Novatel OEM7 SPAN User manual

OEM7 SPAN
Installation and Operation
User Manual
OEM7 SPAN Installation and Operation User Manual v14 January 2020

OEM7 SPAN Installation and Operation User Manual v14 2
OEM7 SPAN Installation and Operation User Manual
Publication Number: OM-20000170
Revision Level: v14
Revision Date: January 2020
Firmware Version: 7.07.03 / OM7MR0703RN0000
Warranty
NovAtel Inc. warrants that its GNSS products are free from defects in materials and workmanship, subject to the
conditions set forth on our web site: www.novatel.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 commitment on the
part of NovAtel Inc. The software described in this document is furnished under a licence agreement or non-dis-
closure 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-dis-
closure 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 author-
ized representative of NovAtel Inc.
The information contained within this manual is believed to be true and correct at the time of publication.
NovAtel, ALIGN, GLIDE, GrafNav/GrafNet, Inertial Explorer, NovAtel CORRECT, OEM7, PwrPak7, RELAY,
SPAN, STEADYLINE, VEXXIS and Waypoint are registered trademarks of NovAtel Inc.
NovAtel Connect, OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, SMART7, SMART2,
RELAY7 and RTK ASSIST are trademarks of NovAtel Inc.
All other brand names are trademarks of their respective holders.
© Copyright 2020 NovAtel Inc. All rights reserved. Unpublished rights reserved under International copyright
laws.

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Table of Contents
Figures
Tables
Receiver Card Notices
Customer Support
Chapter 1 OEM7 SPAN Overview
1.1 Fundamentals of GNSS+INS 26
1.2 Models and Features 27
1.2.1 INS Options 27
1.2.2 IMU Grade 28
1.3 Related Documents and Information 29
Chapter 2 SPAN Installation
2.1 OEM7 Receiver Card Installation 31
2.1.1 Selecting a GNSS Antenna 32
2.1.2 Choosing a Coaxial Cable 32
2.1.3 Mounting the GNSS Antenna 33
2.1.4 Mount the IMU 34
2.1.5 Connect the IMU to the OEM7 Receiver Card 36
2.1.6 Connect Power 53
2.2 MIC Installation 56
2.2.1 Install a MIC in a Stack Up Configuration 56
2.2.2 Install a MIC in a Standalone Configuration 61
2.3 UIC Installation 67
2.3.1 Mount the SPAN System Components 68
2.3.2 Connect the IMU to the UIC 69
2.3.3 Connect the UIC to a receiver 69
2.3.4 Connect Power to the UIC and OEM7 Receiver 69
2.3.5 UIC Status LEDs 70
2.4 PwrPak7 Installation 71
2.4.1 Connect the IMU to the PwrPak7 72
2.5 PwrPak7-E1/PwrPak7-E2 Installation 74
2.6 IMU LEDs 75
Chapter 3 SPAN Operation
3.1 Definition of Reference Frames Within SPAN 77
3.1.1 The Local-Level Frame (ENU) 77
3.1.2 The IMU Body Frame 78
3.1.3 The Vehicle Frame 78
3.1.4 The User Output Frame 79
3.2 SPAN Translations and Rotations 79

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3.2.1 Translational Offsets 79
3.2.2 Rotational Offsets 81
3.3 Software Configuration 82
3.3.1 GNSS Configuration 82
3.3.2 INS Profiles 83
3.3.3 SPAN Configuration for Receiver Cards 84
3.3.4 SPAN Configuration for PwrPak7 88
3.3.5 Importance of RBV Calibration 92
3.4 Real-Time Operation 94
3.4.1 System Start-Up and Alignment Techniques 95
3.4.2 INSSeed / Fast INS Initialization 97
3.4.3 Navigation Mode 99
3.4.4 Data Collection 99
3.4.5 Lever Arm Calibration Routine 101
3.4.6 Body to Vehicle Frame Rotation Calibration Routine 102
3.4.7 Multi-Line Body to Vehicle Frame Rotation Calibration Routine 103
3.5 Synchronizing External Equipment 105
3.5.1 Configuring an Input Strobe 105
3.6 Adding Timed Sensor Triggers 106
3.6.1 Configuring the Hardware 106
3.6.2 Configuring the Software 107
3.6.3 Using Timed Event Pulses 107
3.6.4 Recording Incoming Sensor Events 107
3.7 Distance Measurement Instrument 107
3.7.1 DMI Communication 107
3.7.2 DMI Connection 108
3.7.3 DMI Requirements 108
3.7.4 DMI Connected to a PwrPak7 110
3.7.5 DMI Connected to an IMU 112
3.7.6 DMI Connected to a UIC 114
3.7.7 DMI Connected to an Intermediate Processor 116
3.7.8 DMI Command Compatibility 118
3.7.9 DMI Troubleshooting 119
3.8 Azimuth Sources on a SPAN System 119
3.8.1 Course Over Ground 120
3.8.2 Inertial Azimuth 120
3.8.3 ALIGN Azimuth 120
3.9 Data Collection for Post Processing 121
3.10 Firmware Updates and Model Upgrades 122
3.11 Variable Lever Arm 122
3.11.1 Reference Frame Description 122
3.11.2 How to Use Variable Lever Arm 124
3.12 Relative INS 126
3.12.1 Configure Relative INS 127
Chapter 4 SPAN with Dual Antenna
4.1 Installation 129

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4.2 Configuring ALIGN with SPAN 131
4.3 Configuring SPAN with ALIGN 132
4.3.1 Aided Transfer Alignment - ALIGN Injected Azimuth 133
4.3.2 Unaided Alignment 133
4.3.3 Automatic Alignment Mode - Automatic Alignment (default) 133
4.4 SPAN ALIGN Attitude Updates 133
APPENDIX A IMU Technical Specifications
A.1 HG1700 IMU (single-connector enclosure) 135
A.1.1 HG1700 IMU Mechanical Drawings 136
A.1.2 HG1700 IMU Performance 138
A.1.3 HG1700 Electrical and Environmental 139
A.1.4 Interface Cable for the HG1700 IMU 139
A.2 IMU-CPT 140
A.2.1 IMU-CPT Mechanical Drawings 141
A.2.2 IMU-CPT Sensor Specifications 143
A.2.3 IMU-CPT Electrical and Environmental 144
A.2.4 IMU-CPT Cable 145
A.3 IMU-FSAS 147
A.3.1 IMU-FSAS Mechanical Drawings 148
A.3.2 IMU-FSAS Performance 151
A.3.3 IMU-FSAS Electrical and Environmental 151
A.3.4 Interface Cable for IMU-FSAS 152
A.3.5 IMU-FSAS Cable with Wheel Sensor 152
A.4 IMU-HG1900 155
A.4.1 IMU-HG1900 Mechanical Drawings 156
A.4.2 IMU-HG1900 Sensor Specifications 158
A.4.3 IMU-HG1900 Electrical and Environmental 159
A.4.4 IMU-HG1900 Cables 159
A.5 IMU-IGM 160
A.5.1 IMU-IGM Mechanical Drawings 161
A.5.2 IMU-IGM Ports 163
A.5.3 IMU-IGM Sensor Specifications 165
A.5.4 IMU-IGM Electrical and Environmental 166
A.5.5 IMU-IGM Interface Cable 167
A.6 IMU-ISA-100C 169
A.6.1 IMU-ISA-100C Mechanical Drawings 170
A.6.2 Optional Side Mounting Holes 172
A.6.3 IMU-ISA-100C Performance 174
A.6.4 IMU-ISA-100C Electrical and Environmental 175
A.6.5 IMU Enclosure Interface Cable 176
A.6.6 IMU Enclosure Power Cable 178
A.6.7 IMU Enclosure Wheel Sensor Cable 179
A.7 IMU-KVH1750 181
A.7.1 IMU-KVH1750 Mechanical Drawings 182
A.7.2 IMU-KVH1750 Sensor Specifications 186
A.7.3 IMU-KVH1750 Electrical and Environmental 187

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A.7.4 IMU-KVH1750 Cable 188
A.8 IMU-ENC-LN200 190
A.8.1 IMU-ENC-LN200 Mechanical Drawings 191
A.8.2 IMU-ENC-LN200 Sensor Specifications 193
A.8.3 IMU-ENC-LN200 Electrical and Environmental 194
A.8.4 IMU-ENC-LN200 Cables 194
A.9 IMU-µIMU-IC 195
A.9.1 IMU-µIMU-IC Mechanical Drawings 196
A.9.2 IMU-µIMU-IC Sensor Specifications 198
A.9.3 IMU-µIMU-IC Electrical and Environmental 199
A.9.4 IMU-µIMU-IC Cables 199
A.10 LN-200 IMU (single-connector enclosure) 200
A.10.1 LN-200 IMU Mechanical Drawings 201
A.10.2 LN-200 IMU Performance 203
A.10.3 LN-200 Electrical and Environmental 203
A.10.4 Interface Cable for the LN-200 IMU 204
A.11 OEM-IMU-ADIS-16488 205
A.11.1 OEM-IMU-ADIS-16488 Mechanical Drawings 206
A.11.2 OEM-IMU-ADIS-16488 Sensor Specifications 209
A.11.3 OEM-IMU-ADIS-16488 Electrical and Environmental 209
A.11.4 OEM-IMU-ADIS-16488 SPI Connection 210
A.11.5 ADIS-16488 IMU-to-MIC Cable Assembly 212
A.12 OEM-IMU-EG320N 213
A.12.1 OEM-IMU-EG320N Mechanical Drawings 214
A.12.2 OEM-IMU-EG320N Sensor Specifications 215
A.12.3 OEM-IMU-EG320N Electrical and Environmental 215
A.12.4 OEM-IMU-EG320N Interface Connector 216
A.13 OEM-IMU-EG370N 218
A.13.1 OEM-IMU-EG370N Mechanical Drawings 219
A.13.2 OEM-IMU-EG370N Sensor Specifications 220
A.13.3 OEM-IMU-EG370N Electrical and Environmental 220
A.13.4 OEM-IMU-EG370N Interface Connector 221
A.14 OEM-IMU-HG4930 223
A.14.1 OEM-IMU-HG4930 Mechanical Drawings 224
A.14.2 OEM-IMU-HG4930 Sensor Specifications 225
A.14.3 OEM-IMU-HG4930 Electrical and Environmental 225
A.14.4 OEM-IMU-HG4930 Interface Connector 226
A.15 OEM-IMU-ISA-100C 227
A.15.1 OEM-IMU-ISA-100C Mechanical Drawings 228
A.15.2 OEM-IMU-ISA-100C Sensor Specifications 230
A.15.3 OEM-IMU-ISA-100C Electrical and Environmental 230
A.15.4 OEM-IMU-ISA-100C IMU to UIC Cable Assembly 231
A.16 OEM-IMU-STIM300 234
A.16.1 OEM-IMU-STIM300 Mechanical Drawings 235
A.16.2 OEM-IMU-STIM300 Sensor Specifications 236
A.16.3 OEM-IMU-STIM300 Electrical and Environmental 236
A.16.4 OEM-IMU-STIM300 Direct Connection 237

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A.16.5 STIM300 IMU-to-MIC Cable Assembly 240
A.17 OEM-IMU-µIMU 242
A.17.1 OEM-IMU-µIMU Mechanical Drawings 243
A.17.2 OEM-IMU-µIMU Sensor Specifications 245
A.17.3 OEM-IMU-µIMU Electrical and Environmental 245
A.17.4 µIMU to UIC Cable Assembly 246
A.18 Universal IMU Enclosure (HG1700, LN200) 248
A.18.1 Universal IMU Enclosure Mechanical Drawings 249
A.18.2 IMU Performance 253
A.18.3 Electrical and Environmental 255
A.18.4 Universal IMU Enclosure Interface Cable 256
A.19 MIC - MEMS Interface Card 258
A.19.1 MIC Mechanical Drawings 259
A.19.2 MIC Electrical and Environmental 261
A.19.3 MIC Connectors 262
A.19.4 HG1930 IMU-to-MIC Cable Assembly 267
A.19.5 HG1700 and HG1900 IMU-to-MIC Cable Assembly 269
A.20 UIC - Universal IMU Controller 271
A.20.1 UIC Mechanical Drawings 272
A.20.2 UIC Electrical and Environmental 274
A.20.3 UIC Connectors 275
A.20.4 HG1900 IMU to UIC Cable Assembly 279
A.20.5 LN200 IMU to UIC Cable Assembly 280
APPENDIX B HG1700 IMU in Universal Enclosure
B.1 Disassemble the Universal Enclosure 282
B.2 Install the HG1700 Sensor Unit 284
APPENDIX C LN-200 IMU in Universal Enclosure
C.1 Disassemble the Universal Enclosure 291
C.2 Install the LN-200 Sensor Unit 293
APPENDIX D HG1700 IMU in SPAN HG Enclosure
D.1 Disassemble the SPAN IMU Enclosure 298
D.2 Install the HG1700 Sensor Unit 300
D.3 Make the Electrical Connections 301
D.4 Re-Assemble the SPAN IMU Enclosure 303
APPENDIX E LN-200 IMU in SPAN IMU Enclosure
E.1 Disassemble the SPAN IMU Enclosure 304
E.2 Install the LN-200 Sensor Unit 306
E.3 Make the Electrical Connections 307
E.4 Re-Assemble the SPAN IMU Enclosure 309

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APPENDIX F Frequently Asked Questions
APPENDIX G Importance of Antenna Selection
APPENDIX H Accessories and Replacement Parts

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Figures
Figure 1: Typical Installation of a SPAN System with an OEM7 Receiver Card 31
Figure 2: IMU Enclosure Mounting Plate 36
Figure 3: OEM-IMU-ADIS-16488 Pin Locations 41
Figure 4: EG320N/EG370N Pin Locations 43
Figure 5: OEM-IMU-STIM300 Pin Out 46
Figure 6: Basic Set Up – MIC in Stack Up Configuration 57
Figure 7: Mount the MIC on the OEM719 59
Figure 8: Connect the HG1900 IMU to the MIC (OEM Cable Kit: 01018871) 60
Figure 9: Connect the HG1930 IMU to the MIC (OEM Cable Kit: 01018869) 60
Figure 10: Connect the ADIS-16488 IMU to the MIC (OEM Cable Kit: 01019007) 60
Figure 11: Connect the STIM300 IMU to the MIC (OEM Cable Kit: 01019174) 61
Figure 12: Basic MIC Set Up 62
Figure 13: Connect the HG1900 IMU to the MIC (OEM Cable Kit: 01018871) 64
Figure 14: Connect the HG1930 IMU to the MIC (OEM Cable Kit: 01018869) 64
Figure 15: Connect the ADIS-16488 IMU to the MIC (OEM Cable Kit: 01019007) 65
Figure 16: Connect the STIM300 IMU to the MIC (OEM Cable Kit: 01019174) 65
Figure 17: Basic UIC Installation 67
Figure 18: UIC Status LEDs 70
Figure 19: Typical Installation of a SPAN System with a PwrPak7 71
Figure 20: Typical Installation of a SPAN System with a PwrPak7-E1 74
Figure 21: Local-Level Frame (ENU) 78
Figure 22: IMU Body Frame Marking 78
Figure 23: Vehicle Frame 79
Figure 24: IMU to Antenna Translation Offset 80
Figure 25: Rear View of PwrPak7-E1 – Mounting Plate is not Flat 93
Figure 26: Side View of PwrPak7-E1 – Vehicle is not Level 93
Figure 27: Top View of PwrPak7-E1 – PwrPak7-E1 Misalignment 93
Figure 28: Multi-Line IMU Body to Vehicle Calibration 104
Figure 29: Kistler WPT 109
Figure 30: DMI to PwrPak7 Setup 111
Figure 31: DMI to IMU Setup 113
Figure 32: DMI to UIC Setup 115
Figure 33: DMI through Intermediate Processor Setup 116
Figure 34: Sample Configuration 123
Figure 35: Operating Gimbal 124

Figures
OEM7 SPAN Installation and Operation User Manual v14 10
Figure 36: Relative INS Example 127
Figure 37: SPAN - Two Receiver Dual Antenna Installation 130
Figure 38: SPAN - Single Receiver Dual Antenna Installation 131
Figure 39: HG1700 Top/Bottom Dimensions 136
Figure 40: HG1700 Enclosure Side Dimensions 137
Figure 41: IMU-CPT Side and Perspective View 141
Figure 42: IMU-CPT Top, Front and Bottom View 142
Figure 43: IMU-CPT Development Terminated Cable 145
Figure 44: IMU-FSAS Top Dimensions 148
Figure 45: IMU-FSAS Bottom Dimensions 148
Figure 46: IMU-FSAS Side Dimensions 149
Figure 47: IMU-FSAS Center of Navigation 150
Figure 48: IMU-FSAS Interface Cable with Wheel Sensor 152
Figure 49: IMU-HG1900 Dimensions 156
Figure 50: IMU-HG1900 Center of Navigation 157
Figure 51: IMU-IGM-A1 Dimensions 161
Figure 52: IMU-IGM-S1 Dimensions 162
Figure 53: IMU-IGM Interface Cable 167
Figure 54: IMU-ISA-100C Dimensions 170
Figure 55: IMU-ISA-100C Center of Navigation 171
Figure 56: Optional Side Mounting Holes 173
Figure 57: IMU Enclosure Interface Cable 176
Figure 58: IMU Enclosure Power Cable 178
Figure 59: IMU Enclosure Wheel Sensor Cable 179
Figure 60: IMU-KVH1750 Bottom view 182
Figure 61: IMU-KVH1750 Top View 183
Figure 62: IMU-KVH1750 Side View 184
Figure 63: IMU-KVH1750 Gyro Axes 185
Figure 64: IMU-KVH1750 Cable 188
Figure 65: IMU-ENC-LN200 Dimensions 191
Figure 66: IMU-ENC-LN200 Center of Navigation 192
Figure 67: IMU-µIMU-IC Dimensions 196
Figure 68: IMU-µIMU-IC Center of Navigation 197
Figure 69: LN-200 IMU Enclosure Top/Bottom Dimensions and Center of Navigation 201
Figure 70: LN-200 Enclosure Side Dimensions 202
Figure 71: ADIS-16488 Dimensions 206