MEMS Interface Card
QUICK START GUIDE
GM-14915118
Rev 4
December 2013
®
This guide provides the basic information needed to set up and use your new NovAtel MEMS Interface
Card (MIC). For more detailed information on the installation and operation of your MIC, download the
BOX CONTENTS
In addition to this Quick Start Guide, the following is provided with your MIC:
•
•
1 MIC to IMU interface cable
1 IMU mounting PCB (printed circuit board)
(a PCB is not included with the OEM-IMU-STIM300)
•
Screws and standoffs for mounting the MIC
ADDITIONAL EQUIPMENT REQUIRED
The additional equipment listed below is required for a typical setup:
•
An OEM615 receiver
®
The MIC supports all OEM6 family receiver cards for communications. The OEM615 is the
only OEM6 family receiver card that can be directly integrated and powered by the MIC.
•
•
An IMU (see the IMU Type column in Table 1, CONNECTIMU Commands on page 9)
A 10-30 VDC power supply
If the MIC is installed in a standalone configuration, a separate power supply is required for
the OEM6 family receiver. For information about the power supply requirements, refer to the
Operation User Manual. This user manual is available from our website at
•
•
•
A wiring harness to provide power to the P101 connector on the MIC (10-30 VDC).
A wiring harness to connect the customers equipment to the P301 connector on the MIC.
A quality, dual-frequency GNSS antenna such as the GPS-702-GG. See the NovAtel website
available to meet your form factor and performance needs.
•
•
An antenna cable
®
A Windows based computer
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1
Figure 5: MIC to OEM-IMU-STIM300 (OEM Cable Kit: 01019174)
MIC
IMU
MIC to IMU Interface
Cable (01019161)
INSTALL THE MIC IN A STACK UP CONFIGURATION
In a stack up configuration, the MIC is connected directly to an OEM615 receiver. Power and
communications connections to the receiver are made through the MIC.
3
MIC
4
5
1
6
7
OEM615
2
Ref Connector Part Number
Mating Connector Description
P101
J101
P301
43650-0313
(Molex)
43645-0300
(Molex)
Connects to the power supply
(user supplied cable)
1
2
3
MCX-J-P-H-ST-SM1 M1051-110
(Samtec)
Connects to the GNSS antenna
(user supplied cable)
(ShinA Telecom)
501571-3007
(Molex)
501189-3010
(Molex)
Connects to COM and USB ports
LVTTL (not 5 V tolerant) (user supplied cable)
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3
Ref Connector Part Number
Mating Connector Description
J301
P701
P601
ASP-163577-01
(Samtec)
4
5
6
N/A
Connects to the P1101 connector on the OEM615
53780-1070
(Molex)
51146-1000
(Molex)
Connects to ADIS IMUs
(NovAtel supplied cable)
53780-2070
(Molex)
51146-2000
(Molex)
Connects to HG1700, HG1900, HG1930 and
STIM300 IMUs (NovAtel supplied cable)
TMM-110-03-G-D
(Samtec)
7
P1101
N/A
Connects to the J301 connector on the MIC
Complete the following steps to connect and power your MIC and OEM615.
Assemble in accordance with applicable industry standards. Ensure all Electrostatic Discharge
(ESD) measures are in place, in particular, use a ground strap before exposing or handling any
electronic items, including the MIC, receiver and IMU. Take care to prevent damaging or
marring painted surfaces, O-rings, sealing surfaces and the IMU.
For more information about ESD practices, see the OEM6 Family Installation and Operation
1. Attach the IMU mounting PCB to the IMU.
Ensure all the pins on the header are aligned with the holes on the mating connector.
An IMU mounting PCB is not used with the STIM300 IMU.
2. Mount the IMU and antenna securely to a vehicle.
For the simplest operation, align the Y-axis of the IMU with the forward axis (direction of travel) of the
vehicle. Ensure the Z-axis is pointing up.
Ensure that the GNSS antenna and IMU cannot move relative to each other. The distance and relative
direction between them must be fixed.
For center of navigation diagrams of the ADIS and STIM300 IMUs, see the SPAN on OEM6
For center of navigation diagrams of the HG1700, HG1900 and HG1930 IMUs, contact
information.
3. Use the standoffs supplied with the MIC to mount the OEM615 receiver in a secure enclosure to
reduce environmental exposure and RF interference. See the OEM6 Family Installation and Operation
User Manual for information about mounting printed circuit boards.
The part number for the standoffs included with the MIC is RAF-M21073005AL7 (Irwin
Industrial).
If alternate standoffs are selected, use equivalent parts with a minimum height of 12 mm.
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4
Ensure all standoffs are properly installed and the mounting location for the receiver is level.
The amount of board deflection (bow and twist) must not exceed 0.75%. For example, on
the OEM615 which is 71 mm long and 46 mm wide, the deflection along the length must not
exceed 0.53 mm and the deflection along the width must not exceed 0.34 mm.
4. Connect the antenna cable to the antenna jack (J101) on the OEM615.
The antenna cable must have a right angle MCX connector on the end that connects to the OEM615.
Do not apply power to the cards until the antenna cable is attached.
The part number for the recommended MCX connector is
M1051-110 (ShinA Telecom). If an alternate is used part, it
should meet the dimensions shown in the diagram.
The space between the OEM615 and the MIC is limited. The
height of the MCX connector must not exceed 8.65 mm.
5. Align the OEM615 mating connector (J301) on the MIC with the 20-pin header (P1101) on the OEM615.
Make sure all of the pins on the header are aligned with the holes in the mating connector.
Press down on the MIC to seat the connector on the header.
6. Use the four screws supplied with MIC to secure the MIC to the OEM615.
7. Connect the IMU-to-MIC interface cable to the IMU.
8. Connect the IMU-to-MIC interface cable to the IMU connector on the MIC.
•
•
Use the 10-pin locking connector (P701) for the ADIS IMU.
Use the 20-pin locking connector (P601) for the HG1700, HG1900, HG1930 or STIM300 IMU.
9. Using a customer supplied wiring harness, connect a +10 to +30 V DC power supply to the power
connector (P101) on the MIC. This connection provides power to the MIC and the OEM615.
10. Using a customer supplied wiring harness, connect the communications connector (P301) to the user
system.
In a stack up configuration, the P301 connector provides connections for the: MIC serial port, OEM615
serial port (COM2), USB port, Event1 trigger, Event2 trigger, 1 Pulse Per Second (PPS) output,
Variable Frequency (VARF) output, Reset Input and Position Valid output.
All signal I/O with the exception of the USB port are at LVTTL levels.
To connect the MIC to devices that use other signals levels, such as a computer with an
RS-232 serial port, an interface circuit that converts to and from LVTTL must be used.
Use a twisted pair for the USB port connection and keep the wires as short as possible.
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INSTALL THE MIC IN A STANDALONE CONFIGURATION
In a standalone configuration, the MIC and OEM6 receiver are mounted separately.
Ref Connector Part Number
Mating Connector Description
P101
P601
P701
P301
43650-0313
(Molex)
43645-0300
(Molex)
Connects to the MIC power supply
(user supplied cable)
1
2
3
4
53780-2070
(Molex)
51146-2000
(Molex)
Connects to HG1700, HG1900, HG1930 and
STIM300 IMUs (NovAtel supplied cable)
53780-1070
(Molex)
51146-1000
(Molex)
Connects to ADIS IMUs
(NovAtel supplied cable)
501571-3007
(Molex)
501189-3010
(Molex)
Connects the MIC serial port to the OEM6 receiver
(user supplied cable)
ASP-163577-01
(Samtec)
This connector is not used in a standalone
configuration.
5
J301
N/A
OEM628 Recommendations
•
Use COM1 for connection to a computer. COM1 uses RS-232 levels and can be connected
to a computer without additional interface circuitry.
•
Use COM2 for connection to the MIC serial port. Both the MIC serial port and COM2 use
LVTTL levels and can be connected without additional interface circuitry.
OEM638 Recommendations
•
Use COM1 or COM2 for connection to a computer. COM1 and COM2 use RS-232 levels
and can be connected to a computer without additional interface circuitry.
•
Use COM3 for connection to the MIC serial port. This COM port and the MIC serial port use
LVTTL levels and can be connected without additional interface circuitry.
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For information about the OEM6 receiver card connectors and pin-outs, refer to the OEM6
Complete the following steps to connect and power your MIC.
Family Installation and Operation User Manual.
Assemble in accordance with applicable industry standards. Ensure all Electrostatic Discharge
(ESD) measures are in place, in particular, use a ground strap before exposing or handling any
electronic items, including the MIC, receiver and IMU. Take care to prevent damaging or
marring painted surfaces, O-rings, sealing surfaces and the IMU.
For more information about ESD practices, see the OEM6 Family Installation and Operation
1. Attach the IMU mounting PCB to the IMU.
Ensure all the pins on the header are aligned with the holes on the mating connector.
An IMU mounting PCB is not used with the STIM300 IMU.
2. Mount the IMU and antenna securely to a vehicle.
For the simplest operation, align the Y-axis of the IMU with the forward axis (direction of travel) of the
vehicle. Ensure the Z-axis is pointing up.
Ensure that the GNSS antenna and IMU cannot move relative to each other. The distance and relative
direction between them must be fixed.
For center of navigation diagrams of the ADIS and STIM300 IMUs, see the SPAN on OEM6
.
For center of navigation diagrams of the HG1700, HG1900 and HG1930 IMUs, contact
3. Install the OEM6 receiver in a secure enclosure to reduce environmental exposure and RF
installing and connecting an OEM6 receiver.
4. Use the four screws supplied with the MIC to secure the MIC to its mounting location.
Ensure all standoffs are properly installed and the mounting location for the MIC is level.
The amount of board deflection (bow and twist) must not exceed 0.75%. For example, on
the MIC which is 75 mm long and 46 mm wide, the deflection along the length must not
exceed 0.56 mm and the deflection along the width must not exceed 0.34 mm.
5. Connect the IMU-to-MIC interface cable to the IMU.
6. Connect the IMU-to-MIC interface cable to the IMU connector on the MIC.
•
•
Use the 10-pin locking connector (P701) for the ADIS IMU.
Use the 20-pin locking connector (P601) for the HG1700, HG1900, HG1930 IMU or STIM300.
7. Using a customer supplied wiring harness, connect a +10 to +30 VDC power supply to the power
connector (P101) on the MIC.
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8. Using a customer supplied wiring harness, connect a power supply to the OEM6 family receiver. See
OEM6 family receiver.
9. Using a customer supplied wiring harness, connect the MIC serial port to a serial port on the OEM6
connector.
All signal I/O with the exception of the USB port are at LVTTL levels.
To connect the MIC to devices that use other signals levels, such as a computer with an
RS-232 serial port, an interface circuit that converts to and from LVTTL must be used.
INSTALL THE PC UTILITIES
™
1. Install the NovAtel Connect PC Utilities and USB drivers.
To access and download the most current version of the NovAtel Connect PC Utilities and
Establishing a New Receiver Connection
The first time you open a serial port to communicate with the receiver, complete the following:
1. Launch NovAtel Connect from the Start menu folder specified during the installation process. The
default location is Start | All Programs | NovAtel Connect | NovAtel Connect.
2. Select New Connection from the Welcome window.
3. Enter a name for the Connection.
4. Select Serial or USB from the Type list.
5. Select the computer port that the SPAN system is connected to from the Port drop down list.
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6. If this is a serial connection, select 115200 from the Baud Rate drop down list.
7. If this is a serial connection, clear the Use hardware handshaking check box.
8. Click the OK button to save the new connection.
9. Select the SPAN receiver from the Available Device Connections area of the Open Connection win-
dow.
10. Click the Open button to open SPAN receiver communications.
11. As NovAtel Connect establishes the communication session with the receiver, a progress box is dis-
played.
Detailed instructions for using NovAtel Connect are available from within the utility Help or the
CONFIGURE THE SPAN® SYSTEM
.chm file bundled with the software.
Follow these steps to enable INS as part of the SPAN system using software commands:
1. Establish a connection to the OEM6 receiver.
Refer to the receiver Quick Start Guide for information about connecting to the receiver and entering
commands.
A GNSS antenna must be connected and tracking satellites for operation.
2. Issue the CONNECTIMUcommand to specify the type of IMU and the receiver port connected to the
IMU (see Table 1).
Table 1: CONNECTIMU Commands
IMU Type
ADIS-16488
CONNECTIMU command
a
CONNECTIMU COMx IMU_ADIS16488
a
HG1700 AG11
HG1700 AG17
HG1700 AG58
HG1700 AG62
HG1900 CA50
HG1930 CA50
STIM300
CONNECTIMU COMx IMU_HG1700_AG11
a
CONNECTIMU COMx IMU_HG1700_AG17
a
CONNECTIMU COMx IMU_HG1700_AG58
a
CONNECTIMU COMx IMU_HG1700_AG62
a
CONNECTIMU COMx IMU_HG1900_CA50
a
CONNECTIMU COMx IMU_HG1930_CA50
a
CONNECTIMU COMx IMU_STIM300
a. If you are using the OEM615+MIC board stack, you must use COM1.
Basic configuration of the SPAN system is now complete. The inertial filter starts once the GNSS
solution is solved and the IMU is connected.
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3. Enter the distance from the IMU to the GNSS antenna using the SETIMUTOANTOFFSET command.
The X (pitch), Y (roll) and Z (azimuth) directions are clearly marked on the IMU enclosure. The
SETIMUTOANTOFFSET parameters are (where the standard deviation fields are optional):
x_offset y_offset z_offset [x_stdev] [y_stdev] [z_stdev]
This example assumes a default mounting configuration with a -X offset, -Y offset and +Z
A typical RTK GNSS solution is accurate to a few centimetres. For the integrated GNSS/INS system to
offset.
have this level of accuracy, the offset must be measured to within a centimetre.
4. Perform a kinematic alignment.
LOG SPAN DATA
Navigation data (position, velocity, attitude) is available from the system as ASCII or binary logs.
Data can be collected through NovAtel Connect using the Logging Control Window, or sent out the
receiver COM port to user supplied data collection software.
The figure shows the recommended logs for optimal real-time performance.
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10
OPERATE THE SPAN SYSTEM
The system is ready to go once it is powered and the INS and GNSS are configured using the previously
shown commands.
Observe the status of the system in the NovAtel Connect INS Window or in the status field of any of the
INS solution logs (for example INSPOS, INSVEL, INSATT and INSPVA).
INS data is available once there is a good GNSS solution. Therefore, an antenna must be
connected for the system to function.
If performing a static alignment, allow the system to be stationary for at least 1 minute after the GNSS
solution is computed for its initial system alignment. If performing a kinematic alignment, move the vehicle
forward at a speed faster than 5 m/s. The following status stages may be observed:
Table 2: Inertial Solution Status
Binary
ASCII
INS_INACTIVE
Description
IMU logs are present, but the alignment routine has not
started; INS is inactive.
0
1
INS_ALIGNING
INS is in alignment mode.
The INS solution is still being computed but the azimuth
solution uncertainty has exceed 2 degrees. The solution
is still valid but you should monitor the solution
uncertainty in the INSCOV log. You may encounter this
state during times when the GNSS, used to aid the INS,
is absent.
2
INS_HIGH_VARIANCE
The INS filter is in navigation mode and the INS solution
is good.
3
6
INS_SOLUTION_GOOD
INS_SOLUTION_FREE
The INS filter is in navigation mode and the GNSS
solution is suspected to be in error.
This may be due to multipath or limited satellite visibility.
The inertial filter has rejected the GNSS position and is
waiting for the solution quality to improve.
The INS filter is in navigation mode, but not enough
vehicle dynamics have been experienced for the system
to be within specifications.
7
8
9
INS_ALIGNMENT_COMPLETE
DETERMINING_ORIENTATION
WAITING_INITIALPOS
INS is determining the IMU axis aligned with gravity.
The INS filter has determined the IMU orientation and is
awaiting an initial position estimate to begin the
alignment process.
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POST-PROCESS DATA
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.
Collect the following data for post-processing:
•
From the base station
•
•
•
RANGECMPB ontime 1
RAWEPHEMB onchanged
GLOEPHEMERISB onchanged (if using GLONASS)
•
From the rover station(s)
•
•
•
•
•
•
RANGECMPB ontime 1
RAWEPHEMB onchanged
GLOEPHEMERISB onchanged (if using GLONASS)
RAWIMUSXB onnew
IMUTOANTOFFSETSB onchanged
VEHICLEBODYROTATIONB onchanged
®
®
SPAN system output is compatible with Inertial Explorer post-processing software from the Waypoint
QUESTIONS OR COMMENTS
If you have any questions or comments regarding your SPAN system, contact NovAtel Customer Service
by:
Phone: 1-800-NOVATEL (U.S. & Canada)
1-800-668-2835
1-403-295-4500 (International)
Fax:
1-403-295-4501
NovAtel, SPAN, Inertial Explorer and Waypoint are registered trademarks of NovAtel Inc.
NovAtel Connect and OEM6 are trademarks of NovAtel Inc.
Windows is a registered trademark of Microsoft Corporation.
© Copyright 2013 NovAtel Inc. All rights reserved.
Printed in Canada on recycled paper. Recyclable.
Unpublished rights reserved under international copyright laws.
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