Novatel ProPak-G2plus User manual

SPAN Technology
This guide provides the basic
information you need to set
up and begin using your
SPAN Technology system.
BOX CONTENTS
In addition to this Quick Start
Guide, the following is
provided in your SPAN
package:
•1DL-4plus, ProPak-G2plus or ProPak-LBplus receiver
and its Quick Start Guide
•1IMU (if you do not already have one)
•1IMU to receiver interface cable
•2serial cables (1 straight through and 1 null modem)
•1I/O cable
•1DB9 to USB cable (ProPak-G2plus and DL-4plus only)
•112 V power cable
•1CD containing PC Utilities and product documentation
ADDITIONAL EQUIPMENT REQUIRED
The following additional equipment is needed for a basic setup:
• A Windows-based PC with an RS-232 DB9 or USB port
• A power supply of +12 to +18 VDC (DL-4plus\ProPak-
G2plus) or a max. of +15 VDC for the ProPak-LBplus.
• A quality dual frequency GPS antenna such as the GPS-
702, or GPS-512 for airborne/high speed applications.
For L-Band corrections use the GPS-702L antenna.
• A TNC to appropriate antenna connector RF cable
SPAN HARDWARE SET-UP
Complete the following steps to set up and power your SPAN
system where the example graphics show the connections on
the back of a DL-4plus or ProPak-G2plus receiver. Refer to your
ProPak-LBplus Quick Start Guide for graphics of its connectors.
1. Mount the IMU and antenna securely to a vehicle. Ensure
they cannot move due to dynamics and that the distance
and relative direction between them is fixed. See also Step 3
in the SPAN IMU Configuration section of this guide.
2. Connect the IMU to the receiver using the IMU cable
provided. For the Propak-LBplus, the IMU cable plugs into
(the COM3 port). For the DL-4and Propak-G2 receivers, the
IMU plugs into the port labelled AUX. See also Steps 1 and 2
in the SPAN IMU Configuration section of this guide.
3. Connect COM1 of the receiver to a computer COM port
using a null modem cable.
4. Connect the GPS antenna to the antenna port on the
receiver using an appropriate antenna cable.
5. Apply power to the receiver and in the case of the DL-4plus,
push its power button to turn it on. It is recommended that a
back-up battery is placed between the receiver and its
voltage supply to act as a power buffer if installed in a
vehicle. When a vehicle engine is started, power can dip to
9.6 VDC or cut-out to ancillary equipment causing the
receiver and IMU to lose lock and calibration settings.
You may also have a user point device such as video equipment.
Connect the device to the receiver’s I/O port using a cable that is
compatible to both the receiver and the device. Refer to your
device’s documentation for information on its connectors and
cables. The arrow along the cable in the figure indicates a MARKIN
pulse, refer to Volume 2 of the OEM4 User Manual set, from the
user device on the right to the DL4plus I/O port.
COMMUNICATING WITH THE SPAN SYSTEM
Once the receiver is connected to the PC, antenna, and power
supply, install NovAtel’s GPS PC Utilities (GPSolution, DL4Tool
and Convert). You can find installation instructions in your
receiver’s Quick Start Guide. (Alternatively, you can use a
terminal emulator program such as HyperTerminal to
communicate with the receiver. Refer to Volume 1 of the OEM4
User Manual set for details.)
Start GPSolution4 on your PC to enable communication:
1. In the GPSolution menu, select Device | Open.
2. Select the New... button in the Open dialog box.
3. Enter a name for the new device configuration in the Name
field of the New Config dialog box.
4. Select the Settings button.
5. Select the PC serial port the receiver is connected to from
the PC Port drop-down list, 57600 from the Baud Rate list
and uncheck the Use hardware handshaking checkbox.
6. Select OK to save the settings and OK again to close the
New Config dialog box and return to the Open dialog.
7. Select your configuration (Name) in the Open dialog and
click on the Open button.
8. Select View | Logging Control from the menu to control the
GPSCard’s logging to files and serial ports. Refer to
GPSolution4’s on-line Help for more information.
9. Use the Console window to enter commands.
See also the Post-Processing section of this guide.
If you have to power down your receiver, ensure that all windows,
other than the Console window, are closed in GPSolution and then
use the SAVECONFIG command.
SPAN IMU CONFIGURATION
You must use COM3 for the ProPaks and AUX for the DL-4
when inputting commands that require a port name. This is true,
even if the port is labelled differently.
Follow these steps to enable INS as part of the SPAN system:
1. Issue the INTERFACEMODE command to specify the
receiver port that is connected to the IMU:
QUICK START GUIDE
Null
modem
cable IMU cable
+-
Voltag
e
Supply
SPAN EnclosureaPort LabelaPort Name for Software a
a. This is the name given to the port when described in a
command or output in a log
ProPak-G2plus AUX COM3
ProPak-LBplus COM3
DL-4plus AUX AUX
Receiver Type INTERFACEMODE Command
ProPak-G2plus interfacemode com3 imu imu off a
a. Enter this command even if the port is labelled AUX on
the ProPak-G2plus
ProPak-LBplus interfacemode com3 imu imu off
DL-4plus interfacemode aux imu imu off

2. Issue the SETIMUTYPE command to specify the type of
IMU being used:
Alternatively, select View | INS Window in GPSolution to select the
type of IMU and to configure the receiver port, connected to the
IMU, to accept IMU data:
Right-click on the INS window and select Configure INS to see
the Configure INS dialog:
When you have made your selections in the IMU Type and IMU
Port fields, click on the Enable INS button.
Raw IMU data is now available and the INS filter starts.
3. Enter the distance from the IMU to the GPS antenna using
the SETIMUTOANTOFFSET command. The offset between
the antenna phase centre and the IMU axes must remain
constant and be known accurately (m). The X (pitch), Y (roll)
and Z (azimuth) directions are clearly marked on the IMU.
The SETIMUTOANTOFFSET parameters are (where the
standard deviation fields are optional):
x_offset y_offset z_offset [x_stdev] [y_stdev] [z_stdev]
A typical RTK GPS solution is accurate to a few centimeters.
For the integrated INS/GPS system to have this level of
accuracy, the offset must be measured to within a millimeter.
Any bias between the two systems shows up directly 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.
SPAN GPS CONFIGURATION
Depending on the accuracy of the solution required, the GPS
can be augmented with a number of correction sources including
SBAS, L-Band (ProPak-LB only), and RTK (RTCA, RTCM,
RTCM V3 and CMR). Refer to your receiver’s Quick Start Guide
or Volume 1 of the OEM4 User Manual set if your receiver model
is SBAS- or L-Band-capable. Refer also to Volume 1 of the
OEM4 User Manual set for details on RTK setup and operation.
SPAN DATA LOGGING
Raw GPS, INS and navigation data (position, velocity, attitude)
are available from the system as ASCII or binary logs.
Data can be collected through GPSolution using the Logging
Control window, sent to the compact flash card on the DL-4plus
(refer to the DL-4plus Quick Start Guide) or sent out the receiver
COM port to user-supplied data collection software. See also the
Post-Processing section of this guide
For post-processing applications, collect the following data:
RAWIMUSA ONNEW
RANGECMPB ONTIME 1
RAWEPHEMB ONNEW
For real-time applications, the GPS/INS solution is available
through the logs listed in the SPAN System User Manual
including the INSPOS, INSVEL, INSATT and INSPVA logs.
These logs can be collected at rates up to 100 Hz.
SPAN SYSTEM OPERATION
The system is ready to go once it is powered and the INS and
GPS are configured using the previously shown commands.
Observe the status of the system in GPSolution’sINS 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 the system has a good GPS solution
therefore an antenna must be connected for the system to function.
Allow the system to be stationary for at least 1 minute after the
GPS solution is computed for its initial system alignment. The
following status stages may be observed:
• The status changes from INS_INVALID to
INS_ALIGNING once the coarse alignment starts.
• The status changes to INS_ALIGNMENT_COMPLETE.
when the coarse alignment is complete. It normally stays
in this state until the system senses motion. Then when
the attitude solution converges to within specifications,
the status changes to INS_SOLTUION_GOOD.
• The status may occasionally change to
INS_BAD_GPS_AGREEMENT. This status indicates
that the inertial solution has detected poor quality GPS
positions from the receiver due to limited satellite
visibility/high multipath conditions. The inertial filter may
choose to disregard this information and wait for the
GPS quality to improve. The solution is still valid during
these times, it is simply a warning flag that the GPS/INS
solution is more reliable than the GPS-only solution.
POST-PROCESSING
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 onnew
• From the rover station(s)
• RANGECMPB ontime 1
• RAWEPHEMB onnew
• RAWIMUSB onnew
SPAN system output is compatible with post-processing
software from Waypoint, a NovAtel Precise Positioning
Company. Visit their website at www.waypnt.com for more
details.
QUESTIONS OR COMMENTS
If you have any questions or comments regarding your SPAN
system, please contact NovAtel Customer Service by:
Email: [email protected]
Web: www.novatel.com
Phone: 1-800-NOVATEL (U.S. & Canada)
403-295-4900 (International)
Fax: [phone]
IMU Type SETIMUTYPE Command
AG11 or AG58 setimutype imu_hg1700_ag11
AG17 or AG62 setimutype imu_hg1700_ag17
© Copyright 2004-2005 NovAtel Inc. All rights reserved.
Printed in Canada on recycled paper. Recyclable.
Unpublished rights reserved under international copyright laws.
GM-14915055 Rev 5 2005/11/07