Novatel SPAN-SE User manual

OM-20000124 Rev 1
USER MANUAL
SPAN-SE

2SPAN-SE User Manual Rev 1
Proprietary Notice
SPAN-SE Technology for OEMV User Manual
Publication Number: OM-20000124
Revision Level: 1
Revision Date: 2008/03/25
This manual reflects SPAN-SE firmware Version SPPC 1.000 and OEMV firmware Version 3.621.
Proprietary Notice
Information in this document is subject to change without notice and does not represent a commitment
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, electronic 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, OEMV, CDU, ProPak, RT-20 and RT-2 are registered trademarks of NovAtel Inc.
SPAN Technology, SPAN-SE, DL-V3, ProPak-V3, and PAC are trademarks of NovAtel Inc.
All other product or brand names are trademarks of their respective holders.
Manufactured and protected under U.S. Patent:
Narrow Correlator Position for Velocity Kalman Filter
#5,101,416 #6,664,923 B1
#5,390,207 #7,193,559 B2
#5,495,499 SPAN Technology
#5,809,064 #6,721,657 B2
PAC Correlator #6,750,816 B1
#6,243,409 B1 10/758,363 (pending)
#5,414,729 10/932,497 (pending)
Dual Frequency GPS #7,346,452
#5,736,961
Anti-Jamming Technology
#5,734,674
© Copyright 2009 Novatel Inc. All rights reserved. Unpublished rights reserved
under International copyright laws. Printed in Canada on recycled paper. Recyclable.

SPAN-SE User Manual Rev 1 3
Table of Contents
Proprietary Notice 2
Software License 11
Terms and Conditions 13
Warranty Policy 16
Customer Service 18
Notices 19
Foreword 20
1 Introduction 22
1.1 Fundamentals of GNSS/INS...........................................................................................23
1.2 Models and Features......................................................................................................24
2 SPAN-SE Installation 26
2.1 SPAN-SE Hardware Description ....................................................................................26
2.2 SPAN-SE Hardware Installation.....................................................................................29
2.2.1 Mount Antenna.....................................................................................................29
2.2.2 Mount IMU............................................................................................................30
2.2.3 Connect Interface Cables.....................................................................................30
2.2.4 Connect Power.....................................................................................................31
2.2.5 Power Button........................................................................................................32
3 SPAN-SE Operation 34
3.1 Definition of Reference Frames Within SPAN................................................................34
3.1.1 The Local-Level Frame (ENU)..............................................................................34
3.1.2 The SPAN Computation Frame............................................................................34
3.1.3 The Enclosure Frame...........................................................................................35
3.1.4 The Vehicle Frame...............................................................................................35
3.2 Communicating with the SPAN System..........................................................................36
3.2.1 INS Window in CDU.............................................................................................38
3.3 Software Configuration...................................................................................................39
3.3.1 GNSS Configuration.............................................................................................39
3.3.2 SPAN IMU Configuration......................................................................................40
3.4 Real-Time Operation ......................................................................................................43
3.4.1 Configuration for Alignment..................................................................................44
3.4.2 INS Configuration Command Summary...............................................................44
3.4.3 System Start-Up and Alignment Techniques........................................................44
3.4.4 Navigation Mode...................................................................................................46
3.4.5 Data Collection.....................................................................................................46
3.4.6 Lever Arm Calibration Routine .............................................................................47
3.4.7 Vehicle to SPAN frame Angular Offsets Calibration Routine ...............................48
3.5 SPAN Wheel Sensor Configuration................................................................................49
3.5.1 Wheel Sensor Updates Using the Event Input Lines............................................49
3.5.2 Wheel Sensor Updates using the iIMU-FSAS IMU ..............................................50
3.5.3 Wheel Sensor Updates using the WHEELVELOCITY Command........................50
3.5.4 Logging Wheel Sensor Data from SPAN-SE........................................................50
3.6 Data Collection for Post Processing...............................................................................51
3.7 Status Indicators.............................................................................................................52

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3.8 The SD Card...................................................................................................................53
3.9 Logging Data to the SD Card..........................................................................................53
3.9.1 Insert the SD Card................................................................................................53
3.9.2 Prepare the Card..................................................................................................54
3.9.3 Select Logs to Send to the SD Card.....................................................................55
3.9.4 Start and Stop Logging.........................................................................................55
3.9.5 Log a Pre-Defined List of Logs.............................................................................55
3.9.6 Auto-Logging on Start-Up.....................................................................................56
3.9.7 Reading data from the card..................................................................................56
3.10 Synchronizing External Equipment...............................................................................57
3.10.1 Configuring a Synchronous Output Pulse...........................................................57
3.10.2 Configuring an Input Strobe................................................................................58
3.11 SPAN-SE Ethernet Connection ....................................................................................59
3.11.1 Configuring for TCP or UDP Operation ..............................................................59
3.11.2 Configuring the Ethernet Connection Settings....................................................60
3.11.3 Configuring Log Requests Destined for the Ethernet Port..................................60
3.11.4 Connecting to the Ethernet Port .........................................................................60
Appendices
A Technical Specifications 61
A.1 SPAN-SE........................................................................................................................61
A.1.1 SPAN-SE Receiver ..............................................................................................61
A.2 Inertial Measurement Units (IMUs).................................................................................69
A.2.1 LN-200 IMU..........................................................................................................69
A.2.2 iIMU-FSAS ...........................................................................................................74
A.2.3 HG1700 IMU ........................................................................................................83
B Commands 86
B.1 Command Formats.........................................................................................................86
B.2 Using a Command as a Log...........................................................................................86
B.3 DOS Commands ............................................................................................................87
B.3.1 DIR - Show Directory............................................................................................88
B.3.2 CD - Change Directory.........................................................................................88
B.3.3 FORMAT - Format storage medium.....................................................................88
B.3.4 MKDIR - Make Directory ......................................................................................88
B.3.5 RMDIR - Remove Directory..................................................................................88
B.3.6 PWD - Present Working Directory........................................................................89
B.3.7 FTP.......................................................................................................................89
B.4 SPAN-SE Command Reference.....................................................................................89
B.4.1 APPLYVEHICLEBODYROTATION Enable vehicle to body rotation.................90
B.4.2 ASSIGNLBAND Set L-band satellite communication parameters.....................91
B.4.3 COM Port configuration control .........................................................................94
B.4.4 COMCONTROL Control the RS232 hardware control lines..............................97
B.4.5 COMVOUT Turn power to the ports on or off....................................................100
B.4.6 EVENTINCONTROL Control mark input properties ..........................................101
B.4.7 EVENTOUTCONTROL Control PPS signal properties .....................................102
B.4.8 FORMAT Format the SD Card .........................................................................103
B.4.9 FRESET Factory reset.......................................................................................104
B.4.10 GNSSCARDCONFIG GNSS port configuration ..............................................105
B.4.11 IFCONFIG Set IP information..........................................................................107

SPAN-SE User Manual Rev 1 5
B.4.12 INSCOMMAND INS control command............................................................108
B.4.13 INSZUPT Request Zero Velocity Update ........................................................109
B.4.14 LEVERARMCALIBRATE INS Calibration Command......................................110
B.4.15 LOG Request logs from the receiver...............................................................112
B.4.16 LOGFILE Log Data to a File on the SD Card..................................................117
B.4.17 NMEATALKER Set the NMEA Talker ID.........................................................118
B.4.18 PSRDIFFSOURCE Set the pseudorange correction source...........................119
B.4.19 RESET Perform a hardware reset...................................................................122
B.4.20 RTKCOMMAND Reset or set the RTK filter to its defaults..............................123
B.4.21 RTKDYNAMICS Set the RTK dynamics mode................................................124
B.4.22 RTKSOURCE Set the RTK correction source.................................................125
B.4.23 RVBCALIBRATE Vehicle to Body Rotation Control........................................127
B.4.24 SAVECONFIG Save current configuration in NVM.........................................128
B.4.25 SBASCONTROL Set SBAS test mode and PRN............................................129
B.4.26 SETAUTOLOGGING Start SD Card Logging at Boot-Up ...............................131
B.4.27 SETETHPROTOCOL Set Eth1 Protocol.........................................................132
B.4.28 SETIMUORIENTATION Set IMU Orientation..................................................133
B.4.29 SETIMUTOANTOFFSET Set IMU to antenna offset.......................................136
B.4.30 SETIMUTYPE Set IMU type............................................................................137
B.4.31 SETINITATTITUDE Set initial attitude of SPAN in degrees............................139
B.4.32 SETINITAZIMUTH Set initial azimuth and standard deviation........................141
B.4.33 SETINSOFFSET Set INS offset......................................................................143
B.4.34 SETMARK1OFFSET, SETMARK2OFFSET, SETMARK3OFFSET,
SETMARK4OFFSET Set Mark offset..............................................................144
B.4.35 SETWHEELPARAMETERS Set wheel parameters........................................145
B.4.36 SOFTPOWER Power down the SPAN-SE......................................................147
B.4.37 SPANAUTH Add an authorization code for a new model..................................148
B.4.38 SPANMODEL Switch to a previously authorized model..................................150
B.4.39 UNLOG Remove a log from logging control....................................................151
B.4.40 UNLOGALL Remove all logs from logging control..........................................153
B.4.41 VEHICLEBODYROTATION Vehicle to SPAN frame rotation..........................154
B.4.42 WHEELVELOCITY Wheel velocity for INS augmentation...............................156
C Data Logs 157
C.1 Log Types ......................................................................................................................157
C.1.1 ASCII....................................................................................................................159
C.1.2 Binary...................................................................................................................161
C.1.3 GPS Time Status.................................................................................................164
C.1.4 Message Time Stamps........................................................................................165
C.1.5 Log Type Examples.............................................................................................166
C.2 Description of ASCII and Binary Logs with Short Headers............................................167
C.3 NMEA Standard Logs ....................................................................................................168
C.4 SPAN-SE Logs...............................................................................................................170
C.4.1 BESTPOS Best Position and BESTGPSPOS Best GPS Position...................171
C.4.2 BESTVEL Best Available Velocity Data and BESTGPSVEL
Best Available GPS Velocity Data.......................................................................175
C.4.3 BESTLEVERARM IMU to Antenna Lever Arm..................................................177
C.4.4 COMCONFIG Current COM Port Configuration................................................178
C.4.5 COMPROTOCOL COM Port Protocol...............................................................180
C.4.6 DIRENT SD Card File List.................................................................................181
C.4.7 GLOCLOCK GLONASS Clock Information.......................................................182
C.4.8 GLOEPHEMERIS GLONASS Ephemeris Data ................................................184

6 SPAN-SE User Manual Rev 1
C.4.9 GLORAWEPHEM Raw GLONASS Ephemeris Data ........................................188
C.4.10 GPALM Almanac Data ....................................................................................189
C.4.11 GPGGA GPS Fix Data and Undulation...........................................................191
C.4.12 GPGLL Geographic Position...........................................................................194
C.4.13 GPGRS GPS Range Residuals for Each Satellite ..........................................196
C.4.14 GPGSA GPS DOP and Active Satellites.........................................................198
C.4.15 GPGST Pseudorange Measurement Noise Statistics.....................................200
C.4.16 GPGSV GPS Satellites in View.......................................................................202
C.4.17 GPVTG Track Made Good And Ground Speed ..............................................204
C.4.18 GPZDA UTC Time and Date ...........................................................................205
C.4.19 INSATT INS Attitude........................................................................................206
C.4.20 INSATTS Short INS Attitude............................................................................207
C.4.21 INSCOV INS Covariance Matrices..................................................................208
C.4.22 INSCOVS Short INS Covariance Log..............................................................210
C.4.23 INSPOS INS Position......................................................................................211
C.4.24 INSPOSS Short INS Position..........................................................................212
C.4.25 INSPOSSYNC Time Synchronised INS Position ............................................213
C.4.26 INSPVA INS Position, Velocity and Attitude....................................................214
C.4.27 INSPVAS Short INS Position, Velocity and Attitude........................................215
C.4.28 INSSPD INS Speed.........................................................................................216
C.4.29 INSSPDS Short INS Speed.............................................................................217
C.4.30 INSUPDATE INS Update ................................................................................218
C.4.31 INSVEL INS Velocity.......................................................................................220
C.4.32 INSVELS Short INS Velocity...........................................................................221
C.4.33 LBANDINFO L-band Configuration Information ..............................................222
C.4.34 LBANDSTAT L-band Status Information.........................................................224
C.4.35 LOGLIST List of System Logs.........................................................................230
C.4.36 MAC MAC Address .........................................................................................233
C.4.37 MARK1COUNT, MARK2COUNT, MARK3COUNT, MARK4COUNT
Mark Count ........................................................................................................234
C.4.38 MARK1PVA, MARK2PVA, MARK3PVA, MARK4PVA
Position, Velocity and Attitude at Mark ..............................................................235
C.4.39 MARK1TIME, MARK2TIME, MARK3TIME, MARK4TIME
Time of Mark Input Event...................................................................................236
C.4.40 PORTSTATS Port Statistic..............................................................................238
C.4.41 RANGE Satellite Range Information ...............................................................240
C.4.42 RANGECMP Compressed Version of the RANGE Log ..................................244
C.4.43 RAWEPHEM Raw Ephemeris.........................................................................246
C.4.44 RAWIMU Raw IMU Data.................................................................................247
C.4.45 RAWIMUS Short Raw IMU Data .....................................................................252
C.4.46 RXCONFIG Receiver Configuration................................................................254
C.4.47 RXSTATUS Receiver Status...........................................................................256
C.4.48 RXSTATUSEVENT Status Event Indicator .....................................................263
C.4.49 SPANVALIDMODELS Valid Model Information ..............................................265
C.4.50 TIME Time Data ..............................................................................................266
C.4.51 TIMEDWHEELDATA Timed Wheel Data........................................................268
C.4.52 VEHICLEBODYROTATION Vehicle to SPAN Frame Rotation.........................269
C.4.53 VERSION Version Information ........................................................................270
C.4.54 WHEELSIZE Wheel Size.................................................................................273
D Command Prompt Interface 274
D.1 DOS................................................................................................................................275

SPAN-SE User Manual Rev 1 7
D.2 Windows.........................................................................................................................276
E HG1700 IMU Installation 277
E.1 Disassemble the SPAN IMU Enclosure .........................................................................278
E.2 Install the HG1700 Sensor Unit......................................................................................279
E.3 Make the Electrical Connections....................................................................................280
E.4 Re-Assemble the SPAN IMU Enclosure ........................................................................281
F LN-200 IMU Installation 282
F.1 Disassemble the SPAN IMU Enclosure..........................................................................283
F.2 Install the LN-200 Sensor Unit........................................................................................284
F.3 Make the Electrical Connections....................................................................................285
F.4 Re-Assemble the SPAN IMU Enclosure.........................................................................286
G Frequently Asked Questions 287
H Replacement Parts 289
H.1 SPAN System ................................................................................................................289
H.2 Accessories and Options ...............................................................................................289
H.3 Manufacturer’s Part Numbers........................................................................................290
Index 291

8 SPAN-SE User Manual Rev 1
Figures
1 SPAN-SE Receiver .......................................................................................................22
2 SPAN System IMUs ......................................................................................................22
3 Basic SPAN-SE Set-Up ................................................................................................27
4 SD Memory Card ..........................................................................................................28
5 Receiver Enclosure Back Panel ...................................................................................28
6 SPAN-SW Power Button ..............................................................................................32
7 Local-Level Frame (ENU) .............................................................................................34
8 The Enclosure Frame ...................................................................................................35
9 Vehicle Frame ..............................................................................................................36
10 SPAN-SE LED Indicators .............................................................................................52
11 SD Card Access Door ...................................................................................................53
12 Event Out ......................................................................................................................58
13 SPAN-SE Power Cable ................................................................................................64
14 SPAN-SE I/O 1 Green Cable ........................................................................................65
15 SPAN-SE I/O 2 Yellow Cable .......................................................................................67
16 LN-200 IMU Enclosure Top/Bottom Dimensions and Centre of Navigation .................69
17 LN-200 Enclosure Side Dimensions .............................................................................70
18 LN-200 Interface Cable ................................................................................................71
19 IMU Interface Cable Pin-Out (ProPak-V3) ....................................................................71
20 LN-200 Power Cable ....................................................................................................72
21 IMU Power Cable Pin-Out ............................................................................................72
22 iIMU-FSAS Top/Bottom Dimensions ............................................................................74
23 iIMU-FSAS Enclosure Side Dimensions .......................................................................75
24 iIMU-FSAS Centre of Navigation ..................................................................................76
25 iIMU Interface Cable Connections with a SPAN-SE .....................................................77
26 FSAS SPAN-SE Y Adapter Cable ................................................................................79
27 Corrsys Datron WPT .....................................................................................................80
28 iMAR iMWS Pre-Installed .............................................................................................80
29 iIMU-FSAS Interface Cable ..........................................................................................81
30 HG1700 Top/Bottom Dimensions .................................................................................83
31 HG1700 Enclosure Side Dimensions ...........................................................................84
32 Frame of Reference ......................................................................................................133
33 Required Parts ..............................................................................................................277
34 Bolts and Allan Key ......................................................................................................278
35 Lift Top Cover, Tube Body and 3 Ring Spacer Screws ................................................279
36 SPAN IMU Re-Assembly ..............................................................................................279
37 Attach Flex Cable .........................................................................................................280
38 Incorrect (Bowed) Flex Cable Installation .....................................................................280
39 Correct (Flat) Flex Cable Installation ............................................................................280
40 HG1700 SPAN IMU ......................................................................................................281
41 Required Parts ..............................................................................................................282
42 Bolts and Allan Key ......................................................................................................283
43 Lift Top Cover and Tube Body ......................................................................................284
44 SPAN IMU Re-Assembly ..............................................................................................284
45 Attach Wiring Harness ..................................................................................................285
46 Attach Samtec Connector .............................................................................................285
47 LN-200 SPAN IMU .......................................................................................................286

SPAN-SE User Manual Rev 1 9
Tables
1 SPAN-SE Compatible Receiver and IMU Models .........................................................24
2 Receiver Enclosure Back Panel Labels.........................................................................29
3 IMU Power Supply.........................................................................................................32
4 Power Button States......................................................................................................32
5 Inertial Solution Status...................................................................................................43
6 Solution Parameters......................................................................................................46
7 Positioning Mode LEDs .................................................................................................52
8 I/O 1 Green Cable Connector Pin-Outs.........................................................................66
9 I/O 2 Yellow Cable Connector Pin-Outs ........................................................................68
10 LN-200 IMU Specifications............................................................................................69
11 iIMU-FSAS Specifications..............................................................................................74
12 IMU Interface Cable Pin-Out..........................................................................................78
13 FSAS SPAN-SE Y Adapter Cable Pin-Out....................................................................79
14 Cable Modification for Corrsys Datron WPT..................................................................81
15 HG1700 IMU Specifications...........................................................................................83
16 Mass Storage Device ....................................................................................................87
17 L-band Mode .................................................................................................................92
18 COM Serial Port Identifiers............................................................................................95
19 Parity .............................................................................................................................95
20 Handshaking..................................................................................................................95
21 Tx, DTR and RTS Availability........................................................................................97
22 SPAN-SE COM Port Values..........................................................................................98
23 FRESET Target.............................................................................................................104
24 Serial Port Interface Modes...........................................................................................106
25 NMEA Talkers ...............................................................................................................118
26 DGPS Type ...................................................................................................................120
27 Dynamics Mode.............................................................................................................124
28 System Types................................................................................................................129
29 Full Mapping Definitions ................................................................................................135
30 IMU Type.......................................................................................................................138
31 SETWHEELPARAMETERS Input.................................................................................146
32 Log Type Triggers .........................................................................................................158
33 ASCII Message Header Structure .................................................................................160
34 Binary Message Header Structure.................................................................................162
35 GPS Time Status ..........................................................................................................164
36 Short ASCII Message Header Structure........................................................................167
37 Short Binary Message Header Structure.......................................................................167
38 Position or Velocity Type...............................................................................................171
39 Solution Status ..............................................................................................................173
40 Port Protocol..................................................................................................................180
41 GLONASS Ephemeris Flags Coding.............................................................................185
42 Bits 0 - 1: P1 Flag Range Values ..................................................................................185
43 To Obtain a Fixed Ambiguity Solution ...........................................................................191
44 To Maintain a Fixed Ambiguity Solution ........................................................................192
45 NMEA Positioning System Mode Indicator....................................................................194
46 Position Precision of NMEA Logs..................................................................................195
47 NMEA Positioning System Mode Indicator....................................................................204
48 Wheel Status .................................................................................................................219
49 L-band Subscription Type..............................................................................................222
50 L-band Signal Tracking Status ......................................................................................225
51 OmniSTAR VBS Status Word........................................................................................226

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52 OmniSTAR HP/XP Additional Status Word ...................................................................227
53 OmniSTAR HP/XP Status Word....................................................................................228
54 Clock Model Status........................................................................................................236
55 Tracking State................................................................................................................241
56 Correlator Type..............................................................................................................241
57 Channel Tracking Example............................................................................................241
58 Channel Tracking Status................................................................................................242
59 Range Record Format (RANGECMP only)....................................................................244
60 HG1700 IMU Status.......................................................................................................248
61 LN-200 IMU Status........................................................................................................249
62 iIMU-FSAS Status..........................................................................................................250
63 HG1700 IMU Status Example........................................................................................251
64 Raw IMU Scale Factors.................................................................................................253
65 SPAN Receiver Error.....................................................................................................257
66 SPAN Receiver Status...................................................................................................259
67 Auxiliary 1 Status...........................................................................................................261
68 OEMV-3 Status..............................................................................................................261
69 OEMV-2 Status..............................................................................................................261
70 Status Word...................................................................................................................264
71 Event Type.....................................................................................................................264
72 OEMV in SPAN-SE Model Designators.........................................................................271
73 SPAN-SE Model Designators........................................................................................271
74 Component Types .........................................................................................................271
75 VERSION Log: Field Formats........................................................................................271

SPAN-SE User Manual Rev 1 11
Software License
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12 SPAN-SE User Manual Rev 1
Software License
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contact the NovAtel GNSS Hotline at 1-800-NOVATEL (U.S. or Canada only), or 403-295-4900, Fax
403-295-4901, e-mail to [email protected],
website: http://www.novatel.com or write to:
NovAtel Inc.
Customer Service Dept.
1120 - 68 Avenue NE,
Calgary, Alberta, Canada T2E 8S5

SPAN-SE User Manual Rev 1 13
Terms and Conditions
Terms and Conditions Standard Terms and Conditions of Sales
1. PRICES: All prices are Firm Fixed Price, FCA 1120 - 68th Avenue N.E., Calgary, Alberta. All
prices include standard commercial packing for domestic shipment. All transportation,
insurance, special packing costs and expenses, and all Federal, provincial and local excise,
duties, sales, and other similar taxes are the responsibility of the Purchaser.
2. PAYMENT: Terms are prepayment unless otherwise agreed in writing. Interest shall be
charged on overdue accounts at the rate of 18% per annum (1.5% per month) from due date.
To expedite payment by wire transfer to NovAtel Inc.: Bank - HSBC Bank of Canada
3. DELIVERY: Purchaser shall supply shipping instructions with each order. (Ship to and bill to
address, NovAtel Quotation #, Preferred carrier and account #, Custom broker/freight
forwarder including name and contact #) In the absence of specific instructions, NovAtel may
select a carrier and insure Products in transit and charge Purchaser accordingly. NovAtel shall
not be responsible for any failure to perform due to unforeseen circumstances or causes
beyond its ability to reasonably control. Risk of loss, damage or destruction shall pass to
Purchaser upon delivery to carrier. Goods are provided solely for incorporation into the
Purchaser’s end product and shall not be onward delivered except as incorporated in the
Purchaser’s end product.
4. COPYRIGHT AND CONFIDENTIALITY: Copyright in any specification, drawing, computer
software, technical description and other document supplied by NovAtel under or in connection
with the Order and all intellectual property rights in the design of any part of the Equipment or
provision of services, whether such design be registered or not, shall vest in NovAtel
absolutely. The Buyer shall keep confidential any information expressed or confirmed by
NovAtel in writing to be confidential and shall not disclose it without NovAtel's prior consent in
Bank: HSBC Bank of Canada US Account # 788889-002
407 - 8 Avenue S.W. CDN Account # 788889-001
Calgary, AB, Canada T2P 1E5 EURO Account # 788889-270
Transit # 10029-016
Swift HKBCCATTCAL

14 SPAN-SE User Manual Rev 1
Terms and Conditions
writing to any third party or use it other than for the operation and maintenance of any
Equipment provided.
5. GENERAL PROVISIONS: All Purchase Orders are subject to approval and acceptance by
NovAtel. Any Purchase Order or other form from the Purchaser, which purports to expand, alter
or amend these terms and conditions, is expressly rejected and is and shall not become a part
of any agreement between NovAtel and the Purchaser. This agreement shall be interpreted
under the laws of the Province of Alberta.
6. LIMITED WARRANTY AND LIABILITY: Warranty Period: Products - 1 year; Accessories -
90 days (in each case from the date of invoice). NovAtel warrants that during the Warranty
Period that (a) the Product will be free from defects in material and workmanship and conform
to NovAtel specifications; (b) the software will be free from error which materially affect
performance; and (c) if applicable as defined in the User’s Manual, be eligible for access to post
contract support and software updates when available. THESE WARRANTIES ARE
EXPRESSLY IN LIEU OF ALL OTHER WARRANTIES, EXPRESS OR IMPLIED,
INCLUDING, WITHOUT LIMITATION, ALL IMPLIED WARRANTIES OF
MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE. NOVATEL SHALL IN
NO EVENT BE LIABLE FOR SPECIAL, INDIRECT, INCIDENTAL, OR CONSEQUENTIAL
DAMAGES OF ANY KIND OR NATURE DUE TO ANY CAUSE.
Purchaser’s exclusive remedy for a claim under this warranty shall be limited to the repair or
replacement at NovAtel’s option and at NovAtel’s facility, of defective or nonconforming
materials, parts or components or in the case of software, provision of a software revision for
implementation by the Buyer. All material returned under warranty shall be returned to
NovAtel prepaid by the Buyer and returned to the Buyer, prepaid by NovAtel. The foregoing
warranties do not extend to (i) nonconformities, defects or errors in the Products due to
accident, abuse, misuse or negligent use of the Products or use in other than a normal and
customary manner, environmental conditions not conforming to NovAtel’s specifications, or
failure to follow prescribed installation, operating and maintenance procedures, (ii) defects,
errors or nonconformities in the Products due to modifications, alterations, additions or
changes not made in accordance with NovAtel’s specifications or authorized by NovAtel, (iii)
normal wear and tear, (iv) damage caused by force of nature or act of any third person, (v)
shipping damage, (vi) service or repair of Product by the Purchaser without prior written
consent from NovAtel, (vii) Products designated by NovAtel as beta site test samples,

Terms and Conditions
SPAN-SE User Manual Rev 1 15
experimental, developmental, preproduction, sample, incomplete or out of specification
Products, (viii) returned Products if the original identification marks have been removed or
altered or (ix) Services or research activities.
7. EXCLUSION OF LIABILITY: If a Party would, but for this paragraph (7), have concurrent
claims in contract and tort (including negligence) such claims in tort (including negligence)
shall to the extent permitted by law be wholly barred, unenforceable and excluded.
NovAtel shall not be liable to the Buyer by way of indemnity or by reason of any breach of the
Order or of statutory duty or by reason of tort (including but not limited to negligence) for any
loss of profit, loss of use, loss of production, loss of contracts or for any financing costs or for
any indirect or consequential damage whatsoever that may be suffered by the Buyer.
In the event and to the extent that NovAtel shall have any liability to Buyer pursuant to the
terms of the Order, NovAtel shall be liable to Buyer only for those damages which have been
foreseen or might have reasonably been foreseen on the date of effectivity of the Order and
which are solely an immediate and direct result of any act or omission of NovAtel in performing
the work or any portion thereof under the Order and which are not in the aggregate in excess
of ten (10%) percent of the total Order price.

16 SPAN-SE User Manual Rev 1
Warranty Policy
Warranty Policy NovAtel Inc. warrants that its Global Navigational Satellite Systems (GNSS) products are free from defects in
materials and workmanship, subject to the conditions set forth below, for the following time periods:
OEMV-3 Receivers including SPAN-SE One (1) Year
IMU Units (return to manufacturer) 1One (1) Year
Antennas One (1) Year
Cables and Accessories Ninety (90) Days
Computer Discs Ninety (90) Days
Software Warranty One (1) Year
Date of sale shall mean the date of the invoice to the original customer for the product. NovAtel’s responsibility
respecting this warranty is solely to product replacement or product repair at an authorized NovAtel location only.
Determination of replacement or repair will be made by NovAtel personnel or by technical personnel expressly
authorized by NovAtel for this purpose (continued on Page 17).
WARNING: Only return an IMU to its manufacturer and not to NovAtel.
1. Litton: Northrop Grumman/Litton Systems, Inc.
Navigation Systems Division (NSD)
21240 Burbank Blvd.
Woodland Hills, CA 91367
iMar: iMAR GmbH
Im Reihersbruch 3
D-66386 St. Ingbert
Germany
Honeywell: Honeywell International Inc.
2600 Ridgway Parkway (Ridgway is really not spelled with an ‘e’)
Minneapolis, MN 55413
When returning a Litton or Honeywell IMU from outside the U.S., follow these steps:
a) Include a copy of the original U.S. export permit with it.
b) Send the unit to Litton or Honeywell, with the following wording on the documentation:
"Shipped in accordance with 22 CFR 123.4 (a) (1)", using air transport and not a carrier
service. The repaired or replaced device will be returned to you under this same CFR
exemption.
c) Identify the paperwork with the value of the hardware ($), the country of origin as U.S.
and the Incoterms if applicable (for example, FOB, FAS, CIF Ex-Works).
d) Lastly, please clearly note on the paperwork to notify, upon receipt, Honeywell's
customs broker, "EXPIDITORS", or for Litton, “FOR CUSTOMS CLEARANCE BY:
FedEx Trade Networks, 19601 Hamilton Ave. Torrance, CA 90502-1309, U.S.A.”.

Warranty Policy
SPAN-SE User Manual Rev 1 17
NovAtel warrants that during the Warranty Period that (a) the Product will be free from defects in
material and workmanship and conform to NovAtel specifications; and (b) the software will be free
from error which materially affect performance. THESE WARRANTIES ARE EXPRESSLY IN
LIEU OF ALL OTHER WARRANTIES, EXPRESS OR IMPLIED, INCLUDING, WITHOUT
LIMITATION, ALL IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
PARTICULAR PURPOSE. NOVATEL SHALL IN NO EVENT BE LIABLE FOR SPECIAL,
INDIRECT, INCIDENTAL, OR CONSEQUENTIAL DAMAGES OF ANY KIND OR NATURE
DUE TO ANY CAUSE.
Purchaser’s exclusive remedy for a claim under this warranty shall be limited to the repair or
replacement at NovAtel’s option and at NovAtel’s facility, of defective or nonconforming materials,
parts or components or in the case of software, provision of a software revision for implementation by
the Buyer. All material returned under warranty shall be returned to NovAtel prepaid by the Buyer and
returned to the Buyer, prepaid by NovAtel.
There are no user serviceable parts in the GNSS receiver and no maintenance is required. When the
status code indicates that a unit is faulty, replace with another unit and return the faulty unit to
NovAtel Inc.
Once you have obtained an RMA number, you will be advised of proper shipping procedures to return
any defective product. When returning any product to NovAtel, please return the defective product in
the original packaging to avoid ESD and shipping damage.
THE FOREGOING WARRANTIES DO NOT EXTEND TO (I) NONCONFORMITIES, DEFECTS OR
ERRORS IN THE PRODUCTS DUE TO ACCIDENT, ABUSE, MISUSE OR NEGLIGENT USE OF
THE PRODUCTS OR USE IN OTHER THAN A NORMAL AND CUSTOMARY MANNER,
ENVIRONMENTAL CONDITIONS NOT CONFORMING TO NOVATEL’S SPECIFICATIONS, OR
FAILURE TO FOLLOW PRESCRIBED INSTALLATION, OPERATING AND MAINTENANCE
PROCEDURES, (II) DEFECTS, ERRORS OR NONCONFORMITIES IN THE PRODUCTS DUE TO
MODIFICATIONS, ALTERATIONS, ADDITIONS OR CHANGES NOT MADE IN ACCORDANCE
WITH NOVATEL’S SPECIFICATIONS OR AUTHORIZED BY NOVATEL, (III) NORMAL WEAR
AND TEAR, (IV) DAMAGE CAUSED BY FORCE OF NATURE OR ACT OF ANY THIRD PERSON,
(V) SHIPPING DAMAGE; OR (VI) SERVICE OR REPAIR OF PRODUCT BY THE DEALER
WITHOUT PRIOR WRITTEN CONSENT FROM NOVATEL. IN ADDITION, THE FOREGOING
WARRANTIES SHALL NOT APPLY TO PRODUCTS DESIGNATED BY NOVATEL AS BETA SITE
TEST SAMPLES, EXPERIMENTAL, DEVELOPMENTAL, PREPRODUCTION, SAMPLE,
INCOMPLETE OR OUT OF SPECIFICATION PRODUCTS OR TO RETURNED PRODUCTS IF
THE ORIGINAL IDENTIFICATION MARKS HAVE BEEN REMOVED OR ALTERED. THE
WARRANTIES AND REMEDIES ARE EXCLUSIVE AND ALL OTHER WARRANTIES, EXPRESS
OR IMPLIED, WRITTEN OR ORAL, INCLUDING THE IMPLIED WARRANTIES OF
MERCHANTABILITY OR FITNESS FOR ANY PARTICULAR PURPOSE ARE EXCLUDED.
NOVATEL SHALL NOT BE LIABLE FOR ANY LOSS, DAMAGE, EXPENSE, OR INJURY
ARISING DIRECTLY OR INDIRECTLY OUT OF THE PURCHASE, INSTALLATION,
OPERATION, USE OR LICENSING OR PRODUCTS OR SERVICES. IN NO EVENT SHALL
NOVATEL BE LIABLE FOR SPECIAL, INDIRECT, INCIDENTAL OR CONSEQUENTIAL
DAMAGES OF ANY KIND OR NATURE DUE TO ANY CAUSE.
Before ship ping any mat erial to Nov Atel or Dealer , please obtain a Return Material
Authorization (RMA) number from the point of purchase.

18 SPAN-SE User Manual Rev 1
Customer Service
Customer Service Firmware Upgrades
Firmware upgrades are firmware releases, which increase basic functionality of the receiver from one model to a
higher level model type. When available, upgrades may be purchased at a price, which is the difference between
the two model types on the current NovAtel GNSS Price List plus a nominal service charge.
Please refer to the PC Software and Firmware chapter in the OEMV Installation and Operation User Manual.
Contact Information
Firmware upgrades are accomplished through NovAtel authorized dealers.
Contact your local NovAtel dealer first for more information. To locate a dealer in your area or if the problem is
not resolved, contact NovAtel Inc. directly using one of the following methods:
Call the NovAtel GNSS Hotline at 1-800-NOVATEL (North America), or 403-295-4900 (international)
Fax: [phone] E-mail: suppo[email protected] Website: http://www.novatel.com
Write: NovAtel Inc., Customer Service Dept., 1120 - 68 Avenue NE, Calgary, AB., Canada, T2E 8S5
Before contacting NovAtel Customer Service regarding software concerns, please do the
following:
1. Establish communication with the receiver.
2. Send the SETIMUTYPE command to re-establish communication with the IMU, see
Table 30 on Page 138.
3. Log the following data to a file on your PC for 30 minutes:
RXSTATUSB once
RAWEPHEMB onchanged
RANGECMPB ontime 1
BESTPOSB ontime 1
RXCONFIGA once
VERSIONB once
RAWIMUSB onnew
INSPVASB ontime 0.1
INSCOVSB onchanged
INSUPDATEB onchanged
BESTGPSPOSB ontime 1
4. Send the file containing the logs to NovAtel Customer Service using the
[email protected] e-mail address.

SPAN-SE User Manual Rev 1 19
Notices
Notices
CAUTION
1. This device incorporates circuitry to absorb most static discharges . However, severe static shock
may cause inaccurate operation of the unit. Use anti-static precautions where possible.
2. This device is a precision instrument. It performs best when handled with care.

20 SPAN-SE User Manual Rev 1
Foreword
Foreword
Congratulations!
Congratulations on purchasing your Synchronized Position Attitude Navigation (SPAN) Technology
system. SPAN features a tight integration of a NovAtel GNSS receiver and an Inertial Measurement
Unit (IMU). SPAN provides continuous navigation information, using an Inertial Navigation System
(INS), to bridge short Global Navigational Satellite Systems (GNSS) outages. Designed for dynamic
applications, SPAN provides precise position, velocity and attitude information.
By complementing GNSS with inertial measurements, SPAN Technology provides robust positioning
in challenging conditions where GNSS alone is less reliable. During short periods of GNSS outage, or
when less than four satellites are received, SPAN Technology offers uninterrupted position and
attitude output. The tight coupling of inertial technology with GNSS also provides the benefits of
faster satellite reacquisition and faster RTK initialization after outages.
SPAN-SE receivers are the processing engines of the SPAN Technology system. Separate GNSS and
IMU enclosures provide a simple modular system. This allows the IMU mounting at the most suitable
location, while the GNSS receiver is mounted where it is most convenient. SPAN Technology
provides a robust GNSS and Inertial solution as well as a portable, high-performance GNSS receiver
in one system.
Scope
This manual contains sufficient information on the installation and operation of the SPAN system. It is
beyond the scope of this manual to provide details on service or repair. Contact your local NovAtel
dealer for any customer-service related inquiries, see Customer Service on Page 18.
After the addition of accessories, an antenna and a power supply, the SPAN system is ready to go.
The receiver utilizes a comprehensive user-interface command structure, which requires
communications through its communications (COM) ports. This manual also describes the INS
specific commands and logs. Refer to the OEMV Family Firmware Reference Manual for information
on the logs and commands available for the OEMV-3 that is the GNSS engine of your SPAN-SE. Visit
www.novatel.com to download any NovAtel product manual. It is recommended that these documents
be kept together for easy reference.
SPAN system output is compatible with post-processing software from NovAtel's Waypoint Products
Group. Visit our website at www.novatel.com for details.