Download SPAN-SE Users Manual

Table of Contents
Proprietary Notice
Software License
Terms and Conditions
Warranty Policy
Customer Support
Firmware Updates and Model Upgrades
Notices
Foreword
1 Introduction
2
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27
29
1.1 Fundamentals of GNSS/INS.................................................................................................. 30
1.2 Models and Features ............................................................................................................. 31
2 SPAN-SE Installation
33
2.1 SPAN-SE Hardware Description ........................................................................................... 33
2.2 SPAN-SE Hardware Installation ............................................................................................ 37
2.2.1 Mount Antenna ............................................................................................................ 37
2.2.2 Mount IMU ................................................................................................................... 38
2.2.3 Connect Interface Cables ............................................................................................ 38
2.2.4 Connect Power ............................................................................................................ 40
2.2.5 Power Button ............................................................................................................... 40
2.2.6 Connect Additional Equipment .................................................................................... 43
3 SPAN-SE Operation
44
3.1 Definition of Reference Frames within SPAN ........................................................................ 44
3.1.1 Local-Level Frame (ENU)............................................................................................ 44
3.1.2 SPAN Computation Frame .......................................................................................... 45
3.1.3 Enclosure Frame ......................................................................................................... 45
3.1.4 Vehicle Frame ............................................................................................................. 46
3.2 Communicating with the SPAN System................................................................................. 46
3.2.1 INS Window in Connect............................................................................................... 49
3.3 Software Configuration .......................................................................................................... 50
3.3.1 GNSS Configuration .................................................................................................... 50
3.3.2 SPAN IMU Configuration............................................................................................. 52
3.4 Real-Time Operation ............................................................................................................. 54
3.4.1 Configuration for Alignment ....................................................................................... 55
3.4.2 INS Configuration Command Summary ...................................................................... 55
3.4.3 System Start-Up and Alignment Techniques............................................................... 55
3.4.4 Navigation Mode.......................................................................................................... 57
3.4.5 Data Collection ............................................................................................................ 58
3.4.6 Lever Arm Calibration Routine .................................................................................... 59
3.4.7 Vehicle to Body Rotations ........................................................................................... 60
3.4.8 Vehicle to SPAN Frame Angular Offsets Calibration Routine ..................................... 63
3.5 SPAN Wheel Sensor Configuration ....................................................................................... 64
3.5.1 Wheel Sensor Updates Using the Event Input Lines................................................... 64
3.5.2 Wheel Sensor Updates using the iIMU-FSAS IMU ..................................................... 65
SPAN-SE User Manual Rev 9
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