Transcription

SPAN on OEM6 User ManualOM-20000139Rev 10January 2015

SPAN on OEM6 User ManualPublication Number:Revision Level:Revision Date:OM-2000013910January 2015WarrantyNovAtel Inc. warrants that its GNSS products are free from defects in materials and workmanship,subject to the conditions set forth on our web site: www.novatel.com/products/warranty/ and for thefollowing time periods:OEM6 ReceiversIMU Units (return to manufacturer)GPSAntenna SeriesCables and AccessoriesSoftware WarrantyOne (1) YearOne (1) YearOne (1) YearNinety (90) DaysOne (1) YearReturn instructionsTo return products, refer to the instructions at the bottom of the warranty page: www.novatel.com/products/warranty/.Proprietary NoticeInformation in this document is subject to change without notice and does not represent a commitmenton the part of NovAtel Inc. The software described in this document is furnished under a licenceagreement or non-disclosure agreement. The software may be used or copied only in accordance withthe terms of the agreement. It is against the law to copy the software on any medium except asspecifically allowed in the license or non-disclosure agreement.No part of this manual may be reproduced or transmitted in any form or by any means, electronic ormechanical, including photocopying and recording, for any purpose without the express writtenpermission of a duly authorized representative of NovAtel Inc.The information contained within this manual is believed to be true and correct at the time of publication.NovAtel, SPAN, OEM6, ALIGN, Inertial Explorer and Waypoint are registered trademarks of NovAtel Inc.FlexPak6, ProPak6, NovAtel CORRECT and IMU-IGM are trademarks of NovAtel Inc.All other product or brand names are trademarks of their respective holders.Manufactured and protected under U.S. ,736,961#5,809,064#6,184,822 B1#6,243,409 B1#6,664,923 B1#6,721,657 B2#6,728,637 B2#6,750,816 B1#6,922,167 B2#7,193,559 B2#7,346,452#7,738,606 B2 Copyright 2015 NovAtel Inc. All rights reserved. Unpublished rights reserved under Internationalcopyright laws.2SPAN on OEM6 User Manual Rev 10

Table of ContentsCustomer Support13Notices141 Introduction181.1 Fundamentals of GNSS INS . 191.2 Models and Features . 201.3 Related Documents and Information . 211.4 Conventions . 222 SPAN Installation232.1 Hardware Description . 232.1.1 SPAN System Receiver . 232.1.2 Typical Installation Examples . 242.1.3 SPAN Cables. 352.2 Hardware Set Up . 362.2.1 Mount the Antenna. 362.2.2 Mount the IMU. 362.2.3 Mount the OEM6 Receiver . 372.2.4 Connect the Antenna to the OEM6 Receiver . 372.2.5 Connect the IMU to the OEM6 Receiver . 382.2.6 Connect I/O Strobe Signals. 382.2.7 Connect Power. 392.2.8 Connect the Additional Communication Ports on a ProPak6 . 412.2.9 Connect the CAN Bus . 412.3 MIC Set Up . 422.3.1 Install a MIC in a Stack Up Configuration . 422.3.2 Install a MIC in a Standalone MIC Set Up. 472.4 UIC Set Up. 502.4.1 Mount the SPAN System Components. 512.4.2 Connect the IMU to the UIC. 512.4.3 Connect the UIC to a receiver . 512.4.4 Connect Power to the UIC and OEM6 receiver . 522.4.5 UIC Status LEDs. 532.5 Software Configuration . 532.5.1 GNSS Configuration . 532.5.2 SPAN IMU Configuration. 542.6 IMU LEDs . 573 SPAN Operation583.1 Definition of Reference Frames Within SPAN. 583.1.1 The Local-Level Frame (ENU). 583.1.2 The SPAN Body Frame . 583.1.3 The Enclosure Frame . 603.1.4 The Vehicle Frame. 603.2 Communicating with the SPAN System . 613.2.1 INS Window in NovAtel Connect. 633.3 Real-Time Operation. 633.3.1 System Start-Up and Alignment Techniques . 653.3.2 Navigation Mode . 673.3.3 Data Collection . 673.3.4 Lever Arm Calibration Routine . 683.3.5 Vehicle to SPAN Frame Angular Offsets Calibration Routine . 69SPAN on OEM6 User Manual Rev 103

Table of Contents3.4 Synchronizing External Equipment . 703.4.1 Configuring a Synchronous Output Pulse . 703.4.2 Configuring an Input Strobe . 713.5 Adding Timed Sensor Triggers. 723.5.1 Configuring the Hardware. 723.5.2 Configuring the Software . 733.5.3 Using Timed Event Pulses . 733.5.4 Recording Incoming Sensor Events . 733.6 SPAN Wheel Sensor Configuration . 733.6.1 Wheel Sensor Updates Using the Event Input Lines . 743.6.2 Wheel Sensor Data Collected on IMU . 743.7 Azimuth Sources on a SPAN System. 753.7.1 Course Over Ground. 753.7.2 Inertial Azimuth . 753.7.3 ALIGN Azimuth . 753.8 Data Collection for Post Processing . 763.9 Firmware Updates and Model Upgrades . 773.10 Variable Lever Arm . 773.11 Relative INS . 774 SPAN on OEM6 Dual Antenna784.1 Installation . 784.2 Configuring ALIGN with SPAN on OEM6 . 814.3 Configuring SPAN with ALIGN . 814.3.1 Alignment on a Moving Vessel - Aided Transfer Alignment. 824.3.2 Alignment on a Stationary Vehicle - Aided Static Alignment . 824.3.3 Unaided Alignment . 824.3.4 Automatic Alignment Mode - Automatic Alignment (default) . 824.4 SPAN ALIGN Attitude Updates . 83A Technical Specifications84A.1 Universal IMU Enclosure. 84A.1.1 Universal IMU Enclosure Mechanical Drawings. 84A.1.2 IMU Performance . 87A.1.3 Electrical and Environmental . 89A.1.4 Universal IMU Enclosure Interface Cable. 90A.1.5 Universal IMU Cable. 91A.2 HG1700 IMU (single-connector enclosure). 92A.2.1 HG1700 IMU Mechanical Drawings . 92A.2.2 HG1700 IMU Performance . 94A.2.3 HG1700 Electrical and Environmental. 95A.2.4 Interface Cable for the HG1700 IMU . 95A.3 LN-200 IMU (single-connector enclosure) . 96A.3.1 LN-200 IMU Mechanical Drawings. 96A.3.2 LN-200 IMU Performance . 98A.3.3 LN-200 Electrical and Environmental . 98A.3.4 Interface Cable for the LN-200 IMU . 98A.4 IMU-ISA-100C/IMU-ISA-100 . 99A.4.1 IMU-ISA-100C Mechanical Drawings. 99A.4.2 Optional Side Mounting Holes. 101A.4.3 IMU-ISA-100C/IMU-ISA-100 Performance . 102A.4.4 Electrical and Environmental . 103A.4.5 IMU-ISA-100C Interface Cable. 104A.4.6 IMU-ISA-100C Power Cable . 105A.4.7 IMU-ISA-100C Wheel Sensor Cable . 106A.5 iIMU-FSAS . 1084SPAN on OEM6 User Manual Rev 10

Table of ContentsA.5.1 iIMU-FSAS Mechanical Drawings . 108A.5.2 iIMU-FSAS Performance. 110A.5.3 iIMU-FSAS Electrical and Environmental. 110A.5.4 Interface Cable for the IMU-FSAS . 111A.5.5 IMU-FSAS cable with Odometer. 111A.5.6 iIMU-FSAS Odometer Cabling. 113A.5.7 FlexPak Y Adapter Cable (for IMU-FSAS, IMU-CPT or IMU-KVH1750) . 115A.6 IMU-CPT. 116A.6.1 IMU-CPT Mechanical Drawings. 116A.6.2 IMU-CPT Sensor Specifications . 118A.6.3 IMU-CPT Electrical and Environmental. 119A.6.4 IMU-CPT Cable. 120A.7 IMU-KVH1750 . 121A.7.1 IMU-KVH1750 Mechanical Drawings. 121A.7.2 IMU-KVH1750 Sensor Specifications . 124A.7.3 IMU-KVH1750 Electrical and Environmental . 125A.7.4 IMU-KVH1750 Cable. 126A.8 IMU-IGM. 127A.8.1 IMU-IGM Physical Specifications . 127A.8.2 IMU-IGM Mechanical Drawings . 128A.8.3 IMU-IGM Ports. 130A.8.4 IMU-IGM Sensor Specifications . 131A.8.5 IMU-IGM Electrical and Environmental. 132A.8.6 IMU-IGM Interface Cable . 133A.8.7 IMU-IGM Stack Up Cable . 134A.9 OEM-IMU-ADIS-16488. 135A.9.1 Mechanical Drawings. 135A.9.2 OEM-IMU-ADIS-16488 Sensor Specifications . 136A.9.3 OEM-IMU-ADIS-16488 Electrical and Environmental. 137A.9.4 ADIS-16488 IMU-to-MIC Cable Assembly . 137A.10 OEM-IMU-ISA-100C. 138A.10.1 Mechanical Drawings. 138A.10.2 OEM-IMU-ISA-100C Sensor Specifications . 140A.10.3 OEM-IMU-ISA-100C Electrical and Environmental . 140A.10.4 OEM-IMU-ISA-100C IMU to UIC Cable Assembly . 141A.11 OEM-IMU-STIM300. 143A.11.1 Mechanical Drawings. 143A.11.2 OEM-IMU-STIM300 Sensor Specifications . 145A.11.3 OEM-IMU-STIM300 Electrical and Environmental. 145A.11.4 STIM300 IMU-to-MIC Cable Assembly . 146A.12 MIC - MEMS Interface Card . 147A.12.1 MIC Mechanical Drawings . 147A.12.2 MIC Electrical and Environmental . 149A.12.3 MIC Connectors. 149A.12.4 HG1930 IMU-to-MIC Cable Assembly. 154A.12.5 HG1700 and HG1900 IMU-to-MIC Cable Assembly . 155A.13 UIC - Universal IMU Controller . 156A.13.1 UIC Mechanical Drawings.