Novatel OM-20000141 manuel d'utilisation

SP AN-IGM ™ User Manual OM-20000141 Rev 2 September 2013[...]

2 SP AN-IGM User Manu al Rev 2 SP AN-IGM User Manual Publication Number: OM-20000141 Revision Level: 2 Revision Date: September 2013 Wa r r a n t y NovAtel Inc. warrants that its GNSS products are free from defects in ma terials and workmanship, subject to the conditions set forth on our web site: www .novatel.com/products/warranty/ and for the fol[...]

SP AN-IGM User Manual Rev 2 3 T able of Contents Customer Support 7 Notices 8 1 Introduction 11 1.1 Fundamentals of GNSS + I NS ....... .............. .............. .............. .............. .............. .............. ...... ..... ........ 11 1.2 System Components.. .............. ........... .............. .............. ............ .....[...]

4 SP AN-IGM User Manu al Rev 2 T able of Contents 5.3 The Enclosure Fram e ........ .............. .............. .............. ........... .............. .............. .............. . ........... ......... 44 5.4 The Vehicle Fram e ...................... .............. ........... .............. .............. ........... .............. ...... [...]

SP AN-IGM User Manual Rev 2 5 Figur es 1 Primary and Secondary Lightning Protec tion .......... ........ .............. ........... .............. ............... ........... .. 10 2 SPAN-IGM ....... ........................................................ .......................................... ............ ..... .............. .. 14 3 Typical [...]

6 SP AN-IGM User Manu al Rev 2 Ta b l e s 1 SPAN-IGM Cables ........... ............................ ............................ ........... ............ ........... .......... .......... ...... 15 2 I/O Strobe Signals ..................... .............. ........... .............. .............. .............. ........... ......... .. ...........[...]

SP AN-IGM User Manual Rev 2 7 Customer Support NovAtel Knowledge Base If you have a technical issue, brow se to the NovAtel Web site at www .novatel.com then select Support | Helpdesk and Solutions | Search Known Solutions . Through th is page, you can search for general information about GNSS and other tech nologies, info rmation about NovAtel har[...]

8 SP AN-IGM User Manu al Rev 2 Notices The following notices apply to the SP AN-IGM. FCC Notices This SP AN device complies with part 15 of the FCC R ules. Operation is subject to the following two conditions: (1) this device may not cause harmfu l in terference , and (2) this device must accept any interference r eceived, incl uding interference t[...]

Notices SP AN-IGM User Manual Rev 2 9 REACH NovAtel strives to comply with the EU Directive EC 1907/2006 on ch emicals and t heir sa fe use as per the Registration, E valuation, Authorizat ion and Restriction of Chemical su bstances (REACH) for its products, including the SP AN-IGM pr oduct. Since REACH SVHC lists are updated occasionally , please [...]

10 SP AN-IGM User Manu al Rev 2 Notices 6. The primary and secondar y lightning protections sh ould be as close to the build ing's entrance as possible. Where feasible they should be mounted onto the groundin g plate itself. See Figure 1, Primary and Secondary Li ghtning Protection on p age 10. Figure 1: Primary an d Secondary Lightning Pr ote[...]

SP AN-IGM User Manual Rev 2 11 Chapter 1 Intr oduction NovAtel's SP AN technology brings together two ver y differ ent but complement ary positioning and navigation systems namely Global Navigation Satellite System (GN SS) and an Inertial Navigation System (INS). By comb ining the best aspects of GNSS and INS int o one system, SP AN tec hnolog[...]

12 SP AN-IGM User Manu al Rev 2 Chapter 1 Introduction 1.2 System Components The SP AN-IGM system consists of the following component s: • SP AN-IGM Integrated GNSS + INS unit This unit has 3 acceleromete rs, 3 gyroscopes (gyr os) a nd a NovAtel OEM615 receiver . Excellent acquisition and re-a cquisition time s allow this receiver to operate in e[...]

Introductio n Chapter 1 SP AN-IGM User Manual Rev 2 13 1.4 Conventions The following conventions are used in this manual:  Information that supplement s or clarifies text.  A caution that actions, operation or configuration may lead to incorrect or improper use of the hardware .  A warning that actions, opera tion or configurat ion may res[...]

14 SP AN-IGM User Manu al Rev 2 Chapter 2 SP AN Installation This chapter contains instr uctions and tips to setup your SP AN-IG M system. 2.1 Required Equipment • A SP AN-IGM integrat ed GNSS + INS receiver • A quality , dual frequency GNSS antenna such as the GPS-702-GG or ANT -A72GA-TW-N fo r airborne/high spee d applications. See the NovAte[...]

SP AN Installation Chapter 2 SP AN-IGM User Manual Rev 2 15 The sections that follows outline ho w to set up th e system’s parts and cables. For mo re informatio n about the SP AN-IGM and cables, see Ap pendix A, T e chnical Specifications on page 52. 2.2.1 SP AN-IGM Cables This section outlines th e NovAtel interface cables used with the SP AN-I[...]

16 SP AN-IGM User Manu al Rev 2 Chapter 2 SP AN Installation 2.3 Hardwar e Set Up The following examp les show the connections for a SP AN-IGM. Figure 3: T ypical SP AN-IGM Set Up – Serial Port 1. Mount the GNSS antenna, as described in Mount the Antenna on p age 18. 2. Mount the SP AN-IGM, as described in Mount the SP AN-IGM on page 18. 3. Conne[...]

SP AN Installation Chapter 2 SP AN-IGM User Manual Rev 2 17 Figure 4: T ypical SP AN-IGM Set Up – USB Port 1. Mount the GNSS antenna, as described in Mount the Antenna on p age 18. 2. Mount the SP AN-IGM, as described in Mount the SP AN-IGM on page 18. 3. Connect the GNSS antenna to the SP AN-IGM, as described in Connect the Antenna to the SP AN-[...]

18 SP AN-IGM User Manu al Rev 2 Chapter 2 SP AN Installation 2.3.1 Mount the Antenna For maximum positioning pr ecision and accuracy , as we ll as to minimize the risk of damage , ensure that the antenna is securely mo unted on a stable structure that will not sway or topple. Wher e possible, select a location with a clear view of th e sky to the h[...]

SP AN Installation Chapter 2 SP AN-IGM User Manual Rev 2 19 2.3.3 Connect the Antenna to the SP AN-IGM Connect the antenna cable from the connector on the GNSS ante nna to the Antenna port on the SP AN-IGM. See Figure 3, T ypical SP AN-IGM Set Up – Serial Port on page 16. For best performance, use a h igh-qua lity coaxial cable. An ap propriate c[...]

20 SP AN-IGM User Manu al Rev 2 Chapter 2 SP AN Installation If the SP AN-IGM is installed in a vehicle, NovAtel recommends a back- up battery be placed between th e receiver and it s voltage supply to act as a power buf f er . When a vehicle engine is started, power can di p to 9.6 VDC or cut-out to ancillary equipment causing the receiver an d IM[...]

SP AN Installation Chapter 2 SP AN-IGM User Manual Rev 2 21 2.3.5.2 Connect a Computer Using a USB Connectio n The SP AN-IGM USB port is ava ilable on the AUX connector . See Figure 4, T ypical SP AN-IGM Set Up – USB Port on page 17. If you are using a NovAtel interface ca ble (part number 01019 015): 1. Connect the interface cable to t he AUX co[...]

22 SP AN-IGM User Manu al Rev 2 Chapter 2 SP AN Installation 2.3.8 COM3 Serial Port The COM3 se rial port is multiplexed with the USB port, so only one of these two ports can b e enabled at a time. The USB port is enabled by default. If the system conf iguration requires an additi onal s erial connection, disable the USB port and the EVENT1 (MAR K1[...]

SP AN Installation Chapter 2 SP AN-IGM User Manual Rev 2 23 2.3.10 Odometer connection The SP AN-IGM provides a wheel sensor input for a Distance Measu rement Instrument (DMI) through AUX connector . If you are using a NovAtel interface ca ble (part number 01019 015): 1. Connect the interface cable to the AUX connector on the SP AN-IGM 2. Connect t[...]

24 SP AN-IGM User Manu al Rev 2 Chapter 2 SP AN Installation SP AN-IGM powe rs the odometer . See Appendix A, T echnical Specifications on page 52 for the pin outs of the SP AN-IGM interface cable. Connect the ap propriate pins to your ch osen odometer . The cable requireme nts are shown in T able 3, Cable Connectio ns for Kistler CWPT Sensor on pa[...]

SP AN Installation Chapter 2 SP AN-IGM User Manual Rev 2 25 The of fset between the anten na ph ase center and the IMU axis must remain const ant and be kn own accurately (m) . The X (pitch ), Y (roll) and Z (azi muth) directions are clearly marked on the SP AN-IGM enclosure. The SETIMUTOANT OFFSET pa rameters are (where the st andard de viation fi[...]

26 SP AN-IGM User Manu al Rev 2 Chapter 2 SP AN Installation 2.5 SP AN-IGM LE Ds The LEDs on the SP AN-IGM provide basic receiver st atus information. T able 1: SP AN-IGM LEDs LED Off On Flashing Slow (1Hz) Flashing Fast (>1Hz) Power (Red) No power to unit Unit is powered on UNKNOWN or UNSUPPORTED IMU Programmin g error GNSS (Green) Waiting for [...]

SP AN-IGM User Manual Rev 2 27 Chapter 3 SP AN Operation Before operat ing your SP AN sy stem , ensure that you have followed the insta llation and setup instructio ns in Chapter 2, SP AN Ins tallation on page 14 . Y ou can u se the NovAtel Connect softwa re to configure rece iver settings and to monitor dat a in real- time, between a rove r SP AN [...]

28 SP AN-IGM User Manu al Rev 2 Chapter 3 SP AN Operation 7. If you selected Serial , clear the Use hardware h andshaking check box. 8. Click the OK button to save the new device settings. 9. Select the connection created for the SP AN-IGM from the A vailable Device Connect ions area of the Open Conne ction window . 10. Click the Open button to ope[...]

SP AN Operation Chapter 3 SP AN-IGM User Manual Rev 2 29 INS Window: The Position, V elocity and Attitude (roll, pi tch and azimut h) sections display data from the INSPV A log along with st andard deviations ca lcul ated from the INSCOV log. Information in the ZUPT (Zero V elocity Update) section reflects t he current INSZUPT command setting. The [...]

30 SP AN-IGM User Manu al Rev 2 Chapter 3 SP AN Operation T able 4: Inertial Solution Status 3.2.1 System Start-Up and Alignment T echniques The system requires an initial attitude estimate to st art the navigation filter . This is called system alignment. On st art-up the system has no position, veloci ty or attitude informatio n. When the system [...]

SP AN Operation Chapter 3 SP AN-IGM User Manual Rev 2 31 6. Alignment is complet e and the INS S t atus field changes to INS_ALIGNMENT_COMPLETE. The system transitions to navigation mode. 7. The solution is refined using up dates from GNSS. Once the system is operating within specifications and after some ve hicle move ment, the INS S tatus field c[...]

32 SP AN-IGM User Manu al Rev 2 Chapter 3 SP AN Operation 3.2.2 Navigation Mode Once the alignment routine has successfully completed, SP AN enters navigation mode. SP AN computes the solution by accumulating vel ocity and rotatio n increments from the IMU to generate position, velocity and attitude. SP AN models system errors by using a filter . T[...]

SP AN Operation Chapter 3 SP AN-IGM User Manual Rev 2 33 S pec ific logs need to be collected for post-pr ocessing. See Data Collection for Post-Processing on page 36. T o store dat a from a SP AN-IGM, connect the SP AN-IGM to a computer runnin g NovAtel Connect or other terminal program cap able of recording dat a. 3.2.4 V ehicle to SP AN Frame A [...]

34 SP AN-IGM User Manu al Rev 2 Chapter 3 SP AN Operation 7. When the uncertainties of the of fsets ar e low enough to be used for a kinema tic alignment, the calibration stops and the VEHICLEBODYROT A TION lo g is overwritten with the solved values. T o monitor the progr ess of the calibration, l og VEHICLEBODYROT A TION using the ONCHANGED trigge[...]

SP AN Operation Chapter 3 SP AN-IGM User Manual Rev 2 35 3.2.5.3 Set up a Wheel Sensor 1. Send the following commands to setup the wheel sensor . ENCLOSUREWHEELSENSOR ENABLE 1HZ SETWHEELPARAMETERS ticks circ spacing 2. Send the following commands to log the wheel sensor data . LOG TIMEDWHEELDATAB ONNEW LOG WHEELSIZEB ONCHANGED 3.3 Azimuth Sour ces [...]

36 SP AN-IGM User Manu al Rev 2 Chapter 3 SP AN Operation T able 6: Logs with Azimuth data 3.4 Data Collection for Post-Processing Some operations, such as aerial measureme nt syste ms, do not require real time informa tion from SP AN. These operations are able to generate the position, ve locity or attitude solution post-mission in order to genera[...]

SP AN Operation Chapter 3 SP AN-IGM User Manual Rev 2 37 3.5 V ar iable Lever Arm The variable lever arm conc ept arose to support applicat ions in which th e IMU is no longer rigid ly fixed to the vehicle, but ra ther on a gimballed mo unt. This creates an issue where the lever arm of fset to the GNSS antenna is no longer fixed, becau se the IMU c[...]

38 SP AN-IGM User Manu al Rev 2 Chapter 4 SP AN-IGM Dual Antenna NovAtel's ALIGN ® heading technology generate s dista nce and bearing information between a “master” and one or more “rover” re ceivers. This informatio n can be used by SP AN to update the inertial error estimates and improve attitude accu racy . This is part icularly u[...]

SP AN-IGM Dual Antenna Chapter 4 SP AN-IGM User Manual Rev 2 39 Figure 8: SP AN-IGM - Dual Antenna Installati on 4.2 Configuring ALIGN with SP AN-IGM Before configuring the ALIGN solution, the SP AN-IGM and the se condary receiver MUST both be powered on and co nnected dir ectly between COM 2 of the SP AN-IGM and COM 2 of th e secondary receiver th[...]

40 SP AN-IGM User Manu al Rev 2 Chapter 4 SP AN-IGM Dual Antenna 2. Enter the lever arm from the SP AN-IGM to the secondary a ntenna (secondary an tenna is connected to the second receiver) using the SETIMUTOANTOFFSET2 comma nd. Abbreviated ASCII example: SETIMUTOANTOFFSET2 0.54 2.32 1.20 0.03 0.03 0.05 Alternately , the angu lar of fset between th[...]

SP AN-IGM Dual Antenna Chapter 4 SP AN-IGM User Manual Rev 2 41 4.2.3 Unaided Alignment The unaided alignm ent sets the SP AN system to use only single antenna alignment options (k inematic or manual alignment). T o use this alignment mode, the configuration comm and ALIGNMENTMODE must be sent to the receiver . ALIGNMENTMODE UNAIDED 4.2.4 Automatic[...]

42 SP AN-IGM User Manu al Rev 2 Chapter 5 Refer ence Frames Within SP AN The reference frames th at are most frequently used throug hout this manual are the following: • the Local-Level Frame • the SP AN Body Frame • the Enclos ure Frame • the V ehicle Frame 5.1 The Local-Level Frame (ENU) The definition of the local level coordinate frame [...]

Reference Frames Wi thin SP AN Chapter 5 SP AN-IGM User Manual Rev 2 43 T able 7: Full Mapping Definitions Mapping SPAN Frame Axis SPAN Frame IMU Enclosure Frame Axis IMU Enclosure Frame 1 XY YZ ZX 2 XZ YY Z- X 3 XZ YX ZY 4 XX YZ Z- Y 5 (default) XX YY ZZ 6 XY YX Z- Z Z X Y X Y Z Z X Y Z Y X Z X Y Y Z X Z X Y X Z Y Z X Y Z X Y Z X Y Y X Z[...]

44 SP AN-IGM User Manu al Rev 2 Chapter 5 Refe rence Frames Within SP AN 5.3 The Enclosur e Frame The definition of th e enclosure frame is marked on the SP AN-IGM and repre sents how the sen sors are mounted in the enclo sure. If the SP AN-IGM is mount ed with the z-axis (as marked on the SP AN-IGM enclosure) pointing up, the SP AN-IGM enclos ure [...]

SP AN-IGM User Manual Rev 2 45 Chapter 6 NovAtel Firmwar e and Softwar e Download the most recent versions of the NovAtel firmware and receiv er so ftware from the NovAtel website at www .novatel.com Support/Firmwar e/Software and Manuals . OEM6 Firmware and Softwar e NovAtel Connect PC Utilities Software Bundle Bundled PC Utilities software includ[...]

46 SP AN-IGM User Manu al Rev 2 Chapter 6 NovAtel Firm ware and Softwar e 6.1.2 Model Upgrades Model upgrades e nable purchased receiver features. Contact a local NovAtel dealer to assi st in selecting the upgrade option s that best suit your GNSS needs at www . novatel.com/wher e-to-buy . Contact NovAtel Customer Support www .novatel.com/ support [...]

NovAtel Firmware an d Software Chap ter 6 SP AN-IGM User Manual Rev 2 47 The new download p ackage includes a signed fir mware file type that uses an extension designated as “.shex” (example OEM060200RN0000. shex), as well as the latest Wi nload utility and What’s New file containing firmwa re update change det ails. 6.3 Updating or Upgrading[...]

48 SP AN-IGM User Manu al Rev 2 Chapter 6 NovAtel Firm ware and Softwar e 6.3.2 Using the WinLoad Utility If opening WinLoad for the first time, ensure th e file and communications settings are correct. 6.3.2.1 Open a File to Downloa d Select File | Open. N avigate to the file to open ( Figure 12, Wi nLoad Open Wi ndow) . Figure 12: Win Load Open W[...]

NovAtel Firmware an d Software Chap ter 6 SP AN-IGM User Manual Rev 2 49 Figure 15 : Search ing for Card 5. If the Authorization Code window appea rs, enter the authorization code and click OK . See Authorization Code on p age 46 for further information about the Authorizatio n Code. Figure 16 : Authorizat ion Code Window 6. The receiv er finishe s[...]

50 SP AN-IGM User Manu al Rev 2 Chapter 6 NovAtel Firm ware and Softwar e 5. Send each line of the *.SHEX file to the receiver in a SOFTLOADSREC command. The S-Records must be enclosed by quot ation marks: SOFTLOADSREC "<S-RECORD>" 6. Send the SOFTLOADCOMMIT command. 7. During the loading process, SOFTLOADST A TU SA logs repor t the[...]

NovAtel Firmware an d Software Chap ter 6 SP AN-IGM User Manual Rev 2 51 6.5 Upgrading Using the AUTH Command The AUTH command authorizes the enabling (u nl ocking) of model features. T he AUTH comman d is used to upgrade a new OEM6 family model, availa ble with the same firmware version as the current mode l. This command only functions with a va [...]

52 SP AN-IGM User Manu al Rev 2 Appendix A T echnical Specifications This appendix det ails the tech nical specifications of the SP AN-IGM. A.1 SP AN-IGM-A1 T echnical Specifications T able 8: SP AN-IGM-A1 Physical Specif ications T able 9: SP AN-IGM-A1 GNSS Performance T able 10: SP AN-IGM-A1 Data Rates T able 11: SP AN-IGM-A1 IMU Performance PHYS[...]

T echnical Specifications Appendix A SP AN-IGM User Manual Rev 2 53 T able 12: SP AN-IGM-A1 Electrical Spec ifications T able 13: SP AN-IGM -A1 Environmental Specifications A.1.1 SP AN-IGM-A1 Mechanical Drawings Figure 18 : SP AN-IGM-A1 Dimensions ELECTRICAL Input Voltage 10 - 30 VDC a a. An ALIGN system requir es 11 VDC if the FlexPak6 powers the [...]

54 SP AN-IGM User Manu al Rev 2 Appendix A T echnical Specifications A.2 SP AN-IGM-S1 T echnical Specifications T able 14: SP AN-IGM-S1 Phys ical Specifications T able 15: SP AN-IG M-S1 GNSS Performance T able 16: SP AN-IGM-S1 Data Rates T able 17: SP AN-IGM-S1 IMU Performance PHYSICAL Enclosure Size 152.0 mm x 141.5 mm x 50.5 mm Weight 540 g CONNE[...]

T echnical Specifications Appendix A SP AN-IGM User Manual Rev 2 55 T able 18: SP AN-IGM-S1 Electrical Spec ifications T able 19: SP AN-IGM -S1 Environmental Specifications A.2.1 SP AN-IGM-S1 Mechanical Drawings Figure 19 : SP AN-IGM-S1 Dimensions ELECTRICAL Input Voltage 10 - 30 VDC a a. An ALIGN system requir es 11 VDC if the FlexPak6 powers the [...]

56 SP AN-IGM User Manu al Rev 2 Appendix A T echnical Specifications A.3 SP AN-IGM Ports T able 20: Main Port Pinout T able 21: AUX Port Pinout Pin # Label Description 1 MIC_TX/MIC_TX+ MODE2 high or open: MIC port transmit (RS-232) MODE2 low: MIC port transmit positive (RS-422) 2 CAN+/MIC_TX- MODE2 high or open: CAN bus positive MODE2 low: MIC port[...]

T echnical Specifications Appendix A SP AN-IGM User Manual Rev 2 57 A.4 SP AN-IGM Interface Cable The NovAtel p art number for the SP AN-IGM interface cable is 01019014. This cabl e provides power and communication signa ls to the SP AN-IGM. Figure 20 : SP AN-IGM Interface Cable Dimensions are in millimetres. T able 22: SP AN-IGM Interface Cable Pi[...]

58 SP AN-IGM User Manu al Rev 2 Appendix A T echnical Specifications A.5 SP AN-IGM ALIGN Interface Cable The NovAtel par t number for the SP AN-IGM ALIGN inter face cable is 01019089 . This cable connect s a SP AN-IGM to a FlexPak6 receiver when the SP AN- IGM and FlexPak6 are connected in an dual antenna configuration. Figure 21: SP AN-IGM ALIGN I[...]

T echnical Specifications Appendix A SP AN-IGM User Manual Rev 2 59 A.6 SP AN-IGM Auxiliary Port Interface Cable The NovAtel p art number for the SP AN-IGM auxi liary port interface cable is 01019015. This cable provides connection for th e I/O strobe input s, od o meter input, COM3 serial port and USB port. Figure 22: SP AN-IGM Auxiliary Port Inte[...]

60 SP AN-IGM User Manu al Rev 2 Appendix B Frequently Asked Questions 1. Why don’t I have any INS logs? On start-up, the I NS logs are n ot availab le until the s ystem has solved for ti me. This req uires that an antenna is attached, and sa tellites are visible, to the system. Y ou can verify that time is solved by checking the time status in th[...]

SP AN-IGM User Manual Rev 2 61 Appendix C Replacement Parts The following are a list of the replacement p arts availa ble. Should you require assist ance, or need to order additional compone nts, cont act your local NovAtel dealer or Custo mer Support. C.1 SP AN System C.2 Accessories and Options Part De scription NovAtel Part SPAN-IGM-A1 01018993 [...]

SP AN-IGM User Manual Rev 2 62 Index A antenna 61 AUTH command 51 authorization 51 C cables 15 antenna 61 power 19 copyright 2 customer service 46 D dealer 46 driving 33 E e-mail 7 Event1 21 Event2 21 F features 46 , 51 firmware update s 46 – 47 , 51 frequently asked questions 60 G graphical user interface 28 H hardware se tup 14 help 27 I IMU-CP[...]

Index SP AN-IGM User Manual Rev 2 63[...]

OM-20000141 Rev 2 September 2013[...]