Novatel OEM7720 - User Manual

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

Summary

OEM7 SPAN Installation and Operation User Manual

Chapter 1 OEM7 SPAN Overview

Chapter 2 SPAN Installation

2.1 OEM7 Receiver Card Installation

Provides steps for installing the OEM7 receiver card and connecting components.

2.1.4 Mount the IMU

Guidance on mounting the IMU to maintain constant distance and orientation.

2.1.5 Connect the IMU to the OEM7 Receiver Card

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

2.1.6 Connect Power

Explains how to connect power to the IMU and OEM7 receiver for system operation.

2.2 MIC Installation

Procedures for installing the MEMS Interface Card (MIC) for IMU connection.

2.3 UIC Installation

Procedures for installing the Universal IMU Controller (UIC) for IMU connection.

2.3.2 Connect the IMU to the UIC

Details on connecting the IMU to the UIC using the interface cable.

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

Instructions for connecting power to both the UIC and the OEM7 receiver.

2.4 PwrPak7 Installation

Guides for installing the PwrPak7 receiver and connecting SPAN system components.

2.4.1 Connect the IMU to the PwrPak7

Details on connecting the IMU to the PwrPak7's serial ports.

2.5 PwrPak7-E1 Installation

Instructions for installing the PwrPak7-E1 receiver and connecting SPAN components.

Chapter 3 SPAN Operation

3.2 SPAN Translations and Rotations

Explains the need for defining offsets between SPAN components for accurate data.

3.2.1 Translational Offsets

Details on measuring and entering three-dimensional distances between SPAN components.

3.2.2 Rotational Offsets

Explains defining orientation differences between IMU and other SPAN components.

3.3 Software Configuration

Covers essential software configuration steps for the SPAN system.

3.3.1 Minimum Recommended Configuration

Lists the essential commands required for initial SPAN system setup.

3.3.4 SPAN Configuration

Covers manual configuration steps and options via NovAtel Connect.

3.4 Real-Time Operation

Explains how SPAN operates in real-time using commands and logs.

3.4.1 System Start-Up and Alignment Techniques

Details the system alignment process from startup to navigation mode.

Kinematic Alignment

3.4.2 INS Seed; Fast INS Initialization

3.4.5 Lever Arm Calibration Routine

Procedure for calibrating lever arm offsets when components are re-mounted.

3.4.6 Body to Vehicle Frame Rotation Calibration Routine

Procedure for calibrating rotational offsets between IMU and vehicle frames.

3.5 Synchronizing External Equipment

3.7 SPAN Wheel Sensor Configuration

3.9 Data Collection for Post Processing

3.11 Variable Lever Arm

3.12 Relative INS

Chapter 4 SPAN with Dual Antenna

4.1 Installation

Covers installation considerations for SPAN systems with dual antennas.

4.2 Configuring ALIGN with SPAN

Steps to configure the ALIGN solution and heading updates with SPAN.

4.3 Configuring SPAN with ALIGN

Details different alignment routines for SPAN based on motion conditions.

4.3.1 Alignment on a Moving Vessel - Aided Transfer Alignment

4.3.2 Alignment on a Stationary Vehicle - Aided Static Alignment

4.4 SPAN ALIGN Attitude Updates

APPENDIX A IMU Technical Specifications

A.1 HG1700 IMU (single-connector enclosure)

Physical specifications for the HG1700 IMU in a single-connector enclosure.

A.1.2 HG1700 IMU Performance

Details the gyroscope and accelerometer performance specifications for HG1700 IMUs.

A.2 IMU-CPT

Physical specifications for the IMU-CPT.

A.2.2 IMU-CPT Sensor Specifications

Details the gyroscope and accelerometer performance for the IMU-CPT.

A.3 IMU-FSAS

Physical specifications for the IMU-FSAS.

A.3.2 IMU-FSAS Performance

Details the gyroscope and accelerometer performance for the IMU-FSAS.

A.4 IMU-HG1900

Physical specifications for the IMU-HG1900, containing a Honeywell HG1900 IMU.

A.4.2 IMU-HG1900 Sensor Specifications

Details the gyroscope and accelerometer performance for the HG1900 IMU.

A.5 IMU-IGM

Specifications for the IMU-IGM-A1 and IMU-IGM-S1.

A.5.3 IMU-IGM Sensor Specifications

Details the gyroscope and accelerometer performance for IMU-IGM-A1 and S1.

A.6 IMU-ISA-100 C

Physical specifications for the IMU-ISA-100C containing an ISA-100C IMU.

A.6.3 IMU-ISA-100 C Performance

Details the gyroscope and accelerometer performance for the ISA-100C IMU.

A.7 IMU-KVH1750

Physical specifications for the IMU-KVH1750.

A.7.2 IMU-KVH1750 Sensor Specifications

Details the gyroscope and accelerometer performance for the KVH1750 IMU.

A.8 IMU-ENC-LN200

Physical specifications for the IMU-ENC-LN200 containing an LN200 IMU.

A.8.2 IMU-ENC-LN200 Sensor Specifications

Details the gyroscope and accelerometer performance for LN200/LN200C IMUs.

A.9 IMU-µIMU-IC

Physical specifications for the IMU-µIMU-IC containing a Litef µIMU.

A.9.2 IMU-µIMU-IC Sensor Specifications

Details the gyroscope and accelerometer performance for the µIMU-IC.

A.10 LN-200 IMU (single-connector enclosure)

Physical specifications for the LN-200 IMU in a single-connector enclosure.

A.10.2 LN-200 IMU Performance

Details the gyroscope and accelerometer performance for the LN-200 IMU.

A.11 OEM-IMU-ADIS-16488

A.11.2 OEM-IMU-ADIS-16488 Sensor Specifications

Details the gyroscope and accelerometer performance for the ADIS-16488.

A.11.4 OEM-IMU-ADIS-16488 SPI Connection

Details the SPI connections required for ADIS-16488 to OEM7 receivers.

A.12 OEM-IMU-EG320 N

A.12.2 OEM-IMU-EG320 N Sensor Specifications

Details the gyroscope and accelerometer performance for the EG320N IMU.

A.13 OEM-IMU-ISA-100 C

A.13.2 OEM-IMU-ISA-100 C Sensor Specifications

Details the gyroscope and accelerometer performance for the ISA-100C IMU.

A.13.4 OEM-IMU-ISA-100 C IMU to UIC Cable Assembly

Details the cable assembly connecting the ISA-100C IMU to the UIC.

A.14 OEM-IMU-STIM300

A.14.2 OEM-IMU-STIM300 Sensor Specifications

Details the gyroscope and accelerometer performance for the STIM300 IMU.

A.14.4 OEM-IMU-STIM300 Direct Connection

Details the direct RS-422 connections for STIM300 to OEM7 receivers.

A.15 OEM-IMU-µIMU

A.15.2 OEM-IMU-µIMU Sensor Specifications

Details the gyroscope and accelerometer performance for the µIMU.

A.16 Universal IMU Enclosure (HG1700, LN200)

A.16.2 IMU Performance

Performance specifications for IMUs housed in the Universal Enclosure.

A.17 MIC - MEMS Interface Card

A.17.3 MIC Connectors

Details the connectors and pinouts for the MIC card.

A.18 UIC - Universal IMU Controller

A.18.3 UIC Connectors

Details the connectors and pinouts for the UIC.

APPENDIX B HG1700 IMU in Universal Enclosure

B.1 Disassemble the Universal Enclosure

B.2 Install the HG1700 Sensor Unit

APPENDIX C LN-200 IMU in Universal Enclosure

C.1 Disassemble the Universal Enclosure

C.2 Install the LN-200 Sensor Unit

APPENDIX D HG1700 IMU in SPAN HG Enclosure

D.1 Disassemble the SPAN IMU Enclosure

D.2 Install the HG1700 Sensor Unit

D.3 Make the Electrical Connections

APPENDIX E LN-200 IMU in SPAN IMU Enclosure

E.1 Disassemble the SPAN IMU Enclosure

E.2 Install the LN-200 Sensor Unit

E.3 Make the Electrical Connections

Novatel OEM7720 Specifications

General

Type	GNSS Receiver
Velocity Accuracy	0.03 m/s
Timing Accuracy (RMS)	20 ns
Update Rate	Up to 100 Hz
Input Voltage	3.3 VDC
Operating Temperature	-40°C to +85°C
Weight	24 g
Signals Tracked	GPS L1, GLONASS L1, BeiDou B1, Galileo E1
Voltage Range	3.0 V to 3.6 V
Interfaces	USB, UART, SPI
Protocols	NMEA
Advanced Features	SBAS, RAIM, GLIDE