Novatel OEM7 SPAN User manual

OM-20000170 v1 February 2017
OEM7 SPAN
Installation and Operation
User Manual

OEM7 SPAN Installation and Operation User Manual
OEM7 SPAN Installation and Operation User Manual v1 2
OEM7 SPAN Installation and Operation User Manual
Publication Number: OM-20000170
Revision Level: v1
Revision Date: February 2017
Firmware Version: 7.200 / OM7MR0200RN0000
Warranty
NovAtel Inc. warrants that its GNSS products are free from defects in materials and work-
manship, subject to the conditions set forth on our web site: www.nova-
tel.com/products/warranty/ and for the following time periods:
OEM7®Receivers One (1) Year
GNSS Antenna Series One (1) Year
Cables and Accessories Ninety (90) Days
Software Warranty One (1) Year
Return instructions
To return products, refer to the instructions found at: www.novatel.com/warranty-return.
Proprietary Notice
Information in this document is subject to change without notice and does not represent a com-
mitment 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, elec-
tronic 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, ALIGN, Inertial Explorer and Waypoint are registered trademarks of NovAtel
Inc.
OEM7, NovAtel CORRECT and NovAtel Connect are trademarks of NovAtel Inc.
All other product or brand names are trademarks of their respective holders.
© Copyright 2017 NovAtel Inc. All rights reserved. Unpublished rights reserved under Inter-
national copyright laws.

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Table of Contents
OEM7 SPAN Installation and Operation User Manual
OEM7 SPAN Installation and Operation User Manual 2
Warranty 2
Return instructions 2
Proprietary Notice 2
Notices
FCC 8
Industry Canada 8
European Union (EU) 8
WEEE 8
RoHS 9
REACH 9
Ethernet Port 9
Lightning Protection Installation and Grounding Procedure 9
Conventions 11
Customer Support
NovAtel Knowledge Base 12
Before Contacting Customer Support 12
Contact Information 12
Chapter 1 Introduction to SPAN technology
1.1 Fundamentals of GNSS+INS 14
1.2 Models and Features 15
1.3 Related Documents and Information 17
Chapter 2 SPAN Installation
2.1 Hardware Description 18
2.2 Hardware Set Up 18
2.2.1 Mounting the GNSS Antenna 18
2.2.2 Mount the IMU 19
2.2.3 Connect the IMU to the OEM7 Receiver 19
IMU Direct Connection 20
Use an OEM6 Receiver Command 20
2.2.4 Connect Power 21
2.3 MIC Set Up 22
2.3.1 Install a MIC in a Stack Up Configuration 22
2.3.2 Install a MIC in a Standalone Configuration 28
2.4 UIC Set Up 33
2.4.1 Mount the SPAN System Components 35
2.4.2 Connect the IMU to the UIC 36
2.4.3 Connect the UIC to a receiver 36
2.4.4 Connect Power to the UIC and OEM7 Receiver 37
2.4.5 UIC Status LEDs 37
2.5 IMU LEDs 38
Chapter 3 SPAN Operation
3.1 Definition of Reference Frames Within SPAN 40

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3.1.1 The Local-Level Frame (ENU) 40
3.1.2 The IMU Body Frame 41
3.1.3 The Vehicle Frame 41
3.1.4 The User Output Frame 42
3.2 SPAN Translations and Rotations 42
3.2.1 Translational Offsets 42
3.2.2 Rotational Offsets 44
3.3 Communicating with the SPAN System 46
3.3.1 INS Window in NovAtel Connect 47
3.4 Software Configuration 47
3.4.1 Minimum Recommended Configuration 47
3.4.2 GNSS Configuration 48
3.4.3 INS Profiles 48
3.4.4 SPAN Configuration 49
3.5 Real-Time Operation 53
3.5.1 System Start-Up and Alignment Techniques 54
3.5.2 INSSeed / Fast INS Initialization 57
Saving 57
Use at Boot-up 57
Alignment Type: Bits 26-28 58
NVM Seed Status: Bits 29-31 58
3.5.3 Navigation Mode 58
3.5.4 Data Collection 59
3.5.5 Lever Arm Calibration Routine 60
3.5.6 Body to Vehicle Frame Rotation Calibration Routine 61
3.5.7 Multi-Line Body to Vehicle Frame Rotation Calibration Routine 62
3.6 Synchronizing External Equipment 64
3.6.1 Configuring an Input Strobe 64
3.7 Adding Timed Sensor Triggers 65
3.7.1 Configuring the Hardware 65
3.7.2 Configuring the Software 66
3.7.3 Using Timed Event Pulses 66
3.7.4 Recording Incoming Sensor Events 66
3.8 SPAN Wheel Sensor Configuration 66
3.8.1 Wheel Sensor Data Collected on IMU 67
3.9 Azimuth Sources on a SPAN System 68
3.9.1 Course Over Ground 68
3.9.2 Inertial Azimuth 68
3.9.3 ALIGN Azimuth 69
3.10 Data Collection for Post Processing 69
3.11 Firmware Updates and Model Upgrades 70
3.12 Variable Lever Arm 70
3.12.1 Reference Frame Description 70
3.12.2 How to Use Variable Lever Arm 72
3.12.3 The Mount Computation Frame 74
3.13 Relative INS 76
3.13.1 Configure Relative INS 77
Chapter 4 SPAN with Dual Antenna
4.1 Installation 79
4.2 Configuring ALIGN with SPAN 80
4.3 Configuring SPAN with ALIGN 81
4.3.1 Alignment on a Moving Vessel - Aided Transfer Alignment 81
4.3.2 Alignment on a Stationary Vehicle - Aided Static Alignment 82

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4.3.3 Unaided Alignment 82
4.3.4 Automatic Alignment Mode - Automatic Alignment (default) 82
4.4 SPAN ALIGN Attitude Updates 82
APPENDIX A IMU Technical Specifications
A.1 HG1700 IMU (single-connector enclosure) 84
A.1.1 HG1700 IMU Mechanical Drawings 85
A.1.2 HG1700 IMU Performance 87
A.1.3 HG1700 Electrical and Environmental 88
A.1.4 Interface Cable for the HG1700 IMU 88
A.2 IMU-CPT 89
A.2.1 IMU-CPT Mechanical Drawings 90
A.2.2 IMU-CPT Sensor Specifications 92
A.2.3 IMU-CPT Electrical and Environmental 92
A.2.4 IMU-CPT Cable 93
A.3 IMU-FSAS 95
A.3.1 IMU-FSAS Mechanical Drawings 96
A.3.2 IMU-FSAS Performance 99
A.3.3 IMU-FSAS Electrical and Environmental 99
A.3.4 Interface Cable for IMU-FSAS 100
A.3.5 IMU-FSAS Cable with Odometer 100
A.3.6 IMU-FSAS Odometer Cabling 102
A.4 IMU-HG1900 105
A.4.1 IMU-HG1900 Mechanical Drawings 106
A.4.2 IMU-HG1900 Sensor Specifications 108
A.4.3 IMU-HG1900 Electrical and Environmental 108
A.4.4 IMU-HG1900 Cables 109
A.5 IMU-IGM 110
A.5.1 IMU-IGM Mechanical Drawings 111
A.5.2 IMU-IGM Ports 113
A.5.3 IMU-IGM Sensor Specifications 114
A.5.4 IMU-IGM Electrical and Environmental 115
A.5.5 IMU-IGM Interface Cable 116
A.6 IMU-ISA-100C 118
A.6.1 IMU-ISA-100C Mechanical Drawings 119
A.6.2 Optional Side Mounting Holes 120
A.6.3 IMU-ISA-100C Performance 122
A.6.4 IMU-ISA-100C Electrical and Environmental 122
A.6.5 IMU Enclosure Interface Cable 123
A.6.6 IMU Enclosure Power Cable 124
A.6.7 IMU Enclosure Wheel Sensor Cable 125
A.7 IMU-KVH1750 / IMU-KVH1725 129
A.7.1 IMU-KVH1750 / IMU-KVH1725 Mechanical Drawings 130
A.7.2 IMU-KVH1750 / IMU-KVH1725 Sensor Specifications 134
A.7.3 IMU-KVH1750 / IMU-KVH1725 Electrical and Environmental 135
A.7.4 IMU-KVH1750 / IMU-KVH1725 Cable 136
A.8 IMU-LN200 138
A.8.1 IMU-LN200 Mechanical Drawings 139
A.8.2 IMU-LN200 Sensor Specifications 141
A.8.3 IMU-LN200 Electrical and Environmental 142
A.8.4 IMU-LN200 Cables 142
A.9 IMU-µIMU 143
A.9.1 IMU-µIMU Mechanical Drawings 144
A.9.2 IMU-µIMU Sensor Specifications 146
A.9.3 IMU-µIMU Electrical and Environmental 146

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A.9.4 IMU-µIMU Cables 147
A.10 LN-200 IMU (single-connector enclosure) 148
A.10.1 LN-200 IMU Mechanical Drawings 149
A.10.2 LN-200 IMU Performance 151
A.10.3 LN-200 Electrical and Environmental 151
A.10.4 Interface Cable for the LN-200 IMU 152
A.11 OEM-IMU-ADIS-16488 153
A.11.1 OEM-IMU-ADIS-16488 Mechanical Drawings 154
A.11.2 OEM-IMU-ADIS-16488 Sensor Specifications 156
A.11.3 OEM-IMU-ADIS-16488 Electrical and Environmental 156
A.11.4 ADIS-16488 IMU-to-MIC Cable Assembly 156
A.12 OEM-IMU-ISA-100C 158
A.12.1 OEM-IMU-ISA-100C Mechanical Drawings 159
A.0.1 OEM-IMU-ISA-100C Sensor Specifications 161
A.12.2 OEM-IMU-ISA-100C Electrical and Environmental 161
A.12.3 OEM-IMU-ISA-100C IMU to UIC Cable Assembly 162
A.13 OEM-IMU-STIM300 165
A.13.1 OEM-IMU-STIM300 Mechanical Drawings 166
A.13.2 OEM-IMU-STIM300 Sensor Specifications 167
A.13.3 OEM-IMU-STIM300 Electrical and Environmental 167
A.13.4 STIM300 IMU-to-MIC Cable Assembly 167
A.14 OEM-IMU-µIMU 169
A.14.1 OEM-IMU-µIMU Mechanical Drawings 169
A.14.2 OEM-IMU-µIMU Sensor Specifications 171
A.14.3 OEM-IMU-µIMU Electrical and Environmental 172
A.0.2 µIMU to UIC Cable Assembly 172
A.15 Universal IMU Enclosure (HG1700, LN200) 174
A.15.1 Universal IMU Enclosure Mechanical Drawings 175
A.15.2 IMU Performance 179
A.15.3 Electrical and Environmental 180
A.15.4 Universal IMU Enclosure Interface Cable 181
A.16 MIC - MEMS Interface Card 184
A.16.1 MIC Mechanical Drawings 185
A.16.2 MIC Electrical and Environmental 187
A.16.3 MIC Connectors 187
A.16.4 HG1930 IMU-to-MIC Cable Assembly 193
A.16.5 HG1700 and HG1900 IMU-to-MIC Cable Assembly 194
A.17 UIC - Universal IMU Controller 196
A.17.1 UIC Mechanical Drawings 197
A.17.2 UIC Electrical and Environmental 199
A.17.3 UIC Connectors 199
A.0.3 HG1900 IMU to UIC Cable Assembly 202
A.0.4 LN200 IMU to UIC Cable Assembly 203
APPENDIX B HG1700 IMU in Universal Enclosure
B.1 Disassemble the Universal Enclosure 207
B.2 Install the HG1700 Sensor Unit 209
APPENDIX C LN-200 IMU in Universal Enclosure
C.1 Disassemble the Universal Enclosure 217
C.2 Install the LN-200 Sensor Unit 219
APPENDIX D HG1700 IMU in SPAN HG Enclosure
D.1 Disassemble the SPAN IMU Enclosure 224

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D.2 Install the HG1700 Sensor Unit 226
D.3 Make the Electrical Connections 227
D.4 Re-Assemble the SPAN IMU Enclosure 229
APPENDIX E LN-200 IMU in SPAN IMU Enclosure
E.1 Disassemble the SPAN IMU Enclosure 231
E.2 Install the LN-200 Sensor Unit 233
E.3 Make the Electrical Connections 234
E.4 Re-Assemble the SPAN IMU Enclosure 236
APPENDIX F Frequently Asked Questions
APPENDIX G Replacement Parts for SPAN

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Notices
The following notices apply, as appropriate, to the OEM7 family products.
Changes or modifications to this equipment, not expressly approved by NovAtel
Inc., could void the user’s authority to operate this equipment.
FCC
The devices covered by this manual comply 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.
Note:
This equipment has been tested and found to comply with the limits for a Class B digital device,
pursuant to part 15 of the FCC Rules. The Class B limits are designed to provide reasonable pro-
tection against harmful interference in a residential installation. The equipment listed generates,
uses, and can radiate radio frequency energy and, if not installed and used in accordance with
the instructions, may cause harmful interference to radio communications. However, there is no
guarantee that interference will not occur in a particular installation. If this equipment does
cause harmful interference to radio or television reception, which can be determined by turning
the equipment off and on, the user is encouraged to try to correct the interference by one or
more of the following measures:
lReorient or relocate the receiving antenna
lIncrease the separation between the equipment and the receiver
lConnect the equipment to an outlet on a circuit different from that to which the receiver is
connected
lConsult the dealer or an experienced radio/TV technician for help
Industry Canada
OEM7 Class B digital apparatus comply with Canadian ICES-003.
OEM7 appareils numérique de la classe B sont conforme à la norme NMB-003 du Canada.
European Union (EU)
Hereby, NovAtel Inc. declares that the radio equipment type OEM7 GNSS receiver is in com-
pliance with Directive 2014/53/EU
The full text of the EU Declaration of Conformity may be obtained from the NovAtel website at:
www.novatel.com/products/compliance/eu-declaration-of-conformity/.
WEEE
If you purchased your OEM7 family product in Europe, please return it to your dealer or supplier
at the end of life. The objectives of the European Community's environment policy are, in par-
ticular, to preserve, protect and improve the quality of the environment, protect human health

Notices
OEM7 SPAN Installation and Operation User Manual v1 9
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 ( ). See www.nova-
tel.com/products/compliance/environmental-compliance/ for more information.
RoHS
The OEM7 GNSS receivers are in conformity with Directive 2011/65/EU of the European Parlia-
ment and of the Council of 8 June 2011 on the restriction of the use of certain hazardous sub-
stances in electrical and electronic equipment.
REACH
The OEM7 receivers are in compliance with Regulation (EC) No 1907/2006 OF THE EUROPEAN
PARLIAMENT AND THE COUNCIL of 18 December 2006 concerning the Registration, Evaluation,
Authorization and Restriction of Chemicals (REACH). The Candidate List of Substances of Very
High Concern (SVHC) published by the European Chemical Agency (ECHA) is available at
https://echa.europa.eu/candidate-list-table. Please contact NovAtel Customer Support if you
require further information.
Ethernet Port
The Ethernet ports are Safety Extra Low Voltage (SELV) circuits only and are suitable for
connection within a building only. Do not connect them to Telephone Network Voltage
(TNV) circuits.
Lightning Protection Installation and Grounding Procedure
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 coaxial cable to the con-
nected equipment.
Only qualified personnel, such as electricians mandated by the governing body in the
country of installation, may install lightning protection devices.

Notices
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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:
lUL listed, or equivalent, in country of installation (for example, TUV, VDE and so on)
for lightning surge protection
lThe primary device must be capable of limiting an incoming surge to 10 kV
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 groun-
ded to the same ground near to the building's entrance.
6. The primary and secondary lightning protections should be as close to the building's entrance
as possible. Where feasible, mount onto the grounding plate itself (refer to the figure
below).