Novatel SPAN-IGM User manual
SPAN-IGM™
User Manual
OM-20000141 Rev 2 September 2013
2SPAN-IGM User Manual Rev 2
SPAN-IGM User Manual
Publication Number: OM-20000141
Revision Level: 2
Revision Date: September 2013
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:
SPAN-IGM Receiver One (1) Year
GPSAntenna™ Series One (1) Year
Cables and Accessories Ninety (90) Days
Software Warranty One (1) Year
Return Instructions
To return products, refer to the instructions at the bottom of the warranty page: www.novatel.com/
products/warranty/.
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, SPAN, OEM6, ALIGN, Inertial Explorer and Waypoint are registered trademarks of NovAtel Inc.
NovAtel Connect, FlexPak6 and SPAN-IGM are trademarks of NovAtel Inc.
All other product or brand names are trademarks of their respective holders.
Manufactured and protected under U.S. Patents:
© Copyright 2013 NovAtel Inc. All rights reserved. Unpublished rights reserved under International
copyright laws.
#5,101,416 #6,184,822 B1 #6,750,816 B1
#5,390,207 #6,243,409 B1 #6,922,167 B2
#5,414,729 #6,608,988 B1 #7,193,559 B2
#5,495,499 #6,664,923 B1 #7,346,452
#5,736,961 #6,721,657 B2 #7,738,606 B2
#5,809,064 #6,728,637 B2
SPAN-IGM User Manual Rev 2 3
Table of Contents
Customer Support 7
Notices 8
1 Introduction 11
1.1 Fundamentals of GNSS + INS .............................................................................................................. 11
1.2 System Components............................................................................................................................. 12
1.3 Scope .................................................................................................................................................... 12
1.4 Conventions .......................................................................................................................................... 13
2 SPAN Installation 14
2.1 Required Equipment ............................................................................................................................. 14
2.2 SPAN-IGM Hardware ............................................................................................................................ 14
2.2.1 SPAN-IGM Cables ...................................................................................................................... 15
2.3 Hardware Set Up................................................................................................................................... 16
2.3.1 Mount the Antenna ..................................................................................................................... 18
2.3.2 Mount the SPAN-IGM ................................................................................................................. 18
2.3.3 Connect the Antenna to the SPAN-IGM ..................................................................................... 19
2.3.4 Connect Power ........................................................................................................................... 19
2.3.5 Connect a Computer to the SPAN-IGM ..................................................................................... 20
2.3.6 Connect I/O Strobe Signals ........................................................................................................ 21
2.3.7 CAN Bus ..................................................................................................................................... 21
2.3.8 COM3 Serial Port ........................................................................................................................ 22
2.3.9 Enable RS-422 serial connections.............................................................................................. 22
2.3.10 Odometer connection ............................................................................................................... 23
2.4 Software Configuration ......................................................................................................................... 24
2.4.1 GNSS Configuration ................................................................................................................... 24
2.4.2 SPAN IMU Configuration ............................................................................................................ 24
2.5 SPAN-IGM LEDs ................................................................................................................................... 26
3 SPAN Operation 27
3.1 Communicating with the SPAN System................................................................................................ 27
3.1.1 INS Window in NovAtel Connect ................................................................................................ 28
3.2 Real-Time Operation ............................................................................................................................. 29
3.2.1 System Start-Up and Alignment Techniques ............................................................................. 30
3.2.2 Navigation Mode......................................................................................................................... 32
3.2.3 Data Collection............................................................................................................................ 32
3.2.4 Vehicle to SPAN Frame Angular Offsets Calibration Routine ..................................................... 33
3.2.5 SPAN Wheel Sensor Messages.................................................................................................. 34
3.3 Azimuth Sources on a SPAN System ................................................................................................... 35
3.3.1 Course Over Ground................................................................................................................... 35
3.3.2 Inertial Azimuth ........................................................................................................................... 35
3.3.3 ALIGN Azimuth............................................................................................................................ 35
3.4 Data Collection for Post-Processing..................................................................................................... 36
3.5 Variable Lever Arm ................................................................................................................................ 37
4 SPAN-IGM Dual Antenna 38
4.1 Installation ............................................................................................................................................. 38
4.2 Configuring ALIGN with SPAN-IGM...................................................................................................... 39
4.2.1 Alignment on a Moving Vessel - Aided Transfer Alignment........................................................ 40
4.2.2 Alignment on a Stationary Vehicle - Aided Static Alignment ...................................................... 40
4.2.3 Unaided Alignment...................................................................................................................... 41
4.2.4 Automatic Alignment Mode - Automatic Alignment (default)...................................................... 41
4.3 SPAN ALIGN Attitude Updates............................................................................................................. 41
5 Reference Frames Within SPAN 42
5.1 The Local-Level Frame (ENU) ............................................................................................................... 42
5.2 The SPAN Body Frame ......................................................................................................................... 42
4SPAN-IGM User Manual Rev 2
Table of Contents
5.3 The Enclosure Frame ............................................................................................................................ 44
5.4 The Vehicle Frame................................................................................................................................. 44
6 NovAtel Firmware and Software 45
6.1 Firmware Updates and Model Upgrades .............................................................................................. 45
6.1.1 Firmware Updates....................................................................................................................... 45
6.1.2 Model Upgrades.......................................................................................................................... 46
6.2 Authorization Code................................................................................................................................ 46
6.3 Updating or Upgrading Using the WinLoad Utility ................................................................................ 47
6.3.1 Transferring Firmware Files......................................................................................................... 47
6.3.2 Using the WinLoad Utility............................................................................................................ 48
6.4 Updating using SoftLoad Commands................................................................................................... 49
6.4.1 Working with S-Records ............................................................................................................. 50
6.5 Upgrading Using the AUTH Command................................................................................................. 51
6.5.1 Upgrade Procedure..................................................................................................................... 51
A Technical Specifications 52
A.1 SPAN-IGM-A1 Technical Specifications............................................................................................... 52
A.1.1 SPAN-IGM-A1 Mechanical Drawings ......................................................................................... 53
A.2 SPAN-IGM-S1 Technical Specifications............................................................................................... 54
A.2.1 SPAN-IGM-S1 Mechanical Drawings ......................................................................................... 55
A.3 SPAN-IGM Ports................................................................................................................................... 56
A.4 SPAN-IGM Interface Cable ................................................................................................................... 57
A.5 SPAN-IGM ALIGN Interface Cable ....................................................................................................... 58
A.6 SPAN-IGM Auxiliary Port Interface Cable............................................................................................. 59
B Frequently Asked Questions 60
C Replacement Parts 61
C.1 SPAN System ....................................................................................................................................... 61
C.2 Accessories and Options...................................................................................................................... 61
Index 62
SPAN-IGM User Manual Rev 2 5
Figures
1 Primary and Secondary Lightning Protection ..................................................................................... 10
2 SPAN-IGM .......................................................................................................................................... 14
3 Typical SPAN-IGM Set Up – Serial Port ............................................................................................ 16
4 Typical SPAN-IGM Set Up – USB Port .............................................................................................. 17
5 SPAN-IGM Enclosure Mounting ......................................................................................................... 18
6 Battery Isolator Installation ................................................................................................................. 20
7 Kistler CWPTA411 .............................................................................................................................. 23
8 SPAN-IGM - Dual Antenna Installation .............................................................................................. 39
9 Local-Level Frame (ENU) .................................................................................................................... 42
10 SPAN-IGM-A1 Enclosure Frame Markings .........................................................................................44
11 Vehicle Frame ..................................................................................................................................... 44
12 WinLoad Open Window ...................................................................................................................... 48
13 Open File in WinLoad .......................................................................................................................... 48
14 COM Port Setup ................................................................................................................................. 48
15 Searching for Card .............................................................................................................................. 49
16 Authorization Code Window ............................................................................................................... 49
17 Upgrade Process Complete ............................................................................................................... 49
18 SPAN-IGM-A1 Dimensions ................................................................................................................. 53
19 SPAN-IGM-S1 Dimensions ................................................................................................................. 55
20 SPAN-IGM Interface Cable ................................................................................................................. 57
21 SPAN-IGM ALIGN Interface Cable ..................................................................................................... 58
22 SPAN-IGM Auxiliary Port Interface Cable ........................................................................................... 59
6SPAN-IGM User Manual Rev 2
Tab l e s
1 SPAN-IGM Cables ............................................................................................................................... 15
2 I/O Strobe Signals ................................................................................................................................ 21
3 Cable Connections for Kistler CWPT Sensor....................................................................................... 24
1 SPAN-IGM LEDs .................................................................................................................................. 26
4 Inertial Solution Status ......................................................................................................................... 30
5 Solution Parameters............................................................................................................................. 32
6 Logs with Azimuth data........................................................................................................................ 36
7 Full Mapping Definitions....................................................................................................................... 43
8 SPAN-IGM-A1 Physical Specifications................................................................................................ 52
9 SPAN-IGM-A1 GNSS Performance ..................................................................................................... 52
10 SPAN-IGM-A1 Data Rates ................................................................................................................... 52
11 SPAN-IGM-A1 IMU Performance......................................................................................................... 52
12 SPAN-IGM-A1 Electrical Specifications............................................................................................... 53
13 SPAN-IGM-A1 Environmental Specifications ......................................................................................53
14 SPAN-IGM-S1 Physical Specifications................................................................................................ 54
15 SPAN-IGM-S1 GNSS Performance ..................................................................................................... 54
16 SPAN-IGM-S1 Data Rates ................................................................................................................... 54
17 SPAN-IGM-S1 IMU Performance......................................................................................................... 54
18 SPAN-IGM-S1 Electrical Specifications............................................................................................... 55
19 SPAN-IGM-S1 Environmental Specifications ......................................................................................55
20 Main Port Pinout .................................................................................................................................. 56
21 AUX Port Pinout ................................................................................................................................... 56
22 SPAN-IGM Interface Cable Pin-Out Descriptions................................................................................ 57
23 SPAN-IGM ALIGN Interface Cable Pin-Out Descriptions .................................................................... 58
24 SPAN-IGM Auxiliary Port Interface Cable Pin-Out Descriptions ......................................................... 59
SPAN-IGM User Manual Rev 2 7
Customer Support
NovAtel Knowledge Base
If you have a technical issue, browse to the NovAtel Web site at www.novatel.com then select Support |
Helpdesk and Solutions | Search Known Solutions.Through this page, you can search for general
information about GNSS and other technologies, information about NovAtel hardware and software, and
installation and operation issues.
Before Contacting Customer Support
Before contacting NovAtel Customer Support about a software problem perform the following steps:
1. Log the following data to a file on your computer for 15 minutes:
RXSTATUSB once
RAWEPHEMB onchanged
RANGECMPB ontime 1
BESTPOSB ontime 1
RXCONFIGA once
VERSIONB once
RAWIMUSXB onnew
INSPVASB ontime 1
INSCOVSB ontime 1
INSUPDATEB onchanged
IMUTOANTOFFSETSB onchanged
2. Send the file containing the log to NovAtel Customer Support, using either the NovAtel FTP site at
www.novatel.com/support/firmware-software-and-manuals/ftp-site/ or through the
3. You can also issue a FRESET command to the receiver to clear any unknown settings.
If you are having a hardware problem, send a list of the troubleshooting steps taken and results.
Contact Information
Use one of the following methods to contact NovAtel Customer Support:
The FRESET command will erase all user settings. You should know your configuration and
be able to reconfigure the receiver before you send the FRESET command.
Call the NovAtel Hotline at 1-800-NOVATEL (U.S. & Canada)
or +1-403-295-4500 (international)
Fax: +1-403-295-4501
E-mail: support@novatel.com
Web site: www.novatel.com
Write: NovAtel Inc.
Customer Support Department
1120 - 68 Avenue NE
Calgary, AB
Canada, T2E 8S5
8SPAN-IGM User Manual Rev 2
Notices
The following notices apply to the SPAN-IGM.
FCC Notices
This SPAN device complies 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.
This SPAN device has been tested and found to comply with the limits for a Class A digital device,
pursuant to part 15 of the FCC Rules. These limits are designed to provide reasonable protection against
harmful interference when the equipment is operated in a commercial environment. This equipment
generates, uses, and can radiate radio frequency energy and, if not installed and used in accordance
with the instruction manual, may cause harmful interference to radio communications. Operation of this
equipment in a residential area is likely to cause harmful interference in which case the user will be
required to correct the interference at his own expense.
Industry Canada
SPAN Class A digital apparatuses comply with Canadian ICES-003.
SPAN appareils numérique de la classe A sont conforme à la norme NMB-003 du Canada.
CE Notice
The enclosures carry the CE mark.
"Hereby, NovAtel Inc. declares that this SPAN-IGM is in compliance with the essential requirements and
other relevant provisions of the R&TTE Directive 1999/5/EC, the EMC Directive 2004/108/EC and of the
RoHS Directive 2011/65/EU."
WEEE Notice
If you purchased your SPAN product in Europe, please return it to your dealer or supplier at the end of its
life. The objectives of the European Community's environment policy are, in particular, to preserve,
protect and improve the quality of the environment, protect human health 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 ( ).1
In order to maintain compliance with the limits of a Class A digital device, it is required to
use properly shielded interface cables (such as Belden #9539 or equivalent) when using
the serial data ports, and double-shielded cables (such as Belden #9945 or equivalent)
when using the I/O strobe port.
Changes or modifications to this equipment, not expressly approved by NovAtel Inc., could
result in violation of FCC, Industry Canada and CE Marking rules and void the user’s
authority to operate this equipment.
Notices
SPAN-IGM User Manual Rev 2 9
REACH
NovAtel strives to comply with the EU Directive EC 1907/2006 on chemicals and their safe use as per the
Registration, Evaluation, Authorization and Restriction of Chemical substances (REACH) for its products,
including the SPAN-IGM product. Since REACH SVHC lists are updated occasionally, please contact
NovAtel Customer Support if you require further information.
Lightning Protection Installation and Grounding Procedures
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 coax cable to the connected equipment.
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:
• UL listed, or equivalent, in country of installation (for example, TUV, VDE and so on) for lightning
surge protection
• The primary device must be capable of limiting an incoming surge to 10kV
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 grounded to the same
ground near to the building's entrance.
1. Please visit the NovAtel Web site at www.novatel.com/products/weee-and-rohs/ for more information.
Cables may contain DEHP (CAS Number 117-81-7) in concentrations above 0.1% w/w.
Only qualified personnel, electricians as mandated by the governing body in the country of
installation, may install lightning protection devices.
10 SPAN-IGM User Manual Rev 2
Notices
6. The primary and secondary lightning protections should be as close to the building's entrance as
possible. Where feasible they should be mounted onto the grounding plate itself. See Figure 1,
Primary and Secondary Lightning Protection on page 10.
Figure 1: Primary and Secondary Lightning Protection
These installation instructions are the minimum requirements for receiver and antenna installations.
Where applicable, follow the electrical codes for the country of installation. Examples of country codes
include:
• USA National Electrical Code (NFPA 70)
• Canada Canadian Electrical Code (CSA C22)
• UK British Standards Institute (BSI 7671)
Ref # Description
1 Primary lightning protection device
2 Secondary lightning protection device
3 External antenna
4 GNSS Receiver
5 To ground
6 Grounding plate or grounding point at the building’s entrance
Acceptable choices for Earth Grounds, for central buildings, are:
• Grounded interior metal cold water pipe within five feet (1.5 m) of the point where it
enters the building
• Grounded metallic service raceway
• Grounded electrical service equipment enclosure
• Eight-foot grounding rod driven into the ground (only if bonded to the central
building ground by #6, or heavier, bonding wire)
SPAN-IGM User Manual Rev 2 11
Chapter 1 Introduction
NovAtel's SPAN technology brings together two very different but complementary positioning and
navigation systems namely Global Navigation Satellite System (GNSS) and an Inertial Navigation
System (INS). By combining the best aspects of GNSS and INS into one system, SPAN technology is
able to offer a solution that is more accurate and reliable than either GNSS or INS could provide alone.
The combined GNSS + INS solution has the advantage of the absolute accuracy available from GNSS
and the continuity of INS through traditionally difficult GNSS conditions.
1.1 Fundamentals of GNSS + INS
GNSS positioning observes range measurements from orbiting GNSS satellites. From these
observations, the receiver can compute position and velocity with high accuracy. NovAtel GNSS
positioning systems are highly accurate positioning tools. However, GNSS in general has some
restrictions which limit its usefulness in some situations. GNSS positioning requires line of sight view to at
least four satellites simultaneously. If these criteria are met, differential GNSS positioning can be
accurate to within a few centimetres. If however, some or all of the satellite signals are blocked, the
accuracy of the position reported by GNSS degrades substantially, or may not be available at all.
In general, an INS uses forces and rotations measured by an Inertial Measurement Unit (IMU) to
calculate position, velocity and attitude. This capability is embedded in the firmware of the SPAN-IGM.
Forces are measured by accelerometers in three perpendicular axes within the IMU and the gyros
measure angular rotation rates around those axes. Over short periods of time, inertial navigation gives
very accurate acceleration, velocity and attitude output. The INS must have prior knowledge of its initial
position, initial velocity, initial attitude, Earth rotation rate and gravity field. Since the IMU measures
changes in orientation and acceleration, the INS determines changes in position and attitude, but initial
values for these parameters must be provided from an external source. Once these parameters are
known, an INS is capable of providing an autonomous solution with no external inputs. However,
because of errors in the IMU measurements that accumulate over time, an inertial-only solution degrades
with time unless external updates such as position, velocity or attitude are supplied.
The SPAN system’s combined GNSS + INS solution integrates the raw inertial measurements with all
available GNSS information to provide the optimum solution possible in any situation. By using the high
accuracy GNSS solution, the IMU errors can be modeled and mitigated. Conversely, the continuity and
relative accuracy of the INS solution enables faster GNSS signal reacquisition and RTK solution
convergence.
The advantages of using SPAN technology are its ability to:
• Provide a full attitude solution (roll, pitch and azimuth)
• Provide continuous solution output (in situations when a GNSS-only solution is impossible)
• Provide faster signal reacquisition and RTK solution resolution (over stand-alone GNSS because
of the tightly integrated GNSS and INS filters)
• Output high-rate (up to 125 or 200 Hz depending on SPAN-IGM model and logging selections)
position, velocity and attitude solutions for high-dynamic applications, see also Logging
Restriction Important Notice on page 33
• Use raw phase observation data (to constrain INS solution drift even when too few satellites are
available for a full GNSS solution)
12 SPAN-IGM User Manual Rev 2
Chapter 1 Introduction
1.2 System Components
The SPAN-IGM system consists of the following components:
•SPAN-IGM Integrated GNSS + INS unit
This unit has 3 accelerometers, 3 gyroscopes (gyros) and a NovAtel OEM615 receiver. Excellent
acquisition and re-acquisition times allow this receiver to operate in environments where very
high dynamics and frequent interruption of signals can be expected.
•GNSS antenna
A quality, dual frequency GNSS antenna such as the GPS-702-GG or ANT-A72GA-TW-N for
airborne/high speed applications. See the NovAtel website (www.novatel.com/products/gnss-
antennas/) for information on a variety of quality antennas available to meet your form factor and
performance needs.
•PC software
Real-time data collection, status monitoring and receiver configuration is possible through the
NovAtel Connect software utility, see Configure SPAN with Connect on page 25.
There are two SPAN-IGM models available, the SPAN-IGM-A1 and the SPAN-IGM-S1. These models
have the same features and functionality. They also install and operate in the same manner. For these
reasons, the majority of this manual uses the term SPAN-IGM, which refers to both models.
Where the two models differ is in the IMU performance.
• The SPAN-IGM-A1 uses the ADIS-16488 IMU. For details about this model, see SPAN-IGM-A1
Technical Specifications on page 52.
• The SPAN-IGM-S1 uses the STIM300 IMU. For details about this model, see SPAN-IGM-S1
Technical Specifications on page 54.
1.3 Scope
This manual contains sufficient information about the installation and operation of the SPAN-IGM 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 Support on page 7.
A SPAN-IGM system requires the addition of accessories, an antenna and a power supply.
The SPAN-IGM utilizes a comprehensive user-interface command structure, which requires
communications through its communications ports. The SPAN on OEM6 Firmware Reference Manual
(OM-20000144) describes the INS specific commands and logs. For descriptions of other commands
and logs available for SPAN-IGM, refer to the OEM6 Family Firmware Reference Manual
(OM-20000129). These manuals are available on the NovAtel website (www.novatel.com/support/
firmware-software-and-manuals/product-manuals-and-doc-updates/). It is recommended that these
documents be kept together for easy reference.
SPAN-IGM output is compatible with post-processing software from NovAtel's Waypoint®Products
Group. Visit our Web site at www.novatel.com for details.
Introduction Chapter 1
SPAN-IGM User Manual Rev 2 13
1.4 Conventions
The following conventions are used in this manual:
Information that supplements or clarifies text.
A caution that actions, operation or configuration may lead to incorrect or improper use of
the hardware.
A warning that actions, operation or configuration may result in regulatory noncompliance,
safety issues or equipment damage.
14 SPAN-IGM User Manual Rev 2
Chapter 2 SPAN Installation
This chapter contains instructions and tips to setup your SPAN-IGM system.
2.1 Required Equipment
• A SPAN-IGM integrated GNSS + INS receiver
• A quality, dual frequency GNSS antenna such as the GPS-702-GG or ANT-A72GA-TW-N for
airborne/high speed applications. See the NovAtel website (www.novatel.com/products/gnss-
antennas/) for information on a variety of quality antennas available to meet your form factor and
performance needs.
• An antenna cable with a TNC male connector at the receiver end, such as NovAtel’s GPS-C016
model
• A power supply of +10 to +30 V DC with a maximum typical current of 0.4 A
For an ALIGN variant with a FlexPak6, the maximum typical current is 0.65 A
• Interface cables for the MAIN and AUX ports on the SPAN-IGM
The interface cables can be NovAtel cables (see SPAN-IGM Cables on page 15) or custom built
cables (see Appendix A, Technical Specifications on page 52 for the MAIN and AUX port pin outs).
• A Windows®based computer with a USB or serial port
• A radio link (if your application requires real time differential operation
2.2 SPAN-IGM Hardware
The SPAN-IGM contains an OEM615 GNSS receiver and an IMU containing 3 accelerometers and 3
gyroscopes. The connectors available on the SPAN-IGM are shown in Figure 2, SPAN-IGM.
Figure 2: SPAN-IGM
The SPAN-IGM provides one antenna and two DB-15HD connectors.
Connector Type Connections
Antenna TNC Female • GNSS antenna
MAIN DB-15HD Female •power
•CANBus
•COM2serialport
• MIC serial port
AUX DB-15HD Male
•odometer
• COM3 serial port
•USBport
• Event1/Mark 1 input
• Event2/Mark2 input
• VARF (Variable Frequency) output
• 1 PPS (Pulse Per Second) output
SPAN Installation Chapter 2
SPAN-IGM User Manual Rev 2 15
The sections that follows outline how to set up the system’s parts and cables. For more information about
the SPAN-IGM and cables, see Appendix A, Technical Specifications on page 52.
2.2.1 SPAN-IGM Cables
This section outlines the NovAtel interface cables used with the SPAN-IGM.
Each connector can be inserted in only one way, to prevent damage to both the receiver and the cables.
Furthermore, the connectors used to mate the cables to the receiver require careful insertion and
removal. Observe the following when handling the cables.
• To insert a cable, make certain to use the appropriate cable for the port.
• Insert the connector until it is straight on and secure.
• To remove a cable, grasp it by the connector.
Table 1, SPAN-IGM Cables lists the NovAtel cables available for the SPAN-IGM.
Table 1: SPAN-IGM Cables
For more information about the cables used with SPAN-IGM, see Appendix A, Technical Specifications
on page 52.
Use a USB cable to log raw data.
Serial communication is sufficient for configuring and monitoring the SPAN-IGM through
Hyperterminal or NovAtel Connect. USB is required if you have a post-processing
application requiring 125 or 200 Hz IMU data. We also recommend you use NovAtel
Connect to collect the data. Refer to Data Collection on page 32 and Data Collection for
Post-Processing on page 36 for instructions.
Do not pull directly on the cable.
NovAtel Part # Port Purpose
01019014 Main Provides connections for:
•MICCOMport
•COM2
•power
•CANBus
01019015 AUX Provides connections for:
•odometer
•COM3
•USB
• EVENT1/MARK1
• EVENT2/MARK2
•VARF
•1PPS
01019089 Main Connects the SPAN-IGM to COM2 of a FlexPak6
receiver when the two are stacked up in an ALIGN
configuration.
16 SPAN-IGM User Manual Rev 2
Chapter 2 SPAN Installation
2.3 Hardware Set Up
The following examples show the connections for a SPAN-IGM.
Figure 3: Typical SPAN-IGM Set Up – Serial Port
1. Mount the GNSS antenna, as described in Mount the Antenna on page 18.
2. Mount the SPAN-IGM, as described in Mount the SPAN-IGM on page 18.
3. Connect the GNSS antenna to the SPAN-IGM, as described in Connect the Antenna to the
SPAN-IGM on page 19.
4. Connect power to the SPAN-IGM, as described in Connect Power on page 19.
5. Connect a serial port on your computer to the SPAN-IGM, as described in Connect a Computer to
the SPAN-IGM on page 20.
6. Connect the serial port on the user supplied radio device (optional for real time differential operation)
to COM3 on the AUX port on the SPAN-IGM.
7. Connect the I/O strobe signals (optional), as described in Connect I/O Strobe Signals on page 21.
NovAtel interface cables have more connections than are shown in the diagram. Additional
connections were removed for clarity.
Radio
(optional for Real
Time Differential
operation)
SPAN Installation Chapter 2
SPAN-IGM User Manual Rev 2 17
Figure 4: Typical SPAN-IGM Set Up – USB Port
1. Mount the GNSS antenna, as described in Mount the Antenna on page 18.
2. Mount the SPAN-IGM, as described in Mount the SPAN-IGM on page 18.
3. Connect the GNSS antenna to the SPAN-IGM, as described in Connect the Antenna to the
SPAN-IGM on page 19.
4. Connect power to the SPAN-IGM, as described in Connect Power on page 19.
5. Connect a USB port on your computer to the SPAN-IGM, as described in Connect a Computer to the
SPAN-IGM on page 20.
6. Connect the serial port on a user supplied radio device (optional for real time differential operation) to
the User Port (COM2) on the MAIN port on the SPAN-IGM.
7. Connect the I/O strobe signals (optional), as described in Connect I/O Strobe Signals on page 21.
NovAtel interface cables have more connections than is shown in the diagram. Additional
connections were removed for clarity.
Radio
(optional for Real
Time Differential
operation)
18 SPAN-IGM User Manual Rev 2
Chapter 2 SPAN Installation
2.3.1 Mount the Antenna
For maximum positioning precision and accuracy, as well as to minimize the risk of damage, ensure that
the antenna is securely mounted on a stable structure that will not sway or topple. Where possible, select
a location with a clear view of the sky to the horizon so that each satellite above the horizon can be
tracked without obstruction. The location should also be one that minimizes the effect of multipath
interference. For a discussion on multipath, refer to the GNSS Book available from
www.novatel.com/an-introduction-to-gnss/.
Ensure the antenna to IMU distance and orientation does not change due to dynamics.
2.3.2 Mount the SPAN-IGM
Mount the SPAN-IGM in a fixed location where the distance from the SPAN-IGM to the GNSS antenna
phase center is constant. Ensure that the orientation with respect to the vehicle and antenna is also
constant.
For attitude output to be meaningful, the SPAN-IGM should be mounted such that the positive Z-axis
marked on the SPAN-IGM enclosure points up and the Y-axis points forward through the front of the
vehicle, in the direction of track.
Figure 5: SPAN-IGM Enclosure Mounting
Also, it is important to measure the distance from the SPAN-IGM to the antenna (the Antenna Lever
Arm), on the first usage, on the axis defined on the SPAN-IGM enclosure. See Appendix A, Technical
Specifications on page 52 for dimensional drawings of the SPAN-IGM.
Ensure the SPAN-IGM cannot move due to dynamics and that the distance and relative direction
between the antenna and the SPAN-IGM is fixed. See also SPAN IMU Configuration on page 24.
The closer the antenna is to the SPAN-IGM, the more accurate the position solution. Also,
your measurements when using the SETIMUTOANTOFFSET command must be as
accurate as possible, or at least more accurate than the GNSS positions being used. For
example, a 10 cm error in recording the antenna offset will result in at least a 10 cm error in
the output. Millimetre accuracy is preferred.
The offset from the SPAN-IGM to the antenna, and/or a user point device, must remain
constant especially for RTK or DGPS data. Ensure the SPAN-IGM, antenna and user point
device are bolted in one position perhaps by using a custom bracket.
SPAN Installation Chapter 2
SPAN-IGM User Manual Rev 2 19
2.3.3 Connect the Antenna to the SPAN-IGM
Connect the antenna cable from the connector on the GNSS antenna to the Antenna port on the
SPAN-IGM. See Figure 3, Typical SPAN-IGM Set Up – Serial Port on page 16.
For best performance, use a high-quality coaxial cable. An appropriate coaxial cable is one that matches
the impedances of the antenna and receiver (50 ohms), and has a line loss that does not exceed 10.0
dB. If the limit is exceeded, excessive signal degradation may occur and the receiver may not meet
performance specifications.
If your application requires the use of cable longer than 30 m, refer to application note APN-003 RF
Equipment Selection and Installation, available at www.novatel.com/support/knowledge-and-learning/
published-papers-and-documents/application-notes/.
2.3.4 Connect Power
The SPAN-IGM requires an input voltage of +10 to +30 VDC. The SPAN-IGM has an internal power
module that:
• filters and regulates the supply voltage
• protects against over-voltage, over-current, and high-temperature conditions
• provides automatic reset circuit protection
The power input pins are located on the MAIN connector. If you are using a NovAtel interface cable (part
number 01019014), the power leads are labelled BATT+ and BATT-. Be sure to connect the power with
the correct polarity and ensure the power source is within specifications. If you are creating a custom
interface cable, see Appendix A, Technical Specifications on page 52 for the MAIN connector pin out and
power input requirements.
There is always a drop in voltage between the power source and the power port due to cable loss.
Improper selection of wire gauge can lead to an unacceptable voltage drop at the SPAN system. A paired
wire run represents a feed and return line. Therefore, a 2 metre wire pair represents a total wire path of 4
metres. For a SPAN system operating from a 12 V system, a power cable longer than 2.1 m (7 ft.) should
not use a wire diameter smaller than 24 AWG.
The SPAN-IGM can supply power for the antenna Low Noise Amplifier (LNA) through the
Antenna port center conductor. The SPAN-IGM provides +5 VDC +/- 5% at a maximum of
100 mA.
NovAtel offers several coaxial cables to meet your GNSS antenna interconnection
requirements, including 5, 15 and 30 m antenna cable with TNC connectors on both ends
(NovAtel part numbers GPS-C006, GPS-C016 and GPS-C032).
A SPAN-IGM can be connected to a FlexPak6 receiver to create an ALIGN system (see
Figure 8, SPAN-IGM - Dual Antenna Installation on page 39).
When the SPAN-IGM is connected to the FlexPak6 using a SPAN-IGM ALIGN cable
(NovAtel part number 01019089), the FlexPak6 provides power for the SPAN-IGM through
the SPAN-IGM ALIGN cable.
The power supply used to power the SPAN-IGM must be monotonic during power on to
ensure internal logic blocks are initialized appropriately and proceed to valid operating
states. If the power supply is not monotonic during power on, the accelerometer status in
the IMU status may show a failure and the accelerometer measurements in the RAWIMUS
log (see the SPAN on OEM6 Firmware Reference Manual (OM-20000144)) will be zero.
Power cycling with a monotonic power up clears this error state.
20 SPAN-IGM User Manual Rev 2
Chapter 2 SPAN Installation
If the SPAN-IGM is installed in a vehicle, NovAtel recommends a back-up battery be placed between the
receiver and its voltage supply to act as a power buffer. 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.
Figure 6: Battery Isolator Installation
2.3.5 Connect a Computer to the SPAN-IGM
You can connect a computer to the SPAN-IGM using a serial connection or a USB connection.
2.3.5.1 Connect a Computer Using a Serial Connection
Connect the computer to the COM2 port on the SPAN-IGM. The COM2 serial port is available on the
MAIN connector. See Figure 3, Typical SPAN-IGM Set Up – Serial Port on page 16.
If you are using a NovAtel interface cable (part number 01019014):
1. Connect the interface cable to the MAIN connector on the SPAN-IGM.
2. Connect the DB9 connector labelled User Port to the serial port on the computer.
If you are creating a custom interface cable, refer to Appendix A, Technical Specifications on page 52 for
the MAIN connector pin out.
Vehicle Main
Battery
Auxiliary
Battery
Battery Isolator
from Vehicle
Alternator
to Vehicle Electrical
System
An additional serial port, COM3, is optionally available on the AUX connector. This port is
disabled by default. For information about enabling COM3, see COM3 Serial Port on
page 22.
By default, COM2 operates as an RS-232 serial port. To change COM2 to operate as an
RS-422 serial port, see Enable RS-422 serial connections on page 22.
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