, COM2,RAWIMUSB,ONNEW,0.000000,0.000000,NOHOLD, COM2,INSPVASB,ONTIME,0.020000,0.000000,NOHOLD*21ed4ccd  Do not use undocumented logs or commands. Doing so may produce errors and void your warranty. SPAN-SE User Manual Rev 9...
  • Page 302 Offset for period (ONTIME trigger) Double H+26 hold 0: NOHOLD Enum H+34 1: HOLD 11... Next log offset = H + 4 + (number of logs x 34) variable xxxx 32-bit CRC H+4+(#logs x SPAN-SE User Manual Rev 9...
  • Page 303 ONNEW Enum ONCHANGED ONTIME ONNEXT ONCE period Log period for ONTIME Double offset Offset for period (ONTIME trigger) Double hold NOHOLD Enum HOLD 9... Next port variable xxxx 32-bit CRC variable [CR][LF] Sentence terminator SPAN-SE User Manual Rev 9...

  • Page 304: Mac Mac Address

    SE Ethernet Connection on page 76. The 6-byte MAC address is typically spaced with colons. The first 3 bytes are the same numbers for every SPAN-SE and are registered to NovAtel. The second three bytes are specific to each SPAN-SE. Message ID: 1100...

  • Page 305: Mark1Count, Mark2Count, Mark3Count, Mark4Count Mark Count

    Log Type: Asynch Recommended Input: log mark1counta onnew ASCII Example: #MARK1COUNTA,COM1,0,98.5,FINESTEERING,1520,515353.000,00000000,0000,137; 1000000,1*1786750b Binary Binary Field # Field type Data Description Format Bytes Offset MARKxCOUNT Log header header Period Delta time Ulong Count Tick count Ushort SPAN-SE User Manual Rev 9...

  • Page 306: Mark1Pva, Mark2Pva, Mark3Pva, Mark4Pva Position, Velocity And Attitude At Mark

    Left handed rotation around Z-axis degrees Double H+76 clockwise from North at Mark1, 2, 3 or 4 Status INS Status, see Table 5 on page 54 at Mark Enum H+84 xxxx 32-bit CRC H+88 [CR][LF] Sentence Terminator (ASCII only) SPAN-SE User Manual Rev 9...

  • Page 307: Mark1Time, Mark2Time, Mark3Time, Mark4Time Time Of Mark Input Event

    Description (Binary) (ASCII) VALID The clock model is valid CONVERGING The clock model is near validity ITERATING The clock model is iterating towards validity INVALID The clock model is not valid ERROR Clock model error SPAN-SE User Manual Rev 9...
  • Page 308 Status on page 307 xxxx 32-bit CRC (ASCII and Binary only) H+40 [CR][LF] Sentence terminator (ASCII only) 1. 0 indicates that UTC time is unknown because there is no almanac available in order to acquire the UTC offset. SPAN-SE User Manual Rev 9...

  • Page 309: Pashr Nmea Inertial Attitude Data

    Heading Accuracy Heading standard deviation in decimal hh.hhh 4.986 degrees GPS Update 0: No position Quality Flag 1: All non-RTK fixed integer positions 2: RTK fixed integer position Checksum Checksum [CR][LF] Sentence terminator [CR][LF] SPAN-SE User Manual Rev 9...

  • Page 310: Portstats Port Statistic

    This log outputs a report of those indicators. Message ID: 72 Log Type: Polled Recommended Input: log portstatsa once ASCII Example: Replace ASCII example with the following: #PORTSTATSA,USB1,0,98.0,FINESTEERING,1635,321000.351,00000001,0000,394;10,COM 1,0,132,0,0,21,0,0,0,0,COM2,0,132,0,0,7,0,0,0,0,COM3,0,132,0,0,8,0,0,0,0,COM4 ,0,132,0,0,7,0,0,0,0,IMU,0,0,0,0,0,0,0,0,0,USB1,208,5513,208,0,152,0,0,0,0,IC OM1,0,0,0,0,0,0,0,0,0,ICOM2,0,0,0,0,0,0,0,0,0,ICOM3,0,0,0,0,0,0,0,0,0,ICOM4,0 ,0,0,0,0,0,0,0,0*a9518ce6 SPAN-SE User Manual Rev 9...
  • Page 311 0 for USB overruns Number of hardware overruns Ulong H+40 Next port offset = H + 4 + (port number x 40) xxxx 32-bit CRC (ASCII and Binary only) H+4+ (#port x [CR][LF] Sentence terminator (ASCII only) SPAN-SE User Manual Rev 9...

  • Page 312: Range Satellite Range Information

    Message ID: 43 Log Type: Synch Recommended Input: log rangea ontime 30 ASCII Example: #RANGEA,COM1,0,63.5,FINESTEERING,1429,226979.000,00000000,5103,2748; 6,0,23359924.081,0.078,-122757217.106875,0.015,-3538.602,43.3,19967.080, 08109c04, 6,0,23359926.375,0.167,-95654966.812027,0.019,-2757.355,36.7,19960.461, 01309c0b, 21,0,20200269.147,0.038,-106153137.954409,0.008,-86.289,49.5,13397.470, 08109c44, 21,0,20200268.815,0.056,-82716721.366921,0.008,-67.242,46.1,13391.980, 01309c4b, 16,0,23945650.428,0.091,-125835245.287192,0.024,-2385.422,41.9,10864.640, 08109c64, 16,0,23945651.399,0.148,-98053428.283142,0.028,-1858.773,37.7,10859.980, 01309c6b, 44,12,19388129.378,0.335,-103786179.553598,0.012,975.676,36.6,3726.656, 18119e24, 44,12,19388136.659,0.167,-80722615.862096,0.000,758.859,42.7,3714.860, 10b19e2b, 43,8,20375687.399,0.253,-108919708.904476,0.012,-2781.090,39.1,10629.934, 18119e84, 43,8,20375689.555,0.177,-84715349.232514,0.000,-2163.074,42.2,10619.916, 10b19e8b*fd2d3125 SPAN-SE User Manual Rev 9...

  • Page 313: Tracking State

    Data Logs Appendix D  On SPAN-SE, it is recommended the RANGE log be requested in binary only, especially if high rates are desired. An ASCII example is shown above for clarity and consistency. Table 63: Tracking State State Description...

  • Page 314: Channel Tracking Status

    17: L2C 0x01000000 SBAS: Other: 0x02000000 0: L1 C/A 19: OmniSTAR 0x04000000 Forward Error Correction (FEC) 0: Not FEC, 1: FEC 0x08000000 Primary L1 channel 0: Not primary, 1: Primary Continued on the following page SPAN-SE User Manual Rev 9...
  • Page 315 32-bit CRC (ASCII and Binary only) H+4+ (#obs x variable [CR][LF] Sentence terminator (ASCII only) 1. Satellite PRNs may have two lines of observations, one for the L1 frequency and the other for L2. SPAN-SE User Manual Rev 9...

  • Page 316: Rangecmp Compressed Version Of The Range Log

    StdDev-PSR 128 – 131 StdDev-ADR 132 – 135 (n + 1)/512 cycles 136 – 143 PRN/Slot 144 – 164 1/32 Lock Time 165 – 169 (20 + n) dB-Hz C/No Reserved 170 – 191 SPAN-SE User Manual Rev 9...
  • Page 317 Table 67 on page 316 Next rangecmp offset = H + 4 + (#obs x 24) variable xxxx 32-bit CRC (ASCII and Binary only) H + 4 + (#obs x 24) variable [CR][LF] Sentence terminator (ASCII only) SPAN-SE User Manual Rev 9...

  • Page 318: Rawephem Raw Ephemeris

    Ephemeris reference time (s) Ulong subframe1 Subframe 1 data H+12 subframe2 Subframe 2 data H+42 subframe3 Subframe 3 data H+72 xxxx 32-bit CRC (ASCII and Binary only) H+102 [CR][LF] Sentence terminator (ASCII only) SPAN-SE User Manual Rev 9...

  • Page 319: Rawimu Raw Imu Data

    327. Message ID: 268 Log Type: Asynch Recommended Input: log rawimua onnew ASCII Example: #RAWIMUA,COM3,0,0.0,EXACT,1105,425384.180,00040000,b8ed,0; 1105,425384.156166800,111607,43088060,430312,-3033352, -132863,186983,823*5aa97065  If any of the non-reserved fields indicate a failure, contact NovAtel customer service for further information. SPAN-SE User Manual Rev 9...
  • Page 320 3. The change in angle (gyro) scale factor can be found in Table 74 on page 328. Multiply the appro- priate scale factor in Table 74, by the count in this field, for the angle increments in radians. SPAN-SE User Manual Rev 9...

  • Page 321: Iimu-Fsas Status

    Passed: 0, Failed: 1 0x04000000 Software Passed: 0, Failed: 1 0x08000000 RAM/ROM Passed: 0, Failed: 1 0x10000000 Reserved 0x20000000 Operational Passed: 0, Failed: 1 0x40000000 Interface Passed: 0, Failed: 1 0x80000000 Interface time-out Passed: 0, Failed: 1 SPAN-SE User Manual Rev 9...

  • Page 322: Litef Lci-1 Imu Status

    Normal: 0, Warning: 1 0x00200000 FORS Z Warning Normal: 0, Warning: 1 0x00400000 FORS Y Warning Normal: 0, Warning: 1 0x00800000 FORS X Warning Normal: 0, Warning: 1 0x01000000 Not Used 0x02000000 0x04000000 0x08000000 0x10000000 0x20000000 0x40000000 0x80000000 SPAN-SE User Manual Rev 9...

  • Page 323: Mode Indication

    IMU Status Passed: 0 Failed: 1 0x00000200 Reserved IMU Status Passed: 0 Failed: 1 0x00000400 Reserved IMU Status Passed: 0 Failed: 1 0x00000800 Reserved IMU Status Passed: 0 Failed: 1 Continued on the following page SPAN-SE User Manual Rev 9...
  • Page 324 IMU Status Passed: 0 Failed: 1 Failed: 1 0x20000000 IMU Status Passed: 0 Reserved Failed: 1 0x40000000 IMU Status Passed: 0 IMU Status Passed: 0 Failed: 1 Failed: 1 0x80000000 IMU Status Passed: 0 Reserved Failed: 1 SPAN-SE User Manual Rev 9...

  • Page 325: Imu-Cpt Status

    Accelerometer Z Status 1: Valid, 0: Invalid 0x00000080 Unused Set to 0 0x00000100 Unused 0x00000200 0x00000400 0x00000800 0x00001000 0x00002000 0x00004000 0x00008000 0x00010000 0x00020000 0x00040000 0x00080000 0x00100000 0x00200000 0x00400000 0x00800000 0x01000000 0x02000000 0x04000000 0x08000000 0x10000000 0x20000000 0x40000000 0x80000000 SPAN-SE User Manual Rev 9...

  • Page 326: Hg1900 And Hg1930 Status

    IMU Status Passed: 0, Failed: 1 0x08000000 IMU Status Passed: 0, Failed: 1 0x10000000 IMU Status Passed: 0, Failed: 1 0x20000000 IMU Status Passed: 0, Failed: 1 0x40000000 IMU Status Passed: 0, Failed: 1 0x80000000 Reserved SPAN-SE User Manual Rev 9...

  • Page 327: Rawimus Short Raw Imu Data

    - (Change in angle count around Y-axis) right-handed X Gyro Output Long H+36 Change in angle count around X-axis right- handed xxxx 32-bit CRC (ASCII, Binary and Short Binary H+40 only) [CR][LF] Sentence terminator (ASCII only) SPAN-SE User Manual Rev 9...

  • Page 328: Raw Imu Scale Factors

    Factor HG1700-AG11 ft/s HG1700-AG58 HG1900-CA29 HG1930-AA99 HG1700-AG17 ft/s HG1700-AG62 0.1 / (3600.0x256.0) rad/LSB IMU-CPT 0.05/2 m/s/LSB iIMU-FSAS 0.1x 2 arcsec 0.05 x 2 Litef LCI-1 4 x 2 deg/ LSB 2 x 2 m/s/LSB LN-200 SPAN-SE User Manual Rev 9...

  • Page 329: Rxconfig Receiver Configuration

    96.5,UNKNOWN,0,0.000,40000020,0000,143;USB1,NOVATEL,NOVATEL,ON*68b6a123*db99b6e7 #RXCONFIGA,COM1,8,96.5,UNKNOWN,0,0.000,40000020,0000,143;#INTERFACEMODEA,COM1,8, 96.5,UNKNOWN,0,0.000,40000020,0000,143;ICOM1,NOVATEL,NOVATEL,ON*421e3cb1*e457f77e #RXCONFIGA,COM1,7,96.5,UNKNOWN,0,0.000,40000020,0000,143;#NMEATALKERA,COM1,7,96.5, UNKNOWN,0,0.000,40000020,0000,143;GP*1283d3e3*14a45bcc The embedded CRCs are flipped to make the embedded messages recognizable to the receiver. For example, if the embedded message is: 91f89b07: 10010001111110001001101100000111 11100000110110010001111110001001: e0d91f89 its CRC is really e0d91f89. SPAN-SE User Manual Rev 9...
  • Page 330 If you want to use the messages output from the RXCONFIG log, simply flip the embedded CRC around for individual messages xxxx 32-bit CRC (ASCII and Binary only) H+ h + a + 4 [CR][LF] Sentence terminator (ASCII only) SPAN-SE User Manual Rev 9...

  • Page 331: Rxstatus Receiver Status

    RF hardware, as these conditions are considered to be fatal errors. Shut down of either the OEMV-3 or OEMV-2 in this way will result in some loss of functionality for the SPAN-SE. The receiver gives the user the ability to determine the importance of the status bits. In the case of the Receiver Status, setting a bit in the priority mask causes the condition to trigger an error.

  • Page 332: Span Receiver Error

    This is a non-recoverable error for SPAN-SE. It indicates that the OEMV-3 has experienced a USB overrun, or that the OEMV-3 is no longer powered. Since SPAN-SE controls the power to its internal OEMV-3, it is unlikely the OEMV-3 has lost power. It is more likely that the user has overloaded the OEMV-3 USB with excessive log requests.
  • Page 333 COM port power status Not Over Over Current Current 0x00080000 Reserved 0x00100000 Remote loading in progress 0x00200000 Export restriction Error 0x00400000 Reserved 0x00800000 0x01000000 0x02000000 0x04000000 0x08000000 0x10000000 0x20000000 0x40000000 0x80000000 Component hardware failure Error SPAN-SE User Manual Rev 9...

  • Page 334: Span Receiver Status

    SD logging warning buffer is OK buffer is greater than 80% full 0x10000000 Forced UNLOGALL to OEMV3 Did not happen Happened 0x20000000 OEMV-2 status event No event Event 0x40000000 OEMV-3 status event No event Event 0x80000000 Reserved SPAN-SE User Manual Rev 9...

  • Page 335: Auxiliary 1 Status

    Table 78: OEMV-3 Status Nibble # Bit # Mask Description Bit = 0 Bit = 1 0x0000001 Reserved Table 79: OEMV-2 Status Nibble # Bit # Mask Description Bit = 0 Bit = 1 0x0000001 Reserved SPAN-SE User Manual Rev 9...
  • Page 336 OEMV-2 status event clear mask ULong H+68 20... Next status code offset = H + 8 + (number of stats x 16) variable xxxx 32-bit CRC (ASCII and Binary only) H+8+(#stats x 64) variable [CR][LF] Sentence terminator (ASCII only) SPAN-SE User Manual Rev 9...

  • Page 337: Rxstatusevent Status Event Indicator

    In the event of a SPAN-SE receiver error, the LEDs flash the binary number of the receiver error. Red is “1” and green is “0”. If you have an invalid auth code, the LEDs will be green-green-red-green-red, which is 5 in binary and that means bit 5 of the receiver error word is set.

  • Page 338: Status Word

    335) event Event type (see Table 81 above) Enum description This is a text description of the event Char[32] H+12 or error xxxx 32-bit CRC (ASCII and Binary only) H+44 [CR][LF] Sentence terminator (ASCII only) SPAN-SE User Manual Rev 9...

  • Page 339: Spanvalidmodels Valid Model Information

    Next model offset = H + 4 + (number of mods x variable [max:28]) variable xxxx 32-bit CRC (ASCII and Binary Variable only) variable [CR][LF] Sentence terminator (ASCII only) 1. In the binary log case, additional bytes of padding are added to maintain 4-byte alignment SPAN-SE User Manual Rev 9...

  • Page 340: Taggedmarkxpva Output Information From A Mark Input

    MARK1 through MARK4 Azimuth Left-handed rotation around the Z-axis in a clockwise Double 8 H+78 direction from north at MARK1 through MARK4 Status INS Status Enum H+86 xxxx 32-bit CRC H+90 [CR][LF] Sentence terminator (ASCII only) SPAN-SE User Manual Rev 9...

  • Page 341: Time Time Data

    The TIME log offset field can then be used to determine any offset in PPS output relative to GPS time. Message ID: 101 Log Type: Synch Recommended Input: log timea ontime 1 ASCII Example: #TIMEA,COM1,0,50.5,FINESTEERING,1337,410010.000,00000000,9924,1984; VALID,1.953377165e-09,7.481712815e-08,-12.99999999492,2005,8,25,17, 53,17000,VALID*e2fc088c SPAN-SE User Manual Rev 9...
  • Page 342 32-bit CRC (ASCII and Binary only) H+44 [CR][LF] Sentence terminator (ASCII only) 1. If UTC time is unknown, the values for month and day are 0. 2. Maximum of 60999 when leap second is applied. SPAN-SE User Manual Rev 9...

  • Page 343: Timedwheeldata Timed Wheel Data

    Section D.1.4, ASCII and Binary Logs with Short Headers on page 221. This log contains the wheel sensor information received from any of the three sources SPAN-SE supports. See also Section 3.5, SPAN Wheel Sensor Configuration on page 64.

  • Page 344: Variableleverarm Display Variable Lever Arm Details

    X-axis uncertainty in degrees Double 8+24 YUncert Y-axis uncertainty in degrees Double 8+32 ZUncert Z-axis uncertainty in degrees Double 8+40 xxxx 32-bit CRC (ASCII, Binary and H+24 Short Binary only) [CR][LF] Sentence terminator (ASCII only) SPAN-SE User Manual Rev 9...

  • Page 345: Vehiclebodyrotation Vehicle To Span Frame Rotation

    SPAN computation frame. This log reports whatever was entered using the VEHICLEBODYROTATION command, page 207, or whatever was solved for after invoking the RVBCALIBRATE command, see page 174. Recommended Input: log vehiclebodyrotationa onchanged ASCII Example: #VEHICLEBODYROTATIONA,COM1,0,36.5,FINESTEERING,1264,144170.094,00000000,bcf2, 1541;1.5869999997474209,2.6639999995760122,77.6649999876392343,2.000000000000 0000,2.0000000000000000,5.0000000000000000*25f886cc SPAN-SE User Manual Rev 9...

  • Page 346: Version Version Information

    SPANFPGA,"","","","SCF000100RN0014","","","", GPSCARD,"L12GRV","DAB08190083","OEMV3G-4.00-X2T","3.621","3.000","2009/Feb/ 18","12:31:14", GPSCARD," L12GRV ","BZZ08190377","OEMV2G-3.01-2T","3.200S3","3.000","2006/ Jul/14","12:28:52", IMUCARD,"HG1700 100Hz","","","2.010","","Feb 09 2007","10:39:41"*ffb53221 Table 82: OEMV in SPAN-SE Model Designators Designator Description 12 L1 or 12 L1/L2 GLONASS channels, frequencies to match GPS configuration 1 L-band channel OmniSTAR HP/XP capability Allows OEMV3 to talk to SPAN Receiver (for OEMV FW Version 3.800 and later)

  • Page 347: Component Types

    OEMV Family Component IMUCARD IMU Card 8192 SPANCARD SPAN-SE Card 8193 SPANFPGA SPAN-SE Field Programmable Gate Array (FPGA) Table 85: VERSION Log: Field Formats Field Type Field Format (ASCII) Description hw version P-RS-CCC P: hardware platform (for example, OEMV) R: hardware revision (for example, 3.00)

  • Page 348: Wheelsize Wheel Size

    Log Header Log header Scale Wheel sensor scale factor Double Circum Wheel circumference (m) Double Double H+16 Variance of circumference (m xxxx 32-bit CRC (ASCII, Binary and H+24 Short Binary only) [CR][LF] Sentence terminator (ASCII only) SPAN-SE User Manual Rev 9...

  • Page 349: Appendix E Hg1700 Imu In Universal Enclosure

    O-rings, sealing surfaces, and the IMU. The following procedure provides the necessary information to install the HG1700 sensor into the Universal Enclosure (NovAtel part number 01018589), both illustrated below. The steps required for this procedure are: •...

  • Page 350: Disassemble The Universal Enclosure

    Using a 3 mm hex bit, remove the M4 screws (they will be reused) and the base, as shown in Figure 44. Ensure the O-rings come with the base when it is removed, and that they are not damaged. Figure 44: Remove Base SPAN-SE User Manual Rev 9...

  • Page 351: Disconnect Wiring Harness From Enclosure Body

    Using a 30 mm socket, remove the jam nut and free the wiring harness connector from the body, as shown in Figure 2. Retain the O-ring and the jam nut for reassembly. (wiring harness not shown) Figure 45: Disconnect Wiring Harness from Enclosure Body SPAN-SE User Manual Rev 9...

  • Page 352: Remove Imu Mounting Plate And Bracket

    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 46: (wiring harness not shown) Figure 46: Remove IMU Mounting Plate and Bracket SPAN-SE User Manual Rev 9...

  • Page 353: Install The Hg1700 Sensor Unit

    Connect the IMU cable harness to the IMU (fasten the 2-56 screws but do not use thread-locking fluid), then connect to the board assembly. Ensure the cable housing latches. CONNECT Figure 48: Connect IMU to IMU Mounting Plate SPAN-SE User Manual Rev 9...

  • Page 354: Installing Imu To Mounting Plate

    Screw the IMU and mounting plate together, using thread-locking fluid on the 8-32 screws, as shown in Figure 49. ALIGN BOTH PILOT PINS TO HOLES ON IMU Figure 49: Installing IMU to Mounting Plate SPAN-SE User Manual Rev 9...

  • Page 355: Assemble Into Enclosure Body

    Starting with the round pilot hole, shown in Figure 50, align the pilot holes of the assembled plate (noting the orientation) with the pilot pins of the enclosure body. Lower the assembly into place, then fasten using thread-locking fluid on the M4 screws. ROUND PILOT HOLE Figure 50: Assemble Into Enclosure Body SPAN-SE User Manual Rev 9...

  • Page 356: Fasten Internal Cable Harness

    EMI O-rings in the enclosure base, being careful not to stretch or twist them. O-rings must remain flat within the grooves during the remainder of the assembly procedure. Figure 52: Install O-rings SPAN-SE User Manual Rev 9...

  • Page 357: Install Enclosure Body On The Base

    Carefully lower the body onto the base, observing the O-rings and alignment of corners. Press the enclosure body into place, starting with the round pilot hole indicated in Figure 53. ROUND PILOT HOLE ABOVE THIS PILOT PIN REFERENCE MARKERS Figure 53: Install Enclosure Body on the Base SPAN-SE User Manual Rev 9...

  • Page 358: Screw Enclosure Base To Body

    Install the remaining screws in similar fashion. Tighten all screws then check all of them again for tightness. Tighten these screws to 1.36-1.58 N-m (12-14 lb-in). Do not over-tighten. Figure 54: Screw Enclosure Base to Body SPAN-SE User Manual Rev 9...

  • Page 359: Final Assembly

    The final assembled unit will be similar to that shown in Figure 55: Centre of Navigation Labels (triangular Product icon for HG1700) should be here Identification Label Logo (on rear) Plate Figure 55: Final Assembly SPAN-SE User Manual Rev 9...

  • Page 360: Appendix F Hg1700 Imu In Span Hg Enclosure

    Appendix F HG1700 IMU in SPAN HG Enclosure The following procedure, detailed in this appendix, 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: •...

  • Page 361: Disassemble The Span Imu Enclosure

    Lift the top cover off the tube body and set it aside, as shown in Figure 58 on page 362. Lift the tube body away from its base plate and set it aside. Remove the 3 ring spacer screws and set them aside. SPAN-SE User Manual Rev 9...

  • Page 362: Lift Top Cover, Tube Body And 3 Ring Spacer Screws

    Appendix F HG1700 IMU in SPAN HG Enclosure Figure 58: Lift Top Cover, Tube Body and 3 Ring Spacer Screws SPAN-SE User Manual Rev 9...

  • Page 363: Install The Hg1700 Sensor Unit

    Mount the HG1700 sensor with the attached #8 screws. Apply threadlock to the screw threads. Use a hex key to torque each screw to 10 in-lbs. Fit the tube body over the HG1700 sensor and onto the base plate. Figure 59: SPAN IMU Re-Assembly SPAN-SE User Manual Rev 9...

  • Page 364: Make The Electrical Connections

    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 60. SPAN-SE User Manual Rev 9...

  • Page 365: Re-Assemble The Span Imu Enclosure

    361. Apply threadlock to threads. Finger tighten all bolts and torque them in a cross pattern to 12 in-lbs. The fully assembled IMU enclosure is shown in Figure 63. Figure 63: HG1700 SPAN IMU SPAN-SE User Manual Rev 9...

  • Page 366: Appendix G Ln-200 Imu In Universal Enclosure

    O-rings, sealing surfaces, and the IMU. The following procedure provides the necessary information to install the LN-200 sensor into the Universal Enclosure (NovAtel part number 01018590), both illustrated below. The steps required for this procedure are: •...

  • Page 367: Disassemble The Universal Enclosure

    Disassemble the Universal Enclosure Disassemble the Universal Enclosure as follows: Using a 3 mm hex bit, remove the M4 screws (they will be reused) and the base, as shown in Figure 64. Figure 64: Remove Base SPAN-SE User Manual Rev 9...

  • Page 368: Disconnect Wiring Harness From Sdlc Card

    Lift the enclosure lid off the assembly to expose the IMU bracket, shown in Figure 66. Disconnect the harness at the SDLC card and remove. Disconnect harness at SDLC card and remove Wires not shown Figure 66: IMU Bracket SPAN-SE User Manual Rev 9...

  • Page 369: Remove Imu Bracket/Sdlc

    LN-200 IMU in Universal Enclosure Appendix G Using a 3 mm hex bit, unscrew 4 mm screws and remove the IMU bracket with SDLC, as shown in Figure 67. Figure 67: Remove IMU Bracket/SDLC SPAN-SE User Manual Rev 9...

  • Page 370: Install The Ln-200 Sensor Unit

    200 IMU. Add three washers under each of the original washers and fasten the IMU to the enclosure base, as shown in Figure 68. Use thread-locking fluid on each screw. WASHERS ADDED HERE, 4 PLCS Washers not shown Figure 68: Install LN-200 IMU to Base SPAN-SE User Manual Rev 9...

  • Page 371: Install Bracket To Base

    Using a long 3 mm hex bit, install the IMU bracket/SDLC to the base, as shown in Figure 69. Use thread-locking fluid on each M4 screw. Access for long hex bit Figure 69: Install Bracket to Base SPAN-SE User Manual Rev 9...

  • Page 372: Making Connections

    Ensure latching of the cable connector housings and fasten the 6-32 screw at the IMU end using a 5/32” hex bit. Do not use thread-locking fluid and do not overtighten. CONNECT CONNECT Figure 70: Making Connections SPAN-SE User Manual Rev 9...

  • Page 373: Connect Internal Cable Harness

    LN-200 IMU in Universal Enclosure Appendix G While carefully holding the body over the bracket, connect the internal cable harness to the board assembly, as shown in Figure 71. Figure 71: Connect Internal Cable Harness SPAN-SE User Manual Rev 9...

  • Page 374: Installing The Enclosure Body To The Base

    O-rings and the alignment of corners. Start with the round pilot hole indicated in Figure 72, then press the assembly into place. ROUND PILOT HOLE ABOVE THIS PILOT PIN REFERENCE MARKERS Figure 72: Installing the Enclosure Body to the Base SPAN-SE User Manual Rev 9...

  • Page 375: Screw Enclosure Base To Body

    M4 screws to hold the parts together. Use thread-locking fluid on all screws. Install the remaining screws in similar fashion. Tighten all screws to 1.36-1.58 N-m (12-14 lb-in). Do not over-tighten. Product identification label not shown Figure 73: Screw Enclosure Base to Body SPAN-SE User Manual Rev 9...

  • Page 376: Final Assembly

    The final assembled unit is shown in Figure Centre of Navigation Labels should Product be here (circle icon for LN-200) Identification Label Logo (on rear) Plate Figure 74: Final Assembly SPAN-SE User Manual Rev 9...

  • Page 377: Appendix Hln-200 Imu In Span Imu Enclosure

    The following procedure, detailed in this appendix, provides the necessary information to install the LN-200 sensor (NovAtel part number 80023515) into the SPAN IMU enclosure (NovAtel part number 01017656) using the LN-200 wiring harness (NovAtel part number 01017655). The steps required for this procedure are: •...

  • Page 378: Disassemble The Span Imu Enclosure

    Set aside the bolts with their sealing washers. Lift the top cover off the tube body and set it aside. Lift the tube body away from its base plate and set it aside, as shown in Figure 77 on page 379. SPAN-SE User Manual Rev 9...

  • Page 379: Lift Top Cover And Tube Body

    LN-200 IMU in SPAN IMU Enclosure Appendix H Figure 77: Lift Top Cover and Tube Body SPAN-SE User Manual Rev 9...

  • Page 380: Install The Ln-200 Sensor Unit

    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. Fit the tube body over the LN-200 sensor and onto the base plate. Figure 78: SPAN IMU Re-Assembly SPAN-SE User Manual Rev 9...

  • Page 381: Make The Electrical Connections

    Attach the LN-200 wire harness to the mating connector on the LN-200. Check that the connector is fully seated, as shown in Figure 79 on page 381. Figure 79: Attach Wiring Harness SPAN-SE User Manual Rev 9...

  • Page 382: Attach Samtec Connector

    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 80. Ensure that the connector is locked in place. Figure 80: Attach Samtec Connector SPAN-SE User Manual Rev 9...

  • Page 383: Re-Assemble The Span Imu Enclosure

    378. Apply threadlock to threads. Finger tighten the 6 bolts then torque them in a cross pattern to 12 in-lbs. The fully assembled IMU enclosure is shown in Figure 81. Figure 81: LN-200 SPAN IMU SPAN-SE User Manual Rev 9...

  • Page 384: Appendix I Span-Se Interface Card

    This appendix provides header descriptions for the SPAN-SE Interface card (NovAtel part number 01018070). The SPAN-SE Interface card is the main interface card within the SPAN-SE enclosure product. The interface card runs the SPAN application while interfacing with the OEMV3 and OEMV2 GNSS receivers.

  • Page 385: Span-Se Interface Card

    SPAN-SE Interface Card Appendix I Figure 82: SPAN-SE Interface Card SPAN-SE User Manual Rev 9...

  • Page 386: Span-Se Interface Card Header Description

    SPAN-SE Interface Card Table 86 provides a description of the interface card headers, and the remaining tables provide pinouts for headers that external users may need to access. Table 86: SPAN-SE Interface Card Header Description Header ID Function Connector Format...

  • Page 387: J500 (Power Button Header)

    5.0 V (120 series resistor) LED Negative Return Power Switch Pull up to 5V Table 89: J702 (Input Power Header) Description Signal Levels +Vin Voltage Range +9 to +28 VDC +Vin Voltage Range +9 to +28 VDC SPAN-SE User Manual Rev 9...

  • Page 388: J601 (Multi Communication Header A)

    Spare GPIO 1 Event In 3 -0.3 to 3.75 V Event In 2 -0.3 to 3.75 V Event In 1 -0.3 to 3.75 V Event In 4 -0.3 to 3.75 V COM2 RTS COM2 Tx SPAN-SE User Manual Rev 9...

  • Page 389: J606 (Multi Communication Header B)

    COM3 Rx COM3 RTS COM3 Rx COM4 CTS COM4 RTS COM4 Tx CAN1 H CAN2 L CAN1 L CAN2 H OEMV2 RTS OEMV2 Tx OEMV2 CTS OEMV2 Rx OEMV2 Tx OEMV3 Rx OEMV3 RTS OEMV3 CTS SPAN-SE User Manual Rev 9...

  • Page 390: Appendix J Span-Mppc Interface Card

    SPAN-MPPC Interface card (NovAtel part number 01018318). Figure 83 shows the SPAN-MPPC interface card. Figure 84 and Figure 85 show the SPAN-MPPC board stack (NovAtel part number 01018411), which includes a SPAN-MPPC interface card and an OEMV receiver.

  • Page 391: Span-Mppc Mechanical Drawings

    CHAMFER 4.6 [0.18] X 45 , 4 PLCS 85.0 3.35 7X 81.5 3.21 SKT 1 SKT 2 66.7 2.63 J602 SKT 40 SKT 39 0.14 0.00 116.8 PIN1 0.09 4.60 0.14 Figure 83: SPAN-MPPC Interface Card SPAN-SE User Manual Rev 9...

  • Page 392: Span-Mppc Board Stack (Perspective View)

    8X SCREW, 4-40 X 6.35 [0.25] SPAN-MPPC BOARD, J602 CAREFULLY ALIGN CONNECTORS OEMV3 BOARD, P1601 8X HEX STANDOFF F/F, 4-40 X 11.68 [0.46] 8X SCREW, 4-40 X 6.35 [0.25] Figure 84: SPAN-MPPC Board Stack (perspective view) SPAN-SE User Manual Rev 9...

  • Page 393: Span-Mppc Board Stack (Dimensions)

    SPAN-MPPC Interface Card Appendix J 0.00 0.14 4X 81.5 3.21 85.0 3.35 Figure 85: SPAN-MPPC Board Stack (dimensions) SPAN-SE User Manual Rev 9...

  • Page 394: Span-Mppc Connector Pin-Outs

    +9 to +30V DC Ground +Vin +9 to +30V DC Ground +Vin +9 to +30V DC Ground Ground Ground USB Host (-) USB Host (+) USB Host VBUS Ground USB Device (-) Continued on the following page SPAN-SE User Manual Rev 9...
  • Page 395 IMU Port RX (-) [RS422] IMU Port CTS [RS232] IMU Port RX (+) [RS422] IMU Port RxD [RS232] IMU Port TX (-) [RS422] IMU Port RTS [RS232] IMU Port TX (+) [RS422] IMU Port TxD [RS232] SPAN-SE User Manual Rev 9...

  • Page 396: J601 (Multi Communication Header B)

    Software-configurable LVTTL level input event trigger Event-in 4 Strobe Software-configurable LVTTL level input event trigger Ground Ground CAN 1 (-) CAN 1 (+) CAN 2 (-) CAN 2 (+) Ground Ground Continued on the following page SPAN-SE User Manual Rev 9...
  • Page 397 COM3 RTS [RS232] COM4 RX (+) [RS422] COM4 RxD [RS232] COM4 RX (-) [RS422] COM4 CTS [RS232] COM4 TX (+) [RS422] COM4 TxD [RS232] COM4 TX (-) [RS422] COM4 RTS [RS232] Ground Ground ARINC (+) ARINC (-) SPAN-SE User Manual Rev 9...

  • Page 398: Span Mppc Breakout Board

    Appendix J SPAN-MPPC Interface Card SPAN MPPC Breakout Board The SPAN MPPC Breakout Board (NovAtel part number 01018504), connected to the MPPC stack, is shown in Figure 86. Figure 86: SPAN MPPC Breakout Board The physical location of the connectors on the Breakout Board is shown in Figure 87:...

  • Page 399: Span Mppc Breakout Board - J24 Main Board Connector

    ARINCo (+) ARINCo (-) White Table 96: SPAN MPPC Breakout Board - J24 Main Board Connector Description USBHo (-) USBHo (+) USBH Vbus USBDo (-) USBDo (+) USBD Vbus ETH TXo (-) ETH TXo (+) SPAN-SE User Manual Rev 9...

  • Page 400: Span Mppc Breakout Board - J25 Usb Host Connector

    USBH Vbus USBHo (-) USBHo (+) SHELL SHELL Table 98: SPAN MPPC Breakout Board - J26 Main Board Connector Description OEMV3 RXo (-) OEMV3 RXo (+) OEMV3 TXo (-) OEMV3 TXo (+) Event out1o Event out2o SPAN-SE User Manual Rev 9...
  • Page 401 COM2 RXo (-) COM2 TXo (+) COM2 TXo (-) COM3 RXo (+) COM3 RXo (-) COM3 TXo (+) COM3 TXo (-) COM4 RXo (+) COM4 RXo (-) COM4 TXo (+) COM4 TXo (-) ARINCo (+) ARINCo (-) SPAN-SE User Manual Rev 9...

  • Page 402: Span Mppc Breakout Board - J27 Usb Device Connector

    Table 101: SPAN MPPC Breakout Board - J29 Power Connector Description Table 102: SPAN MPPC Breakout Board - J30 Serial Port Connection Description Not used COM1 RXo (+) COM1 TXo (+) Not used Not used COM1 TXo (-) SPAN-SE User Manual Rev 9...

  • Page 403: Span Mppc Breakout Board - J31 Serial Port Connection

    OEMV3 TXo (+) Not used Not used OEMV3 TXo (-) OEMV3 RXo (-) Not used Table 105: SPAN MPPC Breakout Board - J33 Serial Port Connection Description Not used COM2 RXo (+) COM2 TXo (+) SPAN-SE User Manual Rev 9...

  • Page 404: Span Mppc Breakout Board - J34 Serial Port Connection

    COM3 RXo (-) Not used Table 107: SPAN MPPC Breakout Board - J35 Serial Port Connection Description Not used COM4 RXo (+) COM4 TXo (+) Not used Not used COM4 TXo (-) COM4 RXo (-) Not used SPAN-SE User Manual Rev 9...

  • Page 405: Span-Mppc To Imu Connection

    SPAN-MPPC to IMU Connection This section outlines the connections that are required between the SPAN-MPPC and either an IMU Interface Cable, a Deutsch connector on an LN200 or HG1700 enclosure, or a NovAtel Power Communication Board (used with an LN200 or HG1700 IMU).

  • Page 406: Appendix K Replacement Parts

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

  • Page 407: Manufacturer's Part Numbers

    Replacement Parts Appendix K K.3 Manufacturer’s Part Numbers The following original manufacturer’s part numbers (and equivalents), for the IMU interface cables, are provided for information only and are not available from NovAtel as separate parts: Part Description Part MIL Part 10-pin LEMO plug connector on the HG1700 FGG.1K.310.CLAC60Z...

  • Page 408: Appendix L Frequently Asked Questions

    The GNSS-only solution used when running the OEMV receiver without the IMU is still available when running SPAN. BESTGPSPOS solutions are available at <1 Hz or 5 Hz from any port of SPAN-SE. Other GNSS logs (RANGE, PSRPOS, and so on) can be logged up to 20 Hz from the SPAN-SE ports.
  • Page 409 This means that the SPAN enabled receiver has detected the SDLC card and is communicating with card, but the SDLC card is not communicating with the IMU. Check that the SDLC to IMU connections to ensure both power and communication lines are connected to the IMU. SPAN-SE User Manual Rev 9...

  • Page 410: Index

    (C/No) 265 asynchronous log 214 atmospheric delay 312 CD command 127 attitude 154 channel – authorization 199 range measurement 312 authorization code 199 tracking status 314 automated set ups 198 checksum 215 clock SPAN-SE User Manual Rev 9...
  • Page 411 2 enclosure frame 45 correction ephemeris RTCA 150 GLONASS 249 RTK 346 raw data 318 CORRIMUDATA log 241 time status 222 CPU 159 error – cyclic redundancy check (CRC) 217 flag 331 multipath 312 SPAN-SE User Manual Rev 9...
  • Page 412 57 hold 159 frequently asked questions 408 HP/XP, OmniSTAR FRESET command 146 expiration date 294 status 297 tracking state 295 G model 346 GIMBALLEDPVA command 246 GIMBALSPANROTATION command I model 346 ICOMCONFIG command 151 SPAN-SE User Manual Rev 9...
  • Page 413 INSSPD log 286 external cable harness 406 INSSPDS log 287 IMU status 322 INSUPDATE log 288 IMU type 187 INSVEL log 290 models 32 INSVELS log 291 power requirements 40 INSZUPT command 155 LN-200 INSZUPTCONTROL 156 SPAN-SE User Manual Rev 9...
  • Page 414 184 message clock 308 ascii 215 receiver clock 342 format 217 OmniSTAR 150 – ID 302 operating mode 260 time stamp 223 orientation 181 – trigger 161 output 74 MKDIR command 127 overload 159 SPAN-SE User Manual Rev 9...
  • Page 415 262 RTK filter 170 noise statistic 262 RTKCOMMAND command 170 solutions 229 RTKDYNAMICS command 171 PSRDIFFSOURCE command 166 RTKSOURCE command 172 pulse 307 RVB, see vehicle to body rotation PWD command 128 RVBCALIBRATE command 174 SPAN-SE User Manual Rev 9...
  • Page 416 213 ephemeris 318 signal timing 138 fine 222 SOFTLOADFILE command 197 GPS 342 – SOFTPOWER command 198 interval 161 SPAN frame 181 of mark in event 308 SPAN HG enclosure of position fix 257 SPAN-SE User Manual Rev 9...
  • Page 417 User Datagram Protocol (UDP) 76 Zero Velocity Update (ZUPT) 155 using a command as a log 125 validity clock model 307 receiver model 339 variable lever arm 85 VARIABLELEVERARM log 344 VBS, OmniSTAR HP/XP 299 SPAN-SE User Manual Rev 9...
  • Page 418 Recyclable Printed in Canada on recycled paper OM-20000124 Rev 9 September 2012...

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