Novatel Car Satellite TV System GM 14915082 User Manual

If you want to connect via USB, connect a USB cable from  
the computer to the USB Device port on the SPAN-SE.  
7. Apply power to the receiver. Do not press the power button;  
the receiver powers up automatically. If possible, add a  
back-up battery between the receiver and its voltage supply  
if installed in a vehicle. The backup battery acts as a buffer  
to prevent power dips that can cause the receiver and IMU  
to lose lock and calibration settings.  
INSTALLING NOVATEL PC UTILITIES  
SPAN-SE Receiver  
QUICK START GUIDE  
Before setting up your SPAN-SE system, install NovAtel’s PC  
Utilities on the Windows-based computer that you will use to  
communicate with it.  
If you want to connect via Ethernet, connect a shielded  
network cable from the computer to the Ethernet port on the  
SPAN-SE.  
GM-14915082  
Rev 3  
May/2012  
This guide provides the basic  
information you need to set up  
and begin using your SPAN-SE  
receiver.  
1. Start the computer.  
See the SPAN-SE User Manual for information on  
communication connection options.  
2. Insert the accompanying CD in the CD-ROM drive.  
To access and download the most current version of our OEMV PC  
Utilities, go to the Support page of the NovAtel web site at  
BOX CONTENTS  
In addition to this Quick Start  
Guide, the following is provided in your SPAN-SE package:  
3. Select Install the OEMV PC Utilities from the window that is  
automatically displayed. If the window does not  
automatically open when the CD is inserted, select Run from  
the Start menu and select the Browse button to locate  
Setup.exe on the CD drive.  
1 SPAN-SE receiver  
2 multi-connector cables  
1 mounting bracket with screws  
1 6-foot USB 2.0 cable  
8. Connect additional serial communications equipment as  
needed. The following ports are available:  
4. Install the PC Utilities by advancing through the steps  
1 industrial SD memory card  
1 power cable  
provided in the NovAtel GPS PC Utilities setup program.  
4 UART serial (RS-232/RS-422 configurable)  
1 USB  
SPAN HARDWARE SET-UP  
1 multi I/O connector cover  
1 Ethernet  
OR  
Complete the following steps to set up and power your  
SPAN-SE.  
1 CD containing PC Utilities and product documentation  
1 patent notice and manual request postcard  
Refer to the SPAN-SE User Manual for detailed information on  
configuring the SPAN-SE communication ports.  
1. Mount the IMU and antenna securely to a vehicle. Ensure  
that the devices cannot move and that the distance and  
relative direction between them is fixed.  
OR  
ADDITIONAL EQUIPMENT REQUIRED  
LED STATUS INDICATORS  
There are six LEDs on the front of the SPAN-SE receiver that  
represent the following status categories:  
The following additional equipment is needed for a basic setup:  
®
2. Connect the 30-pin connector of the I/O 2 Yellow Cable to  
the yellow port labelled I/O 2 on the SPAN-SE. The cable  
clicks when connected properly.  
A Windows -based computer with an RS-232 DB9, USB  
or Ethernet port  
Power  
A power supply that produces 12 – 28 volts DC  
SD card memory  
3. Connect the GNSS antenna to the port labelled GPS1 on the  
receiver using an appropriate antenna cable.  
5. Connect the IMU connector of the I/O 2 Yellow Cable to an  
IMU with the IMU interface cable.  
A quality dual frequency GNSS antenna such as the  
GPS-702, the GPS-702-GG, the ANT-A72GA-TW-N for  
airborne/high speed applications, or the GPS-702L  
antenna for L-Band corrections  
Internal OEMV-3 card status (GPS 1)  
Internal OEMV-2 card status (GPS 2)  
INS filter  
4. Connect a communications cable from your computer to the  
SPAN-SE.  
6. Insert the SD card into the slot behind the front panel door.  
IMU communication  
Files stored on the SD card can be transferred to a host computer  
for data analysis or other types of post-processing by using the FTP  
functionality built into the SPAN-SE or by removing the SD card and  
inserting it into a host computer that has an SD card slot or an  
adapter attached.  
A TNC to appropriate antenna connector RF cable  
If you want to connect via a serial connection, connect the  
COM1 connector of the I/O 2 Yellow Cable to a computer  
using a straight-through serial cable.  
A SPAN-supported IMU such as NovAtel numbers:  
IMU-H58, IMU-H62, IMU-H00, IMU-LN200,  
IMU-FSAS-EI, IMU-FSAS-EI-O, IMU-CPT, UIMU-LCI,  
IMU-HG1900 or IMU-HG1930  
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RT-2 and RT-20 are supported by GPS+GLONASS and GPS-  
only OEMV-based models. Also, RT-20 with GPS+GLONASS  
provides faster convergence.  
A typical RTK GNSS solution is accurate to within a few  
centimeters. For the integrated INS/GNSS system to have  
this level of accuracy, the offset must be measured to within  
a millimetre. Any bias between the two systems appears in  
the output position. For example, a 10 cm error in recording  
this offset will result in at least a 10 cm error in the output.  
Enabling Real-Time Kinematic (RTK) Positioning  
Configure SPAN Manually  
Corrections can be transmitted from a base station to a rover  
station to improve position accuracy. The base station is the  
GNSS receiver that acts as the stationary reference. It has a  
known position and transmits correction messages to the rover  
station. The rover station is the GNSS receiver that does not  
know its exact position and can receive correction messages  
from a base station to calculate differential GNSS positions.  
Follow these steps to enable INS as part of the SPAN system  
using software commands:  
1.Refer to the GPGST log’s usage box in the OEMV Firmware  
1. Issue the SETIMUTYPE command to specify the IMU.  
Reference Manual for a definition of RMS and other statistics.  
Table 2: Enable INS Commands  
2.For more base/rover configurations, search for “rover base” on  
our Knowledge Database at: http://support.novatel.com/home.  
If you cannot measure the IMU to GNSS antenna offset  
precisely, perform the lever arm calibration routine to  
estimate offset. Refer to the SPAN-SE User Manual for  
details.  
IMU Type  
SETIMUTYPE  
LN-200  
IMU_LN200  
CONFIGURING THE SPAN IMU  
Configure SPAN with Connect  
You must create a data link between the base station and rover  
station (two NovAtel receivers) to transfer corrections. SBAS  
and L-band corrections can be accomplished with one receiver  
and are exceptions to the base/rover concept. A link capable of  
at least 9600 bits per second and less than 4.0 seconds of  
latency is recommended. When connecting a base station to a  
SPAN-SE, the data link must connect to the SPAN-SE OEMV3  
COM port, found on the I/O 1 Green Cable.  
iIMU-FSAS  
IMU-CPT  
UIMU-LCI  
IMU_IMAR_FSAS  
IMU_KVH_COTS  
IMU_LITEF_LCI  
Configuration for Alignment  
Follow these steps to enable INS as part of the SPAN system  
using the NovAtel Connect software utility:  
A coarse alignment routine requires the vehicle to remain  
stationary for at least 1 minute. If that is not possible, an  
alternate fast alignment routine is available. The fast or moving  
alignment is performed by estimating the attitude from the GPS  
velocity vector and injecting it into the SPAN filter as the initial  
system attitude.  
1. Select Wizards | SPAN Alignment from the Connect toolbar.  
This wizard takes you through the steps to complete a  
coarse or fast alignment, select the type of IMU and  
configure the receiver to IMU port to accept IMU data.  
IMU_HG1700_AG11, or  
IMU_HG1700_AG17, or  
IMU_HG1700_AG58, or  
IMU_HG1700_AG62  
IMU-HG1700  
When the base and rover stations are set up, you can configure  
them for RTCA, RTCM, RTCMV3, CMR+ or CMR corrections.  
Below is an RTCM example. Replace the latitude, longitude and  
height coordinates shown with those of your base:  
When you have made your selections in the SPAN wizard, click  
the OK button to enable the SPAN system. When the system is  
enabled, raw IMU data becomes available and the INS filter  
starts.  
IMU-HG1900  
IMU-HG1930  
IMU_HG1900_CA29  
IMU_HG1930_AA99  
A static coarse alignment is not available for the IMU-CPT or  
IMU-HG1930 IMUs. The fast, or kinematic alignment must be  
used instead. A stationary alignment is only possible with a dual  
antenna SPAN-SE-D, or if the SETINITAZIMUTH or  
SETINITATTITUDE commands are issued. See the SPAN-SE  
User Manual for more information.  
Base  
The inertial filter starts when the GNSS solution is solved and  
the IMU is connected.  
interfacemode com2 none rtcm off  
fix position 51.11358042 -114.04358013 1059.4105  
log com2 rtcm3 ontime 10  
log com2 rtcm22 ontime 10 1  
log com2 rtcm1819 ontime 1  
log com2 rtcm1 ontime 5  
log com2 rtcm31 ontime 5,1  
(optional GLONASS PSRDIFF)  
log com2 rtcm32 ontime 10,2  
A GNSS antenna must be connected and actively tracking satellites  
If your have a dual antenna system (SPAN-SE-D), the default  
alignment mode is a dual antenna alignment. Once you enter  
the primary and secondary antenna offsets (with  
SETIMUTOANTOFFSET and SETIMUTOANTOFFSET2  
respectively) the system will automatically align as soon as it  
computes a dual antenna solution. See the SPAN-SE User  
Manual for more information.  
for correct operation.  
2. Use the SETIMUTOANTOFFSETcommand to set the  
distance from the IMU to the GNSS antenna. The offset  
between the antenna phase centre and the IMU axes must  
remain constant and be accurate (m). The X (pitch), Y (roll)  
and Z (azimuth) directions are clearly marked on the IMU  
enclosure. The SETIMUTOANTOFFSETparameters are  
(where the standard deviation fields are optional):  
Rover  
gnsscardconfig rtcm none off  
RT-2 and RT-20-capable SPAN-SE receivers with AdVance RTK  
are real-time kinematic products developed by NovAtel. Optimal  
RTK performance requires both the base and rovers be NovAtel  
products. However, AdVance RTK operates with equipment from  
other manufacturers when using RTCM messaging.  
x_offset y_offset z_offset [x_stdev] [y_stdev] [z_stdev]  
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The status may occasionally change to  
LOGGING DATA  
Log SPAN Data  
QUESTIONS OR COMMENTS  
INS_BAD_GPS_AGREEMENT. This status indicates that the  
inertial solution has detected poor quality GNSS positions from  
the receiver due to limited satellite visibility or high multipath  
conditions. The inertial filter may choose to disregard this  
information and wait for the GNSS quality to improve. The  
solution is still valid during this status, but it is a warning that the  
GNSS/INS solution is more reliable than the GNSS-only  
solution.  
You can collect data logs through any I/O port on the SPAN-SE  
receiver into any data capture software, including Connect.  
Raw GNSS, IMU and navigation data (position, velocity and  
attitude) are available from the system as ASCII or binary logs.  
If you have any questions or comments regarding your  
SPAN-SE system, please contact NovAtel Customer Service by:  
SPAN-SE also has a SD card for data collection. To send data to  
the SD card, open a file, then use FILE as the port designator in  
log requests. You must close the file when collection is  
complete.  
Data can be collected through Connect using the Logging  
Control window, or sent through the receiver COM port to user-  
supplied data collection software.  
Phone: 1-800-NOVATEL (U.S. & Canada)  
1-800-668-2835  
For post-processing applications, collect the data shown in the  
Post-Processing section of this guide.  
1-403-295-4900 (International)  
For example:  
Fax:  
1-403-295-4901  
POST-PROCESSING  
LOGFILE OPEN TEST.GPS  
LOG FILE RANGECMPB ONTIME 1  
LOGFILE CLOSE  
OPERATING THE SPAN SYSTEM  
Post-processing requires collection of simultaneous data from  
the base and rover stations. This includes accurate coordinates  
of the base station and accurate measurement of the IMU to  
antenna separation.  
Observe the status of the system in the Connect INS window or  
in the status field of any of the INS solution logs (for example  
INSPOS, INSVEL, INSATTand INSPVA).  
The SPAN-SE has a default logging profile with all raw data  
needed for post-processing. If you press the SD logging button,  
this profile automatically logs to a uniquely named file until the  
SD logging button is pressed again. To change the default  
logging profile, send the log requests that you want, the  
command: SETAUTOLOGGING ON and then SAVECONFIG.  
The newly-defined profile is automatically logged to the SD card  
on power up.  
INS data is available when the GNSS solution has solved for time  
The following logs are required for post-processing:  
(i.e., FINESTEERING status). An antenna must be connected and  
tracking satellites for the system to function.  
From the base station  
RANGECMPB ontime 1  
• RAWEPHEMB onchanged  
From the rover station(s)  
• RANGECMPB ontime 1  
• RAWEPHEMB onchanged  
• RAWIMUSB onnew  
If performing a static alignment, allow the system to be  
stationary for at least one minute after the GNSS solution is  
computed for its initial system alignment.  
Save logs and commands with the SAVECONFIGcommand to  
ensure that the same logging configuration starts whenever the  
receiver is powered on. Remove the SD card from the receiver  
and plug it into a computer to download data from the card. The  
data logging button, located beside the SD card, stops and starts  
the data logging if you must change cards during operation.  
If performing a kinematic alignment, move the vehicle forward at  
a speed faster than 1.15 m/s.  
If performing a dual antenna alignment, allow the system to  
begin alignment, and wait approximately thirty seconds for a  
dual antenna solution to be computed.  
In addition, the following is required to log GLONASS:  
• GLOEPHEMERISB onchanged  
• GLOCLOCKB onchanged  
The following status stages may be observed:  
You can monitor the logs’ output to determine the system status.  
Multiple Connect windows show the status of various receiver  
subsystems. Light Emitting Diodes (LEDs) on the front of the  
SPAN-SE receiver also show the status of many subsystems.  
• The status changes from INS_INACTIVE to INS_ALIGNING  
when the alignment starts  
The SPAN-SE system output is compatible with post-processing  
software from the Waypoint Products Group, NovAtel Inc. Visit  
for more details.  
• The status changes to INS_ALIGNMENT_COMPLETE  
when the alignment is complete. Typically, this state contin-  
ues until the system senses motion.  
NovAtel, SPAN, Inertial Explorer, Waypoint and OEMV are registered trademarks of  
NovAtel Inc.  
SPAN-SE is a trademark of NovAtel Inc.  
Windows is a registered trademark of Microsoft Corporation.  
© Copyright 2012 NovAtel Inc. All rights reserved.  
Printed in Canada on recycled paper. Recyclable.  
Unpublished rights reserved under international copyright laws.  
After some motion (stops, starts, and turns), the attitude  
solution converges to within specifications, and the status  
changes to INS_SOLUTION_GOOD.  
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