Novatel OM-20000122 Manuale Utente

SPAN-CPT User Manual Rev 8

3

Table of Contents

Customer Support

1 Introduction

1.1 Fundamentals of GNSS+INS ................................................................................................ 11
1.2 System Components............................................................................................................. 12
1.3 Related Documents and Information .................................................................................... 12
1.4 Conventions .......................................................................................................................... 12

2 SPAN-CPT Installation

2.1 Required Equipment ............................................................................................................. 13

2.1.1 Manuals ....................................................................................................................... 13
2.1.2 SPAN-CPT Hardware.................................................................................................. 13

2.2 Hardware Set Up .................................................................................................................. 14

2.2.1 Mount the Antenna ...................................................................................................... 15
2.2.2 Mount the SPAN-CPT ................................................................................................. 15
2.2.3 Connect the GNSS Antenna........................................................................................ 16
2.2.4 Connect Power ............................................................................................................ 16
2.2.5 Connect a Computer to the SPAN-CPT ...................................................................... 17
2.2.6 Connect the I/O Strobe Signals ................................................................................... 17
2.2.7 CAN Bus...................................................................................................................... 18
2.2.8 Odometer Connection ................................................................................................. 18

3 SPAN-CPT Operation

3.1 Definition of Reference Frames Within SPAN ...................................................................... 20

3.1.1 Local Level Frame ....................................................................................................... 20
3.1.2 SPAN Body Frame ...................................................................................................... 21
3.1.3 Enclosure Frame ......................................................................................................... 22
3.1.4 Vehicle Frame ............................................................................................................. 22

3.2 Communicating with the SPAN-CPT System ....................................................................... 23

3.2.1 Use NovAtel Connect to Communicate ....................................................................... 23
3.2.2 INS Window in NovAtel Connect ................................................................................. 24

3.3 Software Configuration ......................................................................................................... 25

3.3.1 GNSS Configuration .................................................................................................... 25
3.3.2 SPAN IMU Configuration............................................................................................. 25

3.4 Real Time Operation............................................................................................................. 26

3.4.1 System Start-Up and Alignment Techniques............................................................... 27
3.4.2 Navigation Mode.......................................................................................................... 29
3.4.3 Vehicle to SPAN-CPT Frame Angular Offsets Calibration Routine............................. 29
3.4.4 SPAN-CPT Wheel Sensor........................................................................................... 30

3.5 Azimuth Sources on a SPAN System ................................................................................... 30

3.5.1 Course Over Ground ................................................................................................... 30
3.5.2 Inertial Azimuth............................................................................................................ 31
3.5.3 ALIGN Azimuth............................................................................................................ 31

3.6 Data Collection...................................................................................................................... 32
3.7 Data Collection for Post-Processing ..................................................................................... 33
3.8 Variable Lever Arm ............................................................................................................... 34
3.9 Enabling L-Band ................................................................................................................... 34

3.9.1 NovAtel CORRECT™ with TerraStar™ ...................................................................... 34
3.9.2 Veripos Marine Subscriptions...................................................................................... 35
3.9.3 OmniSTAR .................................................................................................................. 35