Novatel OM-20000141 User Manual

SPAN-IGM
User Manual
OM-20000141 Rev 2 September 2013
SPAN-IGM User Manual
Warranty
NovAtel Inc. warrants that its GNSS products are free from defects in materials and workmanship, subject to the conditions set forth on our web site: www.novatel.com/products/warranty/ following time periods:
SPAN-IGM Receiver One (1) Year
GPSAntenna™ Series One (1) Year
Cables and Accessories Ninety (90) Days
Software Warranty One (1) Year
and for the
Return Instructions
To return products, refer to the instructions at the bottom of the warranty page: www.novatel.com/
products/warranty/.
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. It is against the law to copy the software on any medium except as specifically 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 or mechanical, including photocopying and recording, for any purpose without the express written permission 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.
NovAtel Connect, FlexPak6 and SPAN-IGM are trademarks of NovAtel Inc.
All other product or brand names are trademarks of their respective holders.
Manufactured and protected under U.S. Patents:
#5,101,416 #6,184,822 B1 #6,750,816 B1 #5,390,207 #6,243,409 B1 #6,922,167 B2 #5,414,729 #6,608,988 B1 #7,193,559 B2 #5,495,499 #6,664,923 B1 #7,346,452 #5,736,961 #6,721,657 B2 #7,738,606 B2 #5,809,064 #6,728,637 B2
© Copyright 2013 NovAtel Inc. All rights reserved. Unpublished rights reserved under International
copyright laws.
2 SPAN-IGM User Manual Rev 2
Table of Contents
Customer Support 7
Notices 8
1 Introduction 11
1.1 Fundamentals of GNSS + INS .............................................................................................................. 11
1.2 System Components............................................................................................................................. 12
1.3 Scope.................................................................................................................................................... 12
1.4 Conventions .......................................................................................................................................... 13
2 SPAN Installation 14
2.1 Required Equipment ............................................................................................................................. 14
2.2 SPAN-IGM Hardware ............................................................................................................................ 14
2.2.1 SPAN-IGM Cables ...................................................................................................................... 15
2.3 Hardware Set Up................................................................................................................................... 16
2.3.1 Mount the Antenna ..................................................................................................................... 18
2.3.2 Mount the SPAN-IGM ................................................................................................................. 18
2.3.3 Connect the Antenna to the SPAN-IGM ..................................................................................... 19
2.3.4 Connect Power ........................................................................................................................... 19
2.3.5 Connect a Computer to the SPAN-IGM ..................................................................................... 20
2.3.6 Connect I/O Strobe Signals ........................................................................................................ 21
2.3.7 CAN Bus ..................................................................................................................................... 21
2.3.8 COM3 Serial Port........................................................................................................................ 22
2.3.9 Enable RS-422 serial connections.............................................................................................. 22
2.3.10 Odometer connection ............................................................................................................... 23
2.4 Software Configuration ......................................................................................................................... 24
2.4.1 GNSS Configuration ................................................................................................................... 24
2.4.2 SPAN IMU Configuration ............................................................................................................ 24
2.5 SPAN-IGM LEDs ................................................................................................................................... 26
3 SPAN Operation 27
3.1 Communicating with the SPAN System................................................................................................ 27
3.1.1 INS Window in NovAtel Connect ................................................................................................ 28
3.2 Real-Time Operation............................................................................................................................. 29
3.2.1 System Start-Up and Alignment Techniques ............................................................................. 30
3.2.2 Navigation Mode......................................................................................................................... 32
3.2.3 Data Collection............................................................................................................................ 32
3.2.4 Vehicle to SPAN Frame Angular Offsets Calibration Routine ..................................................... 33
3.2.5 SPAN Wheel Sensor Messages.................................................................................................. 34
3.3 Azimuth Sources on a SPAN System ................................................................................................... 35
3.3.1 Course Over Ground................................................................................................................... 35
3.3.2 Inertial Azimuth ........................................................................................................................... 35
3.3.3 ALIGN Azimuth............................................................................................................................ 35
3.4 Data Collection for Post-Processing..................................................................................................... 36
3.5 Variable Lever Arm................................................................................................................................ 37
4 SPAN-IGM Dual Antenna 38
4.1 Installation ............................................................................................................................................. 38
4.2 Configuring ALIGN with SPAN-IGM...................................................................................................... 39
4.2.1 Alignment on a Moving Vessel - Aided Transfer Alignment........................................................ 40
4.2.2 Alignment on a Stationary Vehicle - Aided Static Alignment ...................................................... 40
4.2.3 Unaided Alignment...................................................................................................................... 41
4.2.4 Automatic Alignment Mode - Automatic Alignment (default)...................................................... 41
4.3 SPAN ALIGN Attitude Updates............................................................................................................. 41
5 Reference Frames Within SPAN 42
5.1 The Local-Level Frame (ENU) ............................................................................................................... 42
5.2 The SPAN Body Frame ......................................................................................................................... 42
SPAN-IGM User Manual Rev 2 3
Table of Contents
5.3 The Enclosure Frame ............................................................................................................................44
5.4 The Vehicle Frame................................................................................................................................. 44
6 NovAtel Firmware and Software 45
6.1 Firmware Updates and Model Upgrades..............................................................................................45
6.1.1 Firmware Updates.......................................................................................................................45
6.1.2 Model Upgrades..........................................................................................................................46
6.2 Authorization Code................................................................................................................................ 46
6.3 Updating or Upgrading Using the WinLoad Utility ................................................................................ 47
6.3.1 Transferring Firmware Files......................................................................................................... 47
6.3.2 Using the WinLoad Utility............................................................................................................ 48
6.4 Updating using SoftLoad Commands...................................................................................................49
6.4.1 Working with S-Records .............................................................................................................50
6.5 Upgrading Using the AUTH Command................................................................................................. 51
6.5.1 Upgrade Procedure..................................................................................................................... 51
A Technical Specifications 52
A.1 SPAN-IGM-A1 Technical Specifications............................................................................................... 52
A.1.1 SPAN-IGM-A1 Mechanical Drawings ......................................................................................... 53
A.2 SPAN-IGM-S1 Technical Specifications............................................................................................... 54
A.2.1 SPAN-IGM-S1 Mechanical Drawings ......................................................................................... 55
A.3 SPAN-IGM Ports...................................................................................................................................56
A.4 SPAN-IGM Interface Cable................................................................................................................... 57
A.5 SPAN-IGM ALIGN Interface Cable .......................................................................................................58
A.6 SPAN-IGM Auxiliary Port Interface Cable............................................................................................. 59
B Frequently Asked Questions 60
C Replacement Parts 61
C.1 SPAN System .......................................................................................................................................61
C.2 Accessories and Options......................................................................................................................61
Index 62
4 SPAN-IGM User Manual Rev 2
Figures
1 Primary and Secondary Lightning Protection ..................................................................................... 10
2 SPAN-IGM .......................................................................................................................................... 14
3 Typical SPAN-IGM Set Up – Serial Port ............................................................................................ 16
4 Typical SPAN-IGM Set Up – USB Port .............................................................................................. 17
5 SPAN-IGM Enclosure Mounting ......................................................................................................... 18
6 Battery Isolator Installation ................................................................................................................. 20
7 Kistler CWPTA411 .............................................................................................................................. 23
8 SPAN-IGM - Dual Antenna Installation .............................................................................................. 39
9 Local-Level Frame (ENU) .................................................................................................................... 42
10 SPAN-IGM-A1 Enclosure Frame Markings .........................................................................................44
11 Vehicle Frame ..................................................................................................................................... 44
12 WinLoad Open Window ...................................................................................................................... 48
13 Open File in WinLoad .......................................................................................................................... 48
14 COM Port Setup ................................................................................................................................. 48
15 Searching for Card .............................................................................................................................. 49
16 Authorization Code Window ............................................................................................................... 49
17 Upgrade Process Complete ............................................................................................................... 49
18 SPAN-IGM-A1 Dimensions ................................................................................................................. 53
19 SPAN-IGM-S1 Dimensions ................................................................................................................. 55
20 SPAN-IGM Interface Cable ....................................................................................................
21 SPAN-IGM ALIGN Interface Cable ..................................................................................................... 58
22 SPAN-IGM Auxiliary Port Interface Cable ........................................................................................... 59
............. 57
SPAN-IGM User Manual Rev 2 5
Tab le s
1 SPAN-IGM Cables ............................................................................................................................... 15
2 I/O Strobe Signals................................................................................................................................21
3 Cable Connections for Kistler CWPT Sensor....................................................................................... 24
1 SPAN-IGM LEDs ..................................................................................................................................26
4 Inertial Solution Status .........................................................................................................................30
5 Solution Parameters............................................................................................................................. 32
6 Logs with Azimuth data........................................................................................................................ 36
7 Full Mapping Definitions....................................................................................................................... 43
8 SPAN-IGM-A1 Physical Specifications................................................................................................52
9 SPAN-IGM-A1 GNSS Performance ..................................................................................................... 52
10 SPAN-IGM-A1 Data Rates ...................................................................................................................52
11 SPAN-IGM-A1 IMU Performance......................................................................................................... 52
12 SPAN-IGM-A1 Electrical Specifications............................................................................................... 53
13 SPAN-IGM-A1 Environmental Specifications ......................................................................................53
14 SPAN-IGM-S1 Physical Specifications................................................................................................54
15 SPAN-IGM-S1 GNSS Performance .................................................................................................
16 SPAN-IGM-S1 Data Rates ...................................................................................................................54
17 SPAN-IGM-S1 IMU Performance......................................................................................................... 54
18 SPAN-IGM-S1 Electrical Specifications............................................................................................... 55
19 SPAN-IGM-S1 Environmental Specifications ......................................................................................55
20 Main Port Pinout .................................................................................................................................. 56
21 AUX Port Pinout ................................................................................................................................... 56
22 SPAN-IGM Interface Cable Pin-Out Descriptions................................................................................ 57
23 SPAN-IGM ALIGN Interface Cable Pin-Out Descriptions .................................................................... 58
24 SPAN-IGM Auxiliary Port Interface Cable Pin-Out Descriptions .........................................................59
.... 54
6 SPAN-IGM User Manual Rev 2

Customer Support

NovAtel Knowledge Base
If you have a technical issue, browse to the NovAtel Web site at www.novatel.com then select Support | Helpdesk and Solutions | Search Known Solutions. Through this page, you can search for general information about GNSS and other technologies, information about NovAtel hardware and software, and installation and operation issues.
Before Contacting Customer Support
Before contacting NovAtel Customer Support about a software problem perform the following steps:
1. Log the following data to a file on your computer for 15 minutes:
RXSTATUSB once
RAWEPHEMB onchanged
RANGECMPB ontime 1
BESTPOSB ontime 1
RXCONFIGA once
VERSIONB once
RAWIMUSXB onnew
INSPVASB ontime 1
INSCOVSB ontime 1
INSUPDATEB onchanged
IMUTOANTOFFSETSB onchanged
2. Send the file containing the log to NovAtel Customer Support, using either the NovAtel FTP site at
www.novatel.com/support/firmware-software-and-manuals/ftp-site/
support@novatel.com
3. You can also issue a FRESET command to the receiver to clear any unknown settings.
The FRESET command will erase all user settings. You should know your configuration and be able to reconfigure the receiver before you send the FRESET command.
If you are having a hardware problem, send a list of the troubleshooting steps taken and results.
e-mail address.
or through the
Contact Information
Use one of the following methods to contact NovAtel Customer Support:
Call the NovAtel Hotline at 1-800-NOVATEL (U.S. & Canada) or +1-403-295-4500 (international)
Fax: +1-403-295-4501 E-mail: support@novatel.com Web site: www.novatel.com
Write: NovAtel Inc.
Customer Support Department 1120 - 68 Avenue NE Calgary, AB Canada, T2E 8S5
SPAN-IGM User Manual Rev 2 7

Notices

The following notices apply to the SPAN-IGM.
FCC Notices
This SPAN device complies with part 15 of the FCC Rules. Operation is subject to the following two conditions: (1) this device may not cause harmful interference, and (2) this device must accept any interference received, including interference that may cause undesired operation.
This SPAN device has been tested and found to comply with the limits for a Class A digital device, pursuant to part 15 of the FCC Rules. These limits are designed to provide reasonable protection against harmful interference when the equipment is operated in a commercial environment. This equipment generates, uses, and can radiate radio frequency energy and, if not installed and used in accordance with the instruction manual, may cause harmful interference to radio communications. Operation of this equipment in a residential area is likely to cause harmful interference in which case the user will be required to correct the interference at his own expense.
In order to maintain compliance with the limits of a Class A digital device, it is required to use properly shielded interface cables (such as Belden #9539 or equivalent) when using the serial data ports, and double-shielded cables (such as Belden #9945 or equivalent) when using the I/O strobe port.
Changes or modifications to this equipment, not expressly approved by NovAtel Inc., could result in violation of FCC, Industry Canada and CE Marking rules and void the user’s authority to operate this equipment.
Industry Canada
SPAN Class A digital apparatuses comply with Canadian ICES-003.
SPAN appareils numérique de la classe A sont conforme à la norme NMB-003 du Canada.
CE Notice
The enclosures carry the CE mark.
"Hereby, NovAtel Inc. declares that this SPAN-IGM is in compliance with the essential requirements and other relevant provisions of the R&TTE Directive 1999/5/EC, the EMC Directive 2004/108/EC and of the RoHS Directive 2011/65/EU."
WEEE Notice
If you purchased your SPAN 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. Sustainable development advocates the reduction of wasteful consumption of natural resources and the prevention of pollution. Waste electrical and electronic equipment (WEEE) is a regulated area. Where the generation of waste cannot be avoided, it should be reused or recovered for
its material or energy. WEEE products may be recognized by their wheeled bin label ( ).
1
8 SPAN-IGM User Manual Rev 2
Notices
REACH
NovAtel strives to comply with the EU Directive EC 1907/2006 on chemicals and their safe use as per the Registration, Evaluation, Authorization and Restriction of Chemical substances (REACH) for its products, including the SPAN-IGM product. Since REACH SVHC lists are updated occasionally, please contact NovAtel Customer Support if you require further information.
Cables may contain DEHP (CAS Number 117-81-7) in concentrations above 0.1% w/w.
Lightning Protection Installation and Grounding Procedures
What is the hazard?
A lightning strike into the ground causes an increase in the earth's potential which results in a high voltage potential between the center conductor and shield of the coaxial cable. This high voltage develops because the voltage surge induced onto the center conductor lags in time behind the voltage surge induced onto the shield.
Hazard Impact
A lightning strike causes the ground potential in the area to rise to dangerous levels resulting in harm to personnel or destruction of electronic equipment in an unprotected environment. It also conducts a portion of the strike energy down the inner conductor of the coax cable to the connected equipment.
Only qualified personnel, electricians as mandated by the governing body in the country of installation, may install lightning protection devices.
Actions to Mitigate Lightning Hazards
1. Do not install antennas or antenna coaxial cables outside the building during a lightning storm.
2. It is not possible to avoid over-voltages caused by lightning, but a lightning protection device may be
used to shunt a large portion of the transient energy to the building ground reducing the over-voltage
condition as quickly as possible.
3. Primary lightning protection must be provided by the operator/customer according to local building
codes as part of the extra-building installation.
4. To ensure compliance with clause 7 "Connection to Cable Distribution Systems" of EN 60950-1,
Safety for Information Technology Equipment, a secondary lightning protection device must be used
for in-building equipment installations with external antennas. The following device has been
approved by NovAtel Inc.:
Polyphaser - Surge Arrestor DGXZ+24NFNF-B
If this device is not chosen as the primary lightning protection device, the device chosen must meet
the following requirements:
UL listed, or equivalent, in country of installation (for example, TUV, VDE and so on) for lightning surge protection
The primary device must be capable of limiting an incoming surge to 10kV
5. The shield of the coaxial cable entering the building should be connected at a grounding plate at the building's entrance. The lightning protection devices should have their chassis grounded to the same ground near to the building's entrance.
1. Please visit the NovAtel Web site at www.novatel.com/products/weee-and-rohs/ for more information.
SPAN-IGM User Manual Rev 2 9
Notices
6. 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 Figure 1, Primary and Secondary Lightning Protection on page 10.
Figure 1: Primary and Secondary Lightning Protection
Ref # Description 1 Primary lightning protection device 2 Secondary lightning protection device 3 External antenna 4 GNSS Receiver 5 To ground 6 Grounding plate or grounding point at the building’s entrance
Acceptable choices for Earth Grounds, for central buildings, are:
Grounded interior metal cold water pipe within five feet (1.5 m) of the point where it enters the building
Grounded metallic service raceway
Grounded electrical service equipment enclosure
Eight-foot grounding rod driven into the ground (only if bonded to the central building ground by #6, or heavier, bonding wire)
These installation instructions are the minimum requirements for receiver and antenna installations. Where applicable, follow the electrical codes for the country of installation. Examples of country codes include:
USA National Electrical Code (NFPA 70)
Canada Canadian Electrical Code (CSA C22)
UK British Standards Institute (BSI 7671)
10 SPAN-IGM User Manual Rev 2

Chapter 1 Introduction

NovAtel's SPAN technology brings together two very different but complementary positioning and navigation systems namely Global Navigation Satellite System (GNSS) and an Inertial Navigation System (INS). By combining the best aspects of GNSS and INS into one system, SPAN technology is able to offer a solution that is more accurate and reliable than either GNSS or INS could provide alone. The combined GNSS + INS solution has the advantage of the absolute accuracy available from GNSS and the continuity of INS through traditionally difficult GNSS conditions.

1.1 Fundamentals of GNSS + INS

GNSS positioning observes range measurements from orbiting GNSS satellites. From these observations, the receiver can compute position and velocity with high accuracy. NovAtel GNSS positioning systems are highly accurate positioning tools. However, GNSS in general has some restrictions which limit its usefulness in some situations. GNSS positioning requires line of sight view to at least four satellites simultaneously. If these criteria are met, differential GNSS positioning can be accurate to within a few centimetres. If however, some or all of the satellite signals are blocked, the accuracy of the position reported by GNSS degrades substantially, or may not be available at all.
In general, an INS uses forces and rotations measured by an Inertial Measurement Unit (IMU) to calculate position, velocity and attitude. This capability is embedded in the firmware of the SPAN-IGM. Forces are measured by accelerometers in three perpendicular axes within the IMU and the gyros measure angular rotation rates around those axes. Over short periods of time, inertial navigation gives very accurate acceleration, velocity and attitude output. The INS must have prior knowledge of its initial position, initial velocity, initial attitude, Earth rotation rate and gravity field. Since the IMU measures changes in orientation and acceleration, the INS determines changes in position and attitude, but initial values for these parameters must be provided from an external source. Once these parameters are known, an INS is capable of providing an autonomous solution with no external inputs. However, because of errors in the IMU measurements that accumulate over time, an inertial-only solution degrades with time unless external updates such as position, velocity or attitude are supplied.
The SPAN system’s combined GNSS + INS solution integrates the raw inertial measurements with all available GNSS information to provide the optimum solution possible in any situation. By using the high accuracy GNSS solution, the IMU errors can be modeled and mitigated. Conversely, the continuity and relative accuracy of the INS solution enables faster GNSS signal reacquisition and RTK solution convergence.
The advantages of using SPAN technology are its ability to:
Provide a full attitude solution (roll, pitch and azimuth)
Provide continuous solution output (in situations when a GNSS-only solution is impossible)
Provide faster signal reacquisition and RTK solution resolution (over stand-alone GNSS because of the tightly integrated GNSS and INS filters)
Output high-rate (up to 125 or 200 Hz depending on SPAN-IGM model and logging selections) position, velocity and attitude solutions for high-dynamic applications, see also Logging Restriction Important Notice on page 33
Use raw phase observation data (to constrain INS solution drift even when too few satellites are available for a full GNSS solution)
SPAN-IGM User Manual Rev 2 11
Chapter 1 Introduction

1.2 System Components

The SPAN-IGM system consists of the following components:
SPAN-IGM Integrated GNSS + INS unit This unit has 3 accelerometers, 3 gyroscopes (gyros) and a NovAtel OEM615 receiver. Excellent acquisition and re-acquisition times allow this receiver to operate in environments where very high dynamics and frequent interruption of signals can be expected.
GNSS antenna A quality, dual frequency GNSS antenna such as the GPS-702-GG or ANT-A72GA-TW-N for airborne/high speed applications. See the NovAtel website (www.novatel.com/products/gnss-
antennas/) for information on a variety of quality antennas available to meet your form factor and
performance needs.
PC software Real-time data collection, status monitoring and receiver configuration is possible through the NovAtel Connect software utility, see Configure SPAN with Connect on page 25.
There are two SPAN-IGM models available, the SPAN-IGM-A1 and the SPAN-IGM-S1. These models have the same features and functionality. They also install and operate in the same manner. For these reasons, the majority of this manual uses the term SPAN-IGM, which refers to both models.
Where the two models differ is in the IMU performance.
The SPAN-IGM-A1 uses the ADIS-16488 IMU. For details about this model, see SPAN-IGM-A1 Technical Specifications on page 52.
The SPAN-IGM-S1 uses the STIM300 IMU. For details about this model, see SPAN-IGM-S1 Technical Specifications on page 54.

1.3 Scope

This manual contains sufficient information about the installation and operation of the SPAN-IGM system. It is beyond the scope of this manual to provide details on service or repair. Contact your local NovAtel dealer for any customer-service related inquiries, see Customer Support on page 7.
A SPAN-IGM system requires the addition of accessories, an antenna and a power supply.
The SPAN-IGM utilizes a comprehensive user-interface command structure, which requires communications through its communications ports. The SPAN on OEM6 Firmware Reference Manual (OM-20000144) describes the INS specific commands and logs. For descriptions of other commands and logs available for SPAN-IGM, refer to the OEM6 Family Firmware Reference Manual (OM-20000129). These manuals are available on the NovAtel website (www.novatel.com/support/
firmware-software-and-manuals/product-manuals-and-doc-updates/). It is recommended that these
documents be kept together for easy reference.
SPAN-IGM output is compatible with post-processing software from NovAtel's Waypoint Group. Visit our Web site at www.novatel.com
for details.
®
Products
12 SPAN-IGM User Manual Rev 2
Introduction Chapter 1

1.4 Conventions

The following conventions are used in this manual:
Information that supplements or clarifies text.
A caution that actions, operation or configuration may lead to incorrect or improper use of the hardware.
A warning that actions, operation or configuration may result in regulatory noncompliance, safety issues or equipment damage.
SPAN-IGM User Manual Rev 2 13

Chapter 2 SPAN Installation

This chapter contains instructions and tips to setup your SPAN-IGM system.

2.1 Required Equipment

A SPAN-IGM integrated GNSS + INS receiver
A quality, dual frequency GNSS antenna such as the GPS-702-GG or ANT-A72GA-TW-N for airborne/high speed applications. See the NovAtel website (www.novatel.com/products/gnss-
antennas/) for information on a variety of quality antennas available to meet your form factor and
performance needs.
An antenna cable with a TNC male connector at the receiver end, such as NovAtel’s GPS-C016 model
A power supply of +10 to +30 V DC with a maximum typical current of 0.4 A For an ALIGN variant with a FlexPak6, the maximum typical current is 0.65 A
Interface cables for the MAIN and AUX ports on the SPAN-IGM The interface cables can be NovAtel cables (see SPAN-IGM Cables on page 15) or custom built cables (see Appendix A, Technical Specifications on page 52 for the MAIN and AUX port pin outs).
A Windows
A radio link (if your application requires real time differential operation
®
based computer with a USB or serial port

2.2 SPAN-IGM Hardware

The SPAN-IGM contains an OEM615 GNSS receiver and an IMU containing 3 accelerometers and 3 gyroscopes. The connectors available on the SPAN-IGM are shown in Figure 2, SPAN-IGM.
Figure 2: SPAN-IGM
The SPAN-IGM provides one antenna and two DB-15HD connectors.
Connector Type Connections
Antenna TNC Female • GNSS antenna
MAIN DB-15HD Female
AUX DB-15HD Male
•power
•CAN Bus
•odometer
• COM3 serial port
•USB port
•COM2 serial port
• MIC serial port
• Event1/Mark 1 input
• Event2/Mark2 input
• VARF (Variable Frequency) output
• 1 PPS (Pulse Per Second) output
14 SPAN-IGM User Manual Rev 2
SPAN Installation Chapter 2
The sections that follows outline how to set up the system’s parts and cables. For more information about the SPAN-IGM and cables, see Appendix A, Technical Specifications on page 52.
Use a USB cable to log raw data.
Serial communication is sufficient for configuring and monitoring the SPAN-IGM through Hyperterminal or NovAtel Connect. USB is required if you have a post-processing application requiring 125 or 200 Hz IMU data. We also recommend you use NovAtel Connect to collect the data. Refer to Data Collection on page 32 and Data Collection for Post-Processing on page 36 for instructions.

2.2.1 SPAN-IGM Cables

This section outlines the NovAtel interface cables used with the SPAN-IGM.
Each connector can be inserted in only one way, to prevent damage to both the receiver and the cables. Furthermore, the connectors used to mate the cables to the receiver require careful insertion and removal. Observe the following when handling the cables.
To insert a cable, make certain to use the appropriate cable for the port.
Insert the connector until it is straight on and secure.
To remove a cable, grasp it by the connector.
Do not pull directly on the cable.
Table 1, SPAN-IGM Cables lists the NovAtel cables available for the SPAN-IGM.
Table 1: SPAN-IGM Cables
NovAtel Part # Port Purpose
01019014 Main Provides connections for:
•MIC COM port
•COM2
•power
•CAN Bus
01019015 AUX Provides connections for:
•odometer
•COM3
•USB
• EVENT1/MARK1
• EVENT2/MARK2
•VARF
•1 PPS
01019089 Main Connects the SPAN-IGM to COM2 of a FlexPak6
receiver when the two are stacked up in an ALIGN configuration.
For more information about the cables used with SPAN-IGM, see Appendix A, Technical Specifications on page 52.
SPAN-IGM User Manual Rev 2 15
Chapter 2 SPAN Installation
Radio
(optional for Real Time Differential operation)

2.3 Hardware Set Up

The following examples show the connections for a SPAN-IGM.
Figure 3: Typical SPAN-IGM Set Up – Serial Port
NovAtel interface cables have more connections than are shown in the diagram. Additional connections were removed for clarity.
1. Mount the GNSS antenna, as described in Mount the Antenna on page 18.
2. Mount the SPAN-IGM, as described in Mount the SPAN-IGM on page 18.
3. Connect the GNSS antenna to the SPAN-IGM, as described in Connect the Antenna to the SPAN-IGM on page 19.
4. Connect power to the SPAN-IGM, as described in Connect Power on page 19.
5. Connect a serial port on your computer to the SPAN-IGM, as described in Connect a Computer to the SPAN-IGM on page 20.
6. Connect the serial port on the user supplied radio device (optional for real time differential operation) to COM3 on the AUX port on the SPAN-IGM.
7. Connect the I/O strobe signals (optional), as described in Connect I/O Strobe Signals on page 21.
16 SPAN-IGM User Manual Rev 2
SPAN Installation Chapter 2
Radio
(optional for Real Time Differential operation)
Figure 4: Typical SPAN-IGM Set Up – USB Port
NovAtel interface cables have more connections than is shown in the diagram. Additional connections were removed for clarity.
1. Mount the GNSS antenna, as described in Mount the Antenna on page 18.
2. Mount the SPAN-IGM, as described in Mount the SPAN-IGM on page 18.
3. Connect the GNSS antenna to the SPAN-IGM, as described in Connect the Antenna to the
SPAN-IGM on page 19.
4. Connect power to the SPAN-IGM, as described in Connect Power on page 19.
5. Connect a USB port on your computer to the SPAN-IGM, as described in Connect a Computer to the
SPAN-IGM on page 20.
6. Connect the serial port on a user supplied radio device (optional for real time differential operation) to
the User Port (COM2) on the MAIN port on the SPAN-IGM.
7. Connect the I/O strobe signals (optional), as described in Connect I/O Strobe Signals on page 21.
SPAN-IGM User Manual Rev 2 17
Chapter 2 SPAN Installation

2.3.1 Mount the Antenna

For maximum positioning precision and accuracy, as well as to minimize the risk of damage, ensure that the antenna is securely mounted on a stable structure that will not sway or topple. Where possible, select a location with a clear view of the sky to the horizon so that each satellite above the horizon can be tracked without obstruction. The location should also be one that minimizes the effect of multipath interference. For a discussion on multipath, refer to the GNSS Book available from
www.novatel.com/an-introduction-to-gnss/
Ensure the antenna to IMU distance and orientation does not change due to dynamics.
.

2.3.2 Mount the SPAN-IGM

Mount the SPAN-IGM in a fixed location where the distance from the SPAN-IGM to the GNSS antenna phase center is constant. Ensure that the orientation with respect to the vehicle and antenna is also constant.
For attitude output to be meaningful, the SPAN-IGM should be mounted such that the positive Z-axis marked on the SPAN-IGM enclosure points up and the Y-axis points forward through the front of the vehicle, in the direction of track.
Figure 5: SPAN-IGM Enclosure Mounting
Also, it is important to measure the distance from the SPAN-IGM to the antenna (the Antenna Lever Arm), on the first usage, on the axis defined on the SPAN-IGM enclosure. See Appendix A, Technical Specifications on page 52 for dimensional drawings of the SPAN-IGM.
Ensure the SPAN-IGM cannot move due to dynamics and that the distance and relative direction between the antenna and the SPAN-IGM is fixed. See also SPAN IMU Configuration on page 24.
The closer the antenna is to the SPAN-IGM, the more accurate the position solution. Also, your measurements when using the SETIMUTOANTOFFSET command must be as accurate as possible, or at least more accurate than the GNSS positions being used. For example, a 10 cm error in recording the antenna offset will result in at least a 10 cm error in the output. Millimetre accuracy is preferred.
The offset from the SPAN-IGM to the antenna, and/or a user point device, must remain constant especially for RTK or DGPS data. Ensure the SPAN-IGM, antenna and user point device are bolted in one position perhaps by using a custom bracket.
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SPAN Installation Chapter 2

2.3.3 Connect the Antenna to the SPAN-IGM

Connect the antenna cable from the connector on the GNSS antenna to the Antenna port on the SPAN-IGM. See Figure 3, Typical SPAN-IGM Set Up – Serial Port on page 16.
The SPAN-IGM can supply power for the antenna Low Noise Amplifier (LNA) through the Antenna port center conductor. The SPAN-IGM provides +5 VDC +/- 5% at a maximum of 100 mA.
For best performance, use a high-quality coaxial cable. An appropriate coaxial cable is one that matches the impedances of the antenna and receiver (50 ohms), and has a line loss that does not exceed 10.0 dB. If the limit is exceeded, excessive signal degradation may occur and the receiver may not meet performance specifications.
NovAtel offers several coaxial cables to meet your GNSS antenna interconnection requirements, including 5, 15 and 30 m antenna cable with TNC connectors on both ends (NovAtel part numbers GPS-C006, GPS-C016 and GPS-C032).
If your application requires the use of cable longer than 30 m, refer to application note APN-003 RF Equipment Selection and Installation, available at www.novatel.com/support/knowledge-and-learning/
published-papers-and-documents/application-notes/.

2.3.4 Connect Power

The SPAN-IGM requires an input voltage of +10 to +30 VDC. The SPAN-IGM has an internal power module that:
filters and regulates the supply voltage
protects against over-voltage, over-current, and high-temperature conditions
provides automatic reset circuit protection
The power input pins are located on the MAIN connector. If you are using a NovAtel interface cable (part number 01019014), the power leads are labelled BATT+ and BATT-. Be sure to connect the power with the correct polarity and ensure the power source is within specifications. If you are creating a custom interface cable, see Appendix A, Technical Specifications on page 52 for the MAIN connector pin out and power input requirements.
A SPAN-IGM can be connected to a FlexPak6 receiver to create an ALIGN system (see Figure 8, SPAN-IGM - Dual Antenna Installation on page 39).
When the SPAN-IGM is connected to the FlexPak6 using a SPAN-IGM ALIGN cable (NovAtel part number 01019089), the FlexPak6 provides power for the SPAN-IGM through the SPAN-IGM ALIGN cable.
There is always a drop in voltage between the power source and the power port due to cable loss. Improper selection of wire gauge can lead to an unacceptable voltage drop at the SPAN system. A paired wire run represents a feed and return line. Therefore, a 2 metre wire pair represents a total wire path of 4 metres. For a SPAN system operating from a 12 V system, a power cable longer than 2.1 m (7 ft.) should not use a wire diameter smaller than 24 AWG.
The power supply used to power the SPAN-IGM must be monotonic during power on to ensure internal logic blocks are initialized appropriately and proceed to valid operating states. If the power supply is not monotonic during power on, the accelerometer status in the IMU status may show a failure and the accelerometer measurements in the RAWIMUS log (see the SPAN on OEM6 Firmware Reference Manual (OM-20000144)) will be zero. Power cycling with a monotonic power up clears this error state.
SPAN-IGM User Manual Rev 2 19
Chapter 2 SPAN Installation
Vehicle Main
Battery
Auxiliary
Battery
Battery Isolator
from Vehicle Alternator
to Vehicle Electrical System
If the SPAN-IGM is installed in a vehicle, NovAtel recommends a back-up battery be placed 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 lose lock and calibration settings.
Figure 6: Battery Isolator Installation

2.3.5 Connect a Computer to the SPAN-IGM

You can connect a computer to the SPAN-IGM using a serial connection or a USB connection.
2.3.5.1 Connect a Computer Using a Serial Connection
Connect the computer to the COM2 port on the SPAN-IGM. The COM2 serial port is available on the MAIN connector. See Figure 3, Typical SPAN-IGM Set Up – Serial Port on page 16.
If you are using a NovAtel interface cable (part number 01019014):
1. Connect the interface cable to the MAIN connector on the SPAN-IGM.
2. Connect the DB9 connector labelled User Port to the serial port on the computer.
If you are creating a custom interface cable, refer to Appendix A, Technical Specifications on page 52 for the MAIN connector pin out.
An additional serial port, COM3, is optionally available on the AUX connector. This port is disabled by default. For information about enabling COM3, see COM3 Serial Port on page 22.
By default, COM2 operates as an RS-232 serial port. To change COM2 to operate as an RS-422 serial port, see Enable RS-422 serial connections on page 22.
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