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Novatel OEM7700 - User Manual

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OM-20000170 v4 February 2018
OEM7
®
SPAN
®
Installation and Operation
User Manual

Table of Contents

Other manuals for Novatel OEM7700

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Summary

Customer Support

Before Contacting Customer Support

Steps to take before contacting support for software issues, including data logging.

Chapter 1 OEM7 SPAN Overview

1.1 Fundamentals of GNSS+INS

Explains GNSS positioning principles and the role of INS in enhancing accuracy and continuity.

1.2 Models and Features

Details the configurable features and models of SPAN system receivers.

Chapter 2 SPAN Installation

2.1 OEM7 Receiver Card Installation

Provides guidance on installing the OEM7 receiver card and connecting system components.

2.1.3 Mounting the GNSS Antenna

Provides instructions for mounting the GNSS antenna for optimal signal reception.

2.1.4 Mount the IMU

Details the procedure for mounting the IMU to ensure constant orientation and distance.

2.1.5 Connect the IMU to the OEM7 Receiver Card

Explains connection methods for various IMUs to the OEM7 receiver card.

2.1.6 Connect Power

Provides instructions for connecting power to the IMU and receiver for operation.

2.2 MIC Installation

Guides the installation of the MEMS Interface Card (MIC) for connecting IMUs.

2.2.1 Install a MIC in a Stack Up Configuration

Details mounting the MIC card directly onto an OEM719 receiver.

2.2.2 Install a MIC in a Standalone Configuration

Explains how to mount the MIC separately from the OEM7 receiver.

2.3 UIC Installation

Guides the installation of the Universal IMU Controller (UIC) for connecting IMUs.

2.3.1 Mount the SPAN System Components

Instructions for mounting the antenna, receiver, and UIC for the SPAN system.

2.3.2 Connect the IMU to the UIC

Details the connection procedure for the IMU to the UIC interface.

2.3.3 Connect the UIC to a receiver

Explains how to connect the UIC's serial port to the OEM7 receiver.

2.3.4 Connect Power to the UIC and OEM7 Receiver

Provides steps for connecting power to the UIC and the OEM7 receiver.

2.4 PwrPak7 Installation

Provides instructions for installing the PwrPak7 for SPAN systems.

2.4.1 Connect the IMU to the PwrPak7

Details connecting the IMU to the COM1 or COM2 serial port on the PwrPak7.

2.5 PwrPak7-E1 Installation

Provides instructions for installing the PwrPak7-E1 for SPAN systems.

2.6 Wheel Sensor Installation

Guides the installation of a wheel sensor for distance measurement.

2.6.1 Wheel Sensor Requirements

Lists the requirements for compatible wheel sensors used with PwrPak7 and IMUs.

2.6.2 Wheel Sensor Connection

Explains how to connect wheel sensors to PwrPak7, IMU, or UIC.

Chapter 3 SPAN Operation

3.2 SPAN Translations and Rotations

Explains how SPAN combines GNSS and INS, requiring knowledge of component offsets.

3.2.1 Translational Offsets

Defines translational offsets between IMU and other SPAN components.

3.2.2 Rotational Offsets

Defines rotational offsets representing orientation differences between IMU and components.

3.3 Software Configuration

Details the software configuration steps for both the GNSS receiver and IMU.

3.3.1 Minimum Recommended Configuration

Outlines the minimum required information to configure a SPAN system.

3.3.2 GNSS Configuration

Explains setting up GNSS configuration for various accuracy levels.

3.3.3 INS Profiles

Describes INS Profiles for simplified configuration and enhanced performance.

3.3.4 SPAN Configuration

Guides manual configuration of the SPAN system using software commands.

3.4 Real-Time Operation

Explains how SPAN operates through the OEM7 command and log interface.

3.4.1 System Start-Up and Alignment Techniques

Details the system alignment process required to start the navigation filter.

3.4.2 INS Seed; Fast INS Initialization

Describes using saved INS information to quickly initialize the system at startup.

3.4.3 Navigation Mode

Explains the navigation mode where SPAN computes position, velocity, and attitude.

3.4.4 Data Collection

Lists available logs for INS solution and other parameters.

3.4.5 Lever Arm Calibration Routine

Guides calibration of the lever arm when the system is re-mounted or moved.

3.4.6 Body to Vehicle Frame Rotation Calibration Routine

Details calibration for the rotational offset between IMU Body and Vehicle frames (RBV).

3.4.7 Multi-Line Body to Vehicle Frame Rotation Calibration Routine

Provides a method for higher roll offset accuracy in vehicle frame calibration.

3.5 Synchronizing External Equipment

Explains how to synchronize the SPAN system with external equipment using input pulses.

3.6 Adding Timed Sensor Triggers

Describes attaching and triggering external sensors using OEM7 receiver connections.

3.7 SPAN Wheel Sensor Configuration

Guides the configuration of wheel sensors for distance measurement and updates.

3.7.1 Wheel Sensor Data Collected on the PwrPak7

Explains how the PwrPak7 collects wheel sensor data and uses it for updates.

3.7.2 Wheel Sensor Data Collected on IMU

Describes how IMU-CPT, iIMU-FSAS, and IMU-IGM collect and pass wheel sensor data.

3.8 Azimuth Sources on a SPAN System

Explains the three methods used by SPAN systems to calculate azimuth.

3.9 Data Collection for Post Processing

Details data collection requirements for post-mission processing of SPAN data.

3.11 Variable Lever Arm

Explains the concept of variable lever arms for gimballed mounts.

3.11.2 How to Use Variable Lever Arm

Details how to use the variable lever arm functionality with gimbal angles input.

3.12 Relative INS

Explains NovAtel's Relative INS technology for generating vectors between SPAN systems.

3.12.1 Configure Relative INS

Guides the configuration of receivers to compute relative information.

Chapter 4 SPAN with Dual Antenna

4.1 Installation

Details the hardware installation for SPAN systems with dual antennas.

4.2 Configuring ALIGN with SPAN

Guides the configuration of the ALIGN solution for SPAN systems.

4.3 Configuring SPAN with ALIGN

Explains how to configure SPAN for different alignment routines based on motion conditions.

4.4 SPAN ALIGN Attitude Updates

Describes how INS heading updates constrain azimuth drift of the INS solution.

APPENDIX A IMU Technical Specifications

A.17 MIC - MEMS Interface Card

Provides physical specifications for the MEMS Interface Card (MIC).

A.18 UIC - Universal IMU Controller

Provides physical specifications for the Universal IMU Controller (UIC).

APPENDIX B HG1700 IMU in Universal Enclosure

B.2 Install the HG1700 Sensor Unit

Procedure for installing the HG1700 sensor unit into the Universal Enclosure.

APPENDIX D HG1700 IMU in SPAN HG Enclosure

D.2 Install the HG1700 Sensor Unit

Procedure for installing the HG1700 sensor unit into the SPAN HG Enclosure.

APPENDIX C LN-200 IMU in Universal Enclosure

C.2 Install the LN-200 Sensor Unit

Procedure for installing the LN-200 sensor unit into the Universal Enclosure.

APPENDIX E LN-200 IMU in SPAN IMU Enclosure

E.2 Install the LN-200 Sensor Unit

Procedure for installing the LN-200 sensor unit into the SPAN IMU Enclosure.

APPENDIX F Frequently Asked Questions

What is the minimum configuration I need to do to get the system running?

Details the minimum configuration commands required to start the SPAN system.

Summary

Customer Support

Before Contacting Customer Support

Steps to take before contacting support for software issues, including data logging.

Chapter 1 OEM7 SPAN Overview

1.1 Fundamentals of GNSS+INS

Explains GNSS positioning principles and the role of INS in enhancing accuracy and continuity.

1.2 Models and Features

Details the configurable features and models of SPAN system receivers.

Chapter 2 SPAN Installation

2.1 OEM7 Receiver Card Installation

Provides guidance on installing the OEM7 receiver card and connecting system components.

2.1.3 Mounting the GNSS Antenna

Provides instructions for mounting the GNSS antenna for optimal signal reception.

2.1.4 Mount the IMU

Details the procedure for mounting the IMU to ensure constant orientation and distance.

2.1.5 Connect the IMU to the OEM7 Receiver Card

Explains connection methods for various IMUs to the OEM7 receiver card.

2.1.6 Connect Power

Provides instructions for connecting power to the IMU and receiver for operation.

2.2 MIC Installation

Guides the installation of the MEMS Interface Card (MIC) for connecting IMUs.

2.2.1 Install a MIC in a Stack Up Configuration

Details mounting the MIC card directly onto an OEM719 receiver.

2.2.2 Install a MIC in a Standalone Configuration

Explains how to mount the MIC separately from the OEM7 receiver.

2.3 UIC Installation

Guides the installation of the Universal IMU Controller (UIC) for connecting IMUs.

2.3.1 Mount the SPAN System Components

Instructions for mounting the antenna, receiver, and UIC for the SPAN system.

2.3.2 Connect the IMU to the UIC

Details the connection procedure for the IMU to the UIC interface.

2.3.3 Connect the UIC to a receiver

Explains how to connect the UIC's serial port to the OEM7 receiver.

2.3.4 Connect Power to the UIC and OEM7 Receiver

Provides steps for connecting power to the UIC and the OEM7 receiver.

2.4 PwrPak7 Installation

Provides instructions for installing the PwrPak7 for SPAN systems.

2.4.1 Connect the IMU to the PwrPak7

Details connecting the IMU to the COM1 or COM2 serial port on the PwrPak7.

2.5 PwrPak7-E1 Installation

Provides instructions for installing the PwrPak7-E1 for SPAN systems.

2.6 Wheel Sensor Installation

Guides the installation of a wheel sensor for distance measurement.

2.6.1 Wheel Sensor Requirements

Lists the requirements for compatible wheel sensors used with PwrPak7 and IMUs.

2.6.2 Wheel Sensor Connection

Explains how to connect wheel sensors to PwrPak7, IMU, or UIC.

Chapter 3 SPAN Operation

3.2 SPAN Translations and Rotations

Explains how SPAN combines GNSS and INS, requiring knowledge of component offsets.

3.2.1 Translational Offsets

Defines translational offsets between IMU and other SPAN components.

3.2.2 Rotational Offsets

Defines rotational offsets representing orientation differences between IMU and components.

3.3 Software Configuration

Details the software configuration steps for both the GNSS receiver and IMU.

3.3.1 Minimum Recommended Configuration

Outlines the minimum required information to configure a SPAN system.

3.3.2 GNSS Configuration

Explains setting up GNSS configuration for various accuracy levels.

3.3.3 INS Profiles

Describes INS Profiles for simplified configuration and enhanced performance.

3.3.4 SPAN Configuration

Guides manual configuration of the SPAN system using software commands.

3.4 Real-Time Operation

Explains how SPAN operates through the OEM7 command and log interface.

3.4.1 System Start-Up and Alignment Techniques

Details the system alignment process required to start the navigation filter.

3.4.2 INS Seed; Fast INS Initialization

Describes using saved INS information to quickly initialize the system at startup.

3.4.3 Navigation Mode

Explains the navigation mode where SPAN computes position, velocity, and attitude.

3.4.4 Data Collection

Lists available logs for INS solution and other parameters.

3.4.5 Lever Arm Calibration Routine

Guides calibration of the lever arm when the system is re-mounted or moved.

3.4.6 Body to Vehicle Frame Rotation Calibration Routine

Details calibration for the rotational offset between IMU Body and Vehicle frames (RBV).

3.4.7 Multi-Line Body to Vehicle Frame Rotation Calibration Routine

Provides a method for higher roll offset accuracy in vehicle frame calibration.

3.5 Synchronizing External Equipment

Explains how to synchronize the SPAN system with external equipment using input pulses.

3.6 Adding Timed Sensor Triggers

Describes attaching and triggering external sensors using OEM7 receiver connections.

3.7 SPAN Wheel Sensor Configuration

Guides the configuration of wheel sensors for distance measurement and updates.

3.7.1 Wheel Sensor Data Collected on the PwrPak7

Explains how the PwrPak7 collects wheel sensor data and uses it for updates.

3.7.2 Wheel Sensor Data Collected on IMU

Describes how IMU-CPT, iIMU-FSAS, and IMU-IGM collect and pass wheel sensor data.

3.8 Azimuth Sources on a SPAN System

Explains the three methods used by SPAN systems to calculate azimuth.

3.9 Data Collection for Post Processing

Details data collection requirements for post-mission processing of SPAN data.

3.11 Variable Lever Arm

Explains the concept of variable lever arms for gimballed mounts.

3.11.2 How to Use Variable Lever Arm

Details how to use the variable lever arm functionality with gimbal angles input.

3.12 Relative INS

Explains NovAtel's Relative INS technology for generating vectors between SPAN systems.

3.12.1 Configure Relative INS

Guides the configuration of receivers to compute relative information.

Chapter 4 SPAN with Dual Antenna

4.1 Installation

Details the hardware installation for SPAN systems with dual antennas.

4.2 Configuring ALIGN with SPAN

Guides the configuration of the ALIGN solution for SPAN systems.

4.3 Configuring SPAN with ALIGN

Explains how to configure SPAN for different alignment routines based on motion conditions.

4.4 SPAN ALIGN Attitude Updates

Describes how INS heading updates constrain azimuth drift of the INS solution.

APPENDIX A IMU Technical Specifications

A.17 MIC - MEMS Interface Card

Provides physical specifications for the MEMS Interface Card (MIC).

A.18 UIC - Universal IMU Controller

Provides physical specifications for the Universal IMU Controller (UIC).

APPENDIX B HG1700 IMU in Universal Enclosure

B.2 Install the HG1700 Sensor Unit

Procedure for installing the HG1700 sensor unit into the Universal Enclosure.

APPENDIX D HG1700 IMU in SPAN HG Enclosure

D.2 Install the HG1700 Sensor Unit

Procedure for installing the HG1700 sensor unit into the SPAN HG Enclosure.

APPENDIX C LN-200 IMU in Universal Enclosure

C.2 Install the LN-200 Sensor Unit

Procedure for installing the LN-200 sensor unit into the Universal Enclosure.

APPENDIX E LN-200 IMU in SPAN IMU Enclosure

E.2 Install the LN-200 Sensor Unit

Procedure for installing the LN-200 sensor unit into the SPAN IMU Enclosure.

APPENDIX F Frequently Asked Questions

What is the minimum configuration I need to do to get the system running?

Details the minimum configuration commands required to start the SPAN system.

Novatel OEM7700 Specifications

General IconGeneral
BrandNovatel
ModelOEM7700
CategoryReceiver
LanguageEnglish

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