Novatel Model Vehicle OM 20000141 User Manual

SPAN-IGM  
User Manual  
OM-20000141  
Rev 2  
September 2013  
 
Table of Contents  
SPAN-IGM User Manual Rev 2  
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Table of Contents  
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SPAN-IGM User Manual Rev 2  
 
Figures  
SPAN-IGM User Manual Rev 2  
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Tables  
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SPAN-IGM User Manual Rev 2  
 
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  
support@novatel.com e-mail address.  
3. You can also issue a FRESET command to the receiver to clear any unknown settings.  
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.  
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:  
Call the NovAtel Hotline at 1-800-NOVATEL (U.S. & Canada)  
or +1-403-295-4500 (international)  
Fax: +1-403-295-4501  
Write: NovAtel Inc.  
Customer Support Department  
1120 - 68 Avenue NE  
Calgary, AB  
Canada, T2E 8S5  
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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.  
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.  
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  
1
its material or energy. WEEE products may be recognized by their wheeled bin label (  
).  
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Notices  
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.  
Cables may contain DEHP (CAS Number 117-81-7) in concentrations above 0.1% w/w.  
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.  
Only qualified personnel, electricians as mandated by the governing body in the country of  
installation, may install lightning protection devices.  
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.  
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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,  
Figure 1: Primary and Secondary Lightning Protection  
Ref # Description  
1
2
3
4
5
6
Primary lightning protection device  
Secondary lightning protection device  
External antenna  
GNSS Receiver  
To ground  
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)  
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  
Canada Canadian Electrical Code (CSA C22)  
UK British Standards Institute (BSI 7671)  
National Electrical Code (NFPA 70)  
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SPAN-IGM User Manual Rev 2  
 
 
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  
Use raw phase observation data (to constrain INS solution drift even when too few satellites are  
available for a full GNSS solution)  
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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  
The SPAN-IGM-S1 uses the STIM300 IMU. For details about this model, see SPAN-IGM-S1  
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/  
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.  
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Introduction  
Chapter 1  
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.  
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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  
• power  
• CAN Bus  
• COM2 serial port  
• MIC serial port  
MAIN  
DB-15HD Female  
• odometer  
• Event1/Mark 1 input  
• COM3 serial port  
• USB port  
• Event2/Mark2 input  
• VARF (Variable Frequency) output  
• 1 PPS (Pulse Per Second) output  
AUX  
DB-15HD Male  
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SPAN Installation  
Chapter 2  
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.  
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  
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.  
Do not pull directly on the cable.  
Table 1, SPAN-IGM Cables lists the NovAtel cables available for the SPAN-IGM.  
Table 1: SPAN-IGM Cables  
NovAtel Part #  
Port  
Purpose  
01019014  
Main  
Provides connections for:  
• MIC COM port  
• COM2  
• power  
• CAN Bus  
01019015  
AUX  
Provides connections for:  
• odometer  
• COM3  
• USB  
• EVENT1/MARK1  
• EVENT2/MARK2  
• VARF  
• 1 PPS  
01019089  
Main  
Connects the SPAN-IGM to COM2 of a FlexPak6  
receiver when the two are stacked up in an ALIGN  
configuration.  
For more information about the cables used with SPAN-IGM, see Appendix A, Technical Specifications  
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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  
Radio  
(optional for Real  
Time Differential  
operation)  
NovAtel interface cables have more connections than are shown in the diagram. Additional  
connections were removed for clarity.  
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  
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  
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.  
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SPAN Installation  
Chapter 2  
Figure 4: Typical SPAN-IGM Set Up – USB Port  
Radio  
(optional for Real  
Time Differential  
operation)  
NovAtel interface cables have more connections than is shown in the diagram. Additional  
connections were removed for clarity.  
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  
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  
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.  
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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  
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.  
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SPAN Installation  
Chapter 2  
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  
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.  
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.  
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).  
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/  
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.  
A SPAN-IGM can be connected to a FlexPak6 receiver to create an ALIGN system (see  
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.  
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 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.  
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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  
from Vehicle  
Alternator  
to Vehicle Electrical  
System  
Battery Isolator  
Auxiliary  
Battery  
Vehicle Main  
Battery  
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  
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.  
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  
By default, COM2 operates as an RS-232 serial port. To change COM2 to operate as an  
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SPAN Installation  
2.3.5.2 Connect a Computer Using a USB Connection  
Chapter 2  
The SPAN-IGM USB port is available on the AUX connector. See Figure 4, Typical SPAN-IGM Set Up –  
If you are using a NovAtel interface cable (part number 01019015):  
1. Connect the interface cable to the AUX connector on the SPAN-IGM.  
2. Connect the USB connector on the cable to the USB port on the computer.  
If you are creating a custom interface cable, refer to Appendix A, Technical Specifications on page 52 for  
the AUX connector pin out.  
2.3.6  
Connect I/O Strobe Signals  
The SPAN-IGM has several I/O strobe signals that enable it to be part of an interconnected system  
composed of devices that need to be synchronized with each other. For example, you could connect the  
SPAN system to an aerial camera in such a way that the SPAN system records its position whenever the  
shutter button is pressed.  
The SPAN-IGM supports the strobe signals described in Table 2, I/O Strobe Signals. These signals are  
accessed from the AUX connector on the SPAN-IGM using a NovAtel interface cable (part number  
01019015) or a custom cable. See Appendix A, Technical Specifications on page 52 for information on  
signals, wiring and pin-out information of the AUX port and the interface cable.  
Table 2: I/O Strobe Signals  
a
Signal  
Description  
Event1  
(Mark1)  
An input signal for which a pulse greater than 150 ns triggers certain logs to be  
generated. Polarity is configurable using the MARKCONTROL command.  
The Mark1 input is not available if the COM3 serial port has been enabled. See  
Event2  
(Mark2)  
An input signal for which a pulse greater than 150 ns triggers certain logs to be  
generated (see the MARK2POS and MARK2TIME logs). Polarity is configurable  
using the MARKCONTROL command.  
PPS  
A time synchronization output. This is a pulse where the leading edge is  
synchronized to receiver calculated GNSS Time. The polarity, period and pulse  
width can be configured using PPSCONTROL command  
(Pulse Per Second)  
VARF  
A programmable variable frequency output ranging from 0 - 5 MHz (refer to the  
(Variable Frequency) FREQUENCYOUT command).  
a. For information about configuring signals for SPAN use (for messages such as  
SETMARKxOFFSET and TAGGEDMARKxPVA), refer to the SPAN on OEM6 Firmware Reference  
Manual (OM-20000144). For information about configuring signals for other use (the other logs  
listed in this table), refer to the OEM6 Family Firmware Reference Manual (OM-20000129).  
2.3.7  
CAN Bus  
The SPAN-IGM has a CAN Bus controller that supports physical-layer signals and low-level messages  
specified in the appropriate sections of the J1939 and ISO11783 standards. For information about  
configuring the CAN Bus, refer to the application note APN-046 Configure CAN for SPAN available on  
The CAN Bus port is available on the MAIN connector on the SPAN-IGM using a NovAtel interface cable  
(part number 01019014) or a custom cable. See Appendix A, Technical Specifications on page 52 for  
information on signals, wiring and pin-out information of MAIN port and the interface cables.  
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2.3.8  
COM3 Serial Port  
The COM3 serial port is multiplexed with the USB port, so only one of these two ports can be enabled at  
a time.  
The USB port is enabled by default. If the system configuration requires an additional serial connection,  
disable the USB port and the EVENT1 (MARK1) input and enable the COM3 port.  
2.3.8.1  
Enable the COM3 Serial Port  
To enable COM3, issue the following commands:  
ENCLOSURECOMSELECT COM3  
SAVECONFIG (optional)  
The command above also disables the EVENT1 input.  
2.3.8.2  
Connect the COM3 Serial Port  
If using a NovAtel interface cable (part number 01019015):  
1. Connect the interface cable to the AUX connector on the SPAN-IGM.  
2. Connect the COM3 Port connector on the cable to the communication device.  
If creating a custom interface cable, refer to Appendix A, Technical Specifications on page 52 for the AUX  
connector pin out.  
2.3.8.3  
Disable the COM3 Serial Port  
If the system configuration changes and the USB port is needed instead of the COM3 port, disable the  
COM3 port and enable the USB port.  
ENCLOSURECOMSELECT USB  
SAVECONFIG (optional)  
The command above also enables the EVENT1 input.  
2.3.9  
Enable RS-422 serial connections  
The User port (COM2) and the MIC port can operate as either RS-232 or RS-422 serial ports. By default,  
both ports operate as RS-232.  
For the User port, the standard used is determined by the Mode1 pin on the Main connector.  
When the Mode1 pin is left open or tied high, the User port operates as an RS-232 serial port.  
When the Mode1 pin is tied low, the User port operates as an RS-422 serial port.  
For the MIC port, the standard used is determined by the Mode2 pin on the Main connector.  
When the Mode2 pin is left open or tied high, the MIC port operates as an RS-232 serial port.  
When the Mode2 pin is tied low, the MIC port operates as an RS-422 serial port.  
The Mode2 pin also enables and disables the CAN bus port.  
When the Mode2 pin is left open or tied high, the CAN bus port is enabled.  
When the Mode2 pin is tied low, the CAN bus port is disabled.  
When the serial ports are switched to RS-422, there are changes to the pinout on the Main  
connector. For information about the changes, see SPAN-IGM Ports on page 56.  
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2.3.10 Odometer connection  
The SPAN-IGM provides a wheel sensor input for a Distance Measurement Instrument (DMI) through  
AUX connector.  
If you are using a NovAtel interface cable (part number 01019015):  
1. Connect the interface cable to the AUX connector on the SPAN-IGM  
2. Connect the wires from the J2 wire bundle to the DMI.  
For information about the J2 wire bundle or if you are creating a custom interface cable, refer to  
Appendix A, Technical Specifications on page 52 for the interface cable and AUX connector pin out.  
3. Send the following commands to setup the wheel sensor.  
ENCLOSUREWHEELSENSOR ENABLE 1HZ  
SETWHEELPARAMETERS ticks circ spacing  
The parameters entered in the SETWHEELPARAMETERScommand depend on the  
wheel sensor being used. See the SPAN on OEM6 Firmware Reference Manual  
(OM-20000144) for more information about this command.  
4. Send the following commands to log the wheel sensor data.  
LOG TIMEDWHEELDATAB ONNEW  
LOG WHEELSIZEB ONCHANGED  
2.3.10.1 Odometer Requirements  
SPAN-IGM is compatible with any wheel sensor meeting the following requirements:  
Output signal range less than or equal to 45 kHz  
Output signal duty cycle is symmetric 40%-60%  
Output signal voltage is between -11 and +15 VDC.  
Input current draw is less than 150mA at 12 VDC. This is the power supply provided by the  
SPAN-IGM.  
Quadrature, pulse and direction type odometers are compatible  
An example of a SPAN-IGM compatible odometer is the CWPTA411 from Kistler (www.kistler.com).  
A transducer traditionally fits to the outside of a non-drive wheel. A pulse is then generated from the  
transducer which is fed directly to the odometer inputs on the interface cable (NovAtel part number  
01019015).  
Figure 7: Kistler CWPTA411  
The CWPTA411 mounts to the wheel lug  
nuts via adjustable mounting collets. The  
torsion protection rod, which maintains  
rotation around the wheel axis, affixes to the  
vehicle body with suction cups. Refer to the  
Kistler CWPTA411 user manual for mounting  
instructions (www.kistler.com).  
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SPAN-IGM powers the odometer. See Appendix A, Technical Specifications on page 52 for the pin outs  
of the SPAN-IGM interface cable. Connect the appropriate pins to your chosen odometer. The cable  
Kistler provides an M12 to DB9 cable for use with the CWPT odometer. However, certain  
revisions of this cable to do not bring through all four signal inputs. SPAN-IGM requires all  
four signal inputs to operate correctly. See your CWPT documentation for cable details.  
Table 3: Cable Connections for Kistler CWPT Sensor  
8-pin M12 Connector  
Function  
J2 Wire Bundle  
on CWPT Sensor  
Pin 1  
GND  
DGND  
Pin 2  
+U (Input Power)  
WS-OUT  
B
Pin 3  
Pin 4  
Pin 5  
Pin 6  
Pin 7  
Pin 8  
Signal A  
ODM_A+  
ODM_A-  
ODM_B+  
ODM_B-  
Signal A inverted  
Signal B  
Signal B inverted  
Reserved  
The SPAN-IGM-S1 supports only the A signals from the wheel sensor. It does not process  
the B signals.  
2.4 Software Configuration  
2.4.1  
GNSS Configuration  
The GNSS configuration can be set up for different accuracy levels such as single point, SBAS, DGPS  
and RTK (RTCA, RTCM, RTCM V3 and CMR). Refer to the OEM6 Family Installation and Operation  
User Manual for details on DGPS, RTK, L-band or SBAS setup and operation.  
With no additional configuration, the system operates in single point mode.  
2.4.2  
SPAN IMU Configuration  
You can configure the IMU portion of the SPAN system using software commands or the NovAtel  
Connect software utility.  
A GNSS antenna must be connected and tracking satellites for operation.  
2.4.2.1  
Configure SPAN Manually  
Follow these steps to enable INS as part of the SPAN system using software commands:  
1. Issue the SETIMUTOANTOFFSET command to enter the distance from the SPAN-IGM to the GNSS  
antenna, see the SPAN on OEM6 Firmware Reference Manual (OM-20000144).  
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The offset between the antenna phase center and the IMU axis must remain constant and be known  
accurately (m). The X (pitch), Y (roll) and Z (azimuth) directions are clearly marked on the SPAN-IGM  
enclosure. The SETIMUTOANTOFFSET parameters are (where the standard deviation fields are  
optional and the distances are measured from the SPAN-IGM to the antenna):  
x_offset y_offset z_offset [x_stdev] [y_stdev] [z_stdev]  
This example assumes a default mounting configuration and shows a -X offset, -Y  
offset and +Z offset.  
A typical RTK GNSS solution is accurate to a few centimetres. For the integrated GNSS + INS  
system to have this level of accuracy, the offset must be measured to within a centimetre. Any offset  
error between the two systems shows up directly in the output position. For example, a 10 cm error in  
recording this offset will result in at least a 10 cm error in the output.  
2.4.2.2  
Configure SPAN with Connect  
Follow these steps to enable INS as part of the SPAN system using the NovAtel Connect software utility:  
The NovAtel Connect screen shots in this manual may differ from your version of NovAtel  
1. SPAN basic configuration: Select Wizards | SPAN Alignment from the Connect toolbar. This wizard  
Connect.  
takes you through the steps to complete an alignment and configure the receiver port to accept IMU  
data.  
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2.5 SPAN-IGM LEDs  
The LEDs on the SPAN-IGM provide basic receiver status information.  
Table 1: SPAN-IGM LEDs  
LED  
Off  
On  
Flashing Slow (1Hz)  
Flashing Fast (>1Hz)  
Power  
(Red)  
UNKNOWN or  
UNSUPPORTED IMU  
No power to unit  
Unit is powered on  
Time Status FINE  
Programming error  
Time status COARSE,  
COARSESTEERING  
or FREEWHEELING  
GNSS  
(Green)  
Waiting for GPS time or  
FINESTEERING  
N/A  
INS  
(Green)  
Bootup or loading  
firmware  
Waiting for GPS time Connected to IMU N/A  
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Before operating your SPAN system, ensure that you have followed the installation and setup instructions  
You can use the NovAtel Connect software to configure receiver settings and to monitor data in real-time,  
between a rover SPAN system and base station.  
SPAN system output is compatible with post-processing software from the NovAtel Waypoint Products  
Group. Visit our Web site at www.novatel.com for details.  
Ensure the Control Panel Power Settings on your computer are not set to go into Hibernate  
or Standby modes. Data will be lost if one of these modes occurs during a logging session.  
3.1 Communicating with the SPAN System  
Install the NovAtel Connect Utilities (Connect and Convert4) on the computer you intend to use to  
configure and monitor the SPAN system. To access and download the most current version of the  
NovAtel Connect Utilities, go to the Support page of the NovAtel web site at www.novatel.com/support/  
firmware-software-and-manuals/. (Alternatively, you can use a terminal emulator program such as  
HyperTerminal to communicate with the receiver.) Refer to the NovAtel Connect Help file for more details  
on NovAtel Connect. The Help file is accessed by choosing Help from the main menu in  
NovAtel Connect.  
To enable communication from your computer to the SPAN system using NovAtel Connect:  
1. Launch NovAtel Connect from the Start menu folder specified during the installation process. The  
default location is Start | All Programs | NovAtel Connect | NovAtel Connect.  
2. To define a new connection, select New Connection from the Device menu.  
The New Connection window appears.  
If a connection is already defined for the SPAN system, choose Open Connection and skip to  
3. Enter a name for the connection in Name box.  
4. Select Serial or USB from the Type drop down list.  
5. Select the computer port that the SPAN system is connected to from the Port drop down list.  
6. If you selected Serial, select 115200 from the Baud Rate drop down list.  
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7. If you selected Serial, clear the Use hardware handshaking check box.  
8. Click the OK button to save the new device settings.  
9. Select the connection created for the SPAN-IGM from the Available Device Connections area of  
the Open Connection window.  
10. Click the Open button to open SPAN receiver communications.  
11. As NovAtel Connect establishes the communication session with the receiver, a progress box is  
displayed.  
12. Select Tools | Logging Control Window from the NovAtel Connect main menu to control the receiver’s  
logging to files and serial ports. Refer to the NovAtel Connect on-line Help for more information.  
13. Use the Console window to enter commands. See Data Collection for Post-Processing on page 36.  
If you want to save your receiver’s configuration to NVM, ensure that all windows, other  
than the Console window, are closed in NovAtel Connect and then use the SAVECONFIG  
command.  
3.1.1  
INS Window in NovAtel Connect  
NovAtel Connect provides a graphical user interface to allow you to monitor the operation of the SPAN  
system.  
The INS Window in NovAtel Connect is described below. Refer to the OEM6 Family Installation and  
®
Operation User Manual for more details on NovAtel Connect and other OEM6 Family PC software  
programs.  
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INS Window: The Position, Velocity and Attitude (roll, pitch and azimuth) sections display data from  
the INSPVA log along with standard deviations calculated from the INSCOV log. Information in the  
ZUPT (Zero Velocity Update) section reflects the current INSZUPT command setting. The receiver  
uses the X, Y and Z Offset fields to specify an offset from the IMU, for the output position and  
velocity of the INS solution, as specified by the SETINSOFFSET command or the NovAtel Connect  
SPAN wizard. The INS Configuration/Status section displays the IMU type, IMU Status and local  
date/time information. The dial is a graphical display of the Roll, Pitch and Azimuth values indicated  
by an arrow on each axis.  
3.2 Real-Time Operation  
SPAN operates through the OEM6 command and log interface. Commands and logs specifically related  
to SPAN operation are documented in the SPAN on OEM6 Firmware Reference Manual (OM-20000144).  
Real-time operation notes:  
Inertial data does not start until time is set and therefore the SPAN system does not function  
unless a GNSS antenna is connected with a clear view of the sky.  
The inertial solution is computed separately from the GNSS solution. The GNSS solution is  
available from the SPAN system through the GNSS-specific logs, even without SPAN running.  
The integrated GNSS + INS solution is available through special INS logs documented in the  
SPAN on OEM6 Firmware Reference Manual (OM-20000144).  
The IMU raw data is available at the maximum rate of output of the IMU (125 or 200 Hz).  
Because of this high data rate, a shorter header format was created. These shorter header logs  
are defined with an S (RAWIMUSXB rather than RAWIMUXB). We recommend using these logs  
instead of the standard header logs to save throughput on the COM port.  
Status of the inertial solution can be monitored using the inertial status field in the INS logs, see Table 4,  
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Table 4: Inertial Solution Status  
Description  
Binary  
ASCII  
INS_INACTIVE  
IMU logs are present, but the alignment routine has not started;  
INS is inactive.  
0
1
INS_ALIGNING  
INS is in alignment mode.  
The INS solution is in navigation mode but the azimuth solution  
uncertainty has exceeded the threshold. The default threshold is 5  
a
2
3
6
INS_HIGH_VARIANCE  
INS_SOLUTION_GOOD  
INS_SOLUTION_FREE  
degrees. The solution is still valid but you should monitor the  
solution uncertainty in the INSCOV log. You may encounter this  
b
state during times when the GNSS, used to aid the INS, is absent.  
The INS filter is in navigation mode and the INS solution is good.  
The INS filter is in navigation mode and the GNSS solution is  
suspected to be in error.  
This may be due to multipath or limited satellite visibility. The  
inertial filter has rejected the GNSS position and is waiting for the  
solution quality to improve.  
The INS filter is in navigation mode, but not enough vehicle  
7
INS_ALIGNMENT_COMPLETE dynamics have been experienced for the system to be within  
specifications.  
8
9
DETERMINING_ORIENTATION INS is determining the IMU axis aligned with gravity.  
The INS filter has determined the IMU orientation and is awaiting  
WAITING_INITIALPOS  
an initial position estimate to begin the alignment process.  
a. This value is configured using the INSTHRESHOLDS command. See the SPAN on OEM6 Firmware Reference  
Manual (OM-20000144) for more information.  
3.2.1  
System Start-Up and Alignment Techniques  
The system requires an initial attitude estimate to start the navigation filter. This is called system  
alignment. On start-up the system has no position, velocity or attitude information. When the system is  
first powered up, the following sequence of events happens:  
1. The first satellites are tracked and coarse time is solved.  
2. Enough satellites are tracked to compute a position.  
3. Receiver “fine time” is solved, meaning the time on board the receiver is accurate enough to begin  
timing IMU measurements.  
4. Raw IMU measurements begin to be timed by the receiver and are available to the INS filter. They  
are also available in the RAWIMU, RAWIMUS, RAWIMUX, and RAWIMUSX logs. The INS Status  
field changes from INS_INACTIVE through DETERMINING_ORIENTATION and  
WAITING_INITIALPOS during this period.  
5. The inertial alignment routine starts and the INS Status field reports INS_ALIGNING.  
For information about the methods used to complete the alignment routine, refer to the alignment  
modes described in the following sections.  
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6. Alignment is complete and the INS Status field changes to INS_ALIGNMENT_COMPLETE. The  
system transitions to navigation mode.  
7. The solution is refined using updates from GNSS. Once the system is operating within specifications  
and after some vehicle movement, the INS Status field changes to INS_SOLUTION_GOOD. This  
indicates that the estimated azimuth standard deviation is below 5 degrees. If it increases above 5  
degrees, the status changes to INS_HIGH_VARIANCE.  
The azimuth standard deviation threshold can be changed using the INSTHRESHOLDS  
command. See the SPAN on OEM6 Firmware Reference Manual (OM-20000144) for  
information about this command.  
3.2.1.1  
Kinematic Alignment  
A kinematic alignment is the default alignment routine for SPAN-IGM. The kinematic or moving alignment  
is performed by estimating the attitude from the GNSS velocity vector and injecting it into the SPAN filter  
as the initial system attitude.  
This method for alignment assumes that the roll and pitch of the vehicle are near to zero. This should be  
kept in mind when attempting to do this in airborne or marine environments as these assumptions may  
not hold causing a poor initial solution. For the kinematic alignment routine to work optimally, the course-  
over-ground azimuth and pitch must match the SPAN-IGM enclosure azimuth and pitch. (For example, a  
plane being blown in the wind has a a large ‘crab angle’ and the course-over ground trajectory will not  
match the direction the SPAN-IGM is pointing.)  
To enable kinematic alignment on the SPAN-IGM, assumptions about the system orientation have been  
made in the firmware. The default orientation of the system assumes the Z-axis of the enclosure is  
pointing up and the Y-axis of the enclosure is aligned with the forward axis of the vehicle. If these  
assumptions are not true, additional setup commands must be sent before attempting a kinematic  
alignment.  
If the Z-axis is not pointing up, the correct axis orientation must be specified using the  
SETIMUORIENTATIONcommand. Refer to Table 7, Full Mapping Definitions on page 43 for possible  
configurations and the SPAN on OEM6 Firmware Reference Manual (OM-20000144) for details about  
the command. If the Y-axis of the system is not aligned with the forward axis of the vehicle after the  
orientation is applied, then the VEHICLEBODYROTATIONcommand must be sent. Refer to the SPAN on  
OEM6 Firmware Reference Manual (OM-20000144).  
Alternatively, solve the vehicle to SPAN-IGM frame angular offsets using the RVBCALIBRATE routine.  
The kinematic alignment begins when the receiver has a good GNSS position, fine time is solved, the  
configuration parameters have been set and a GNSS velocity of at least 5 m/s (~ 18 km/h) is observed.  
During kinematic alignment, keep the vehicle roll at less then 10. Straight line driving is best.  
The accuracy of the initial attitude of the system following the kinematic alignment varies and depends on  
the dynamics of the vehicle and the accuracy of the RVB estimates. The attitude accuracy will converge  
to within specifications once some motion is observed by the system. This transition can be observed by  
monitoring the INS Status field in the INS logs.  
3.2.1.2  
Manual Alignment  
If the initial attitude (roll, pitch, azimuth) of the SPAN-IGM is known, it can be entered manually using the  
SETINITATTITUDE command. Refer to the SPAN on OEM6 Firmware Reference Manual  
(OM-20000144).  
3.2.1.3  
Dual Antenna Alignment  
®
SPAN-IGM can also use information available from a NovAtel Dual Antenna ALIGN solution to perform  
an alignment. Refer to Chapter 4, SPAN-IGM Dual Antenna on page 38 for details.  
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3.2.2  
Navigation Mode  
Once the alignment routine has successfully completed, SPAN enters navigation mode.  
SPAN computes the solution by accumulating velocity and rotation increments from the IMU to generate  
position, velocity and attitude. SPAN models system errors by using a filter. The GNSS solution, phase  
observations and automatic zero velocity updates (ZUPTs) provide updates to the filter. Peripheral  
updates can also be supplied; wheel sensor for displacement updates or an external receiver for heading  
updates.  
Following the alignment, the attitude is coarsely defined, especially in heading. Vehicle dynamics,  
specifically turns, stops and starts, allow the system to observe the heading error and allows the heading  
accuracy to converge. The amount of dynamics required for filter convergence vary by the alignment  
quality and maneuvers performed. The INS Status field changes to INS_SOLUTION_GOOD once  
convergence is complete. If the attitude accuracy decreases, the INS Status field changes to  
INS_HIGH_VARIANCE. When the accuracy converges again, the INS status continues as  
INS_SOLUTION_GOOD.  
3.2.3  
Data Collection  
The INS solution is available in the INS specific logs with either a standard or short header. Other  
parameters are available in the logs shown in Table 5, Solution Parameters.  
Table 5: Solution Parameters  
Parameter  
Position  
Logs  
INSPOS or INSPOSS  
INSPVA or INSPVAS  
a
INSPOSX or INSPVAX  
INSVEL or INSVELS  
INSSPD or INSSPDS  
INSPVA or INSPVAS  
a
Velocity  
Attitude  
INSVELX or INSPVAX  
INSATT or INSATTS  
INSPVA or INSPVAS  
a
INSATTX or INSPVAX  
Solution Uncertainty INSCOV or INSCOVS  
a. These logs contain variance information and are therefore large logs. Use a  
low logging rate (<20 Hz) only.  
Note that the position, velocity and attitude are available together in the INSPVA, INSPVAS or INSPVAX  
logs.  
The inertial solution is available up to the rate of the IMU data. Data can be requested at a specific rate  
up to the maximum IMU output rate (125 or 200 Hz) or can be triggered by the mark input trigger at rates  
up to 20 Hz.  
The GNSS-only solution is still available through the GNSS-only logs such as RTKPOS and PSRPOS.  
When running SPAN, rates of non-INS logs should be limited to a maximum rate of 5 Hz. Refer to the  
OEM6 Family Firmware Reference Manual (OM-20000129) for more details on these logs. INS-only data  
logging and output can be at rates of up to the rate of the IMU data.  
Ensure all windows, other than the Console, are closed in NovAtel Connect and then use  
the SAVECONFIG command to save settings in NVM. Otherwise, unnecessary data  
logging occurs and may overload the system.  
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Logging Restriction Important Notice  
Logging excessive amounts of high rate data can overload the system. When configuring  
the output for SPAN, NovAtel recommends that only one high rate (>50 Hz) message be  
configured for output at a time. It is possible to log more than one message at high rates,  
but doing so could have negative impacts on the system. Also, if logging 125 or 200 Hz  
data, always use the binary format and, if possible, the short header binary format  
(available on most INS logs).  
For optimal performance, log only one high rate output at a time. These logs could be:  
Raw data for post processing  
RAWIMUXSB ONNEW (125 or 200 Hz)  
-
RAWIMU logs are not valid with the ONTIME trigger. The raw IMU observations  
contained in these logs are sequential changes in velocity and rotation. As such,  
you can only use them for navigation if they are logged at their full rate. See details  
of these logs in the SPAN on OEM6 Firmware Reference Manual (OM-20000144).  
Real time INS solution  
INSPVASB ONTIME 0.005 (maximum rate equals the IMU rate)  
-
Other possible INS solution logs available at high rates are: INSPOSSB,  
INSVELSB, INSATTSB  
Specific logs need to be collected for post-processing. See Data Collection for Post-Processing on  
To store data from a SPAN-IGM, connect the SPAN-IGM to a computer running NovAtel Connect or other  
terminal program capable of recording data.  
3.2.4  
Vehicle to SPAN Frame Angular Offsets Calibration Routine  
Kinematic alignment requires that the angular offset between the vehicle and SPAN frame is known  
approximately. If the angles are simple (that is, a simple rotation about one axis) the values can easily be  
entered manually through the VEHICLEBODYROTATION command. If the angular offset is more  
complex (that is, rotation is about 2 or 3 axis), then the calibration routine provides a more accurate  
estimation of the values. The vehicle to SPAN frame angular offset calibration requires RTK GPS. The  
steps for the calibration routine are:  
1. Apply power to the SPAN-IGM.  
2. Configure the IMU, see SPAN IMU Configuration on page 24.  
3. Ensure that an accurate lever arm has been entered into the system.  
4. Allow the system to complete an alignment, see System Start-Up and Alignment Techniques on  
5. Enable the vehicle to body calibration using the RVBCALIBRATE ENABLE command.  
6. Start to move the system. Movement of the system is required for the observation of the angular  
offsets.  
Drive a series of manoeuvres such as figure eights if the driving surface is not level, or a straight  
course if on level ground (remember that most roads have a crown resulting in a constant roll of a  
few degrees). Avoid driving on a surface with a constant, non-zero, slope to prevent biases in the  
computed angles. Vehicle speed must be greater than 5 m/s (18 km/hr) for the calibration to  
complete.  
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SPAN Operation  
7. When the uncertainties of the offsets are low enough to be used for a kinematic alignment, the  
calibration stops and the VEHICLEBODYROTATION log is overwritten with the solved values. To  
monitor the progress of the calibration, log VEHICLEBODYROTATION using the ONCHANGED  
trigger.  
To save a calibrated rotation for subsequent start ups, issue the SAVECONFIG command after  
calibration is complete. Each time the SPAN-IGM is re-mounted this calibration should be performed  
again. See also Kinematic Alignment on page 31 for details on kinematic alignment.  
After the RVBCALIBRATE ENABLE command is entered, there are no vehicle-body  
rotation parameters present and a kinematic alignment is NOT possible. Therefore this  
command should only be entered after the system has performed either an alignment and  
has a valid INS solution.  
The solved rotation values are used only for a rough estimate of the angular offsets  
between the SPAN-IGM and vehicle frames. The offsets are used when aligning the system  
while in motion (see System Start-Up and Alignment Techniques on page 30). The angular  
offset values are not applied to the attitude output, unless the  
APPLYVEHICLEBODYROTATIONcommand is enabled.  
3.2.5  
SPAN Wheel Sensor Messages  
The SPAN-IGM supports wheel sensor inputs. The SPAN-IGM accepts TTL level input pulses from a  
wheel sensor through the AUX connector. See Appendix A, Technical Specifications on page 52 for  
specifications on the wheel sensor interface.  
3.2.5.1  
Measurement Timing and Frequency  
Typical wheel sensor hardware generates wheel ticks constantly as the wheel rotates. The SPAN-IGM  
interface is configured to accumulate wheel sensor tick counts at a rate of 1 Hz.  
3.2.5.2  
Wheel Sensor Update Logic  
Wheel sensor data is available through the TIMEDWHEELDATA log. The TIMEDWHEELDATA log can  
be used for applying wheel sensor updates in post-processing.  
The SPAN filter uses sequential TIMEDWHEELDATA logs to compute a distance traveled between  
update intervals (1 Hz). This information is used to constrain free inertial drift during times of poor GNSS  
visibility. The filter also contains a state for modeling the circumference of the wheel as it may change  
due to hardware changes or environmental conditions.  
The modeled wheel circumference is available in the WHEELSIZE log. Information on how the wheel  
sensor updates are being used is available in the INSUPDATE log.  
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SPAN Operation  
Chapter 3  
3.2.5.3  
Set up a Wheel Sensor  
1. Send the following commands to setup the wheel sensor.  
ENCLOSUREWHEELSENSOR ENABLE 1HZ  
SETWHEELPARAMETERS ticks circ spacing  
The parameters entered in the SETWHEELPARAMETERScommand depend on the wheel  
sensor being used. See the OEM6 Family Firmware Reference Manual (OM-20000129)  
for more information about this command.  
2. Send the following commands to log the wheel sensor data.  
LOG TIMEDWHEELDATAB ONNEW  
LOG WHEELSIZEB ONCHANGED  
3.3 Azimuth Sources on a SPAN System  
The SPAN system use three different methods to calculate the azimuth.  
Course Over Ground  
Inertial Azimuth  
ALIGN Azimuth  
3.3.1  
Course Over Ground  
The course over ground azimuth is determined using the position delta between two position solutions  
computed by the SPAN-IGM. This is the simplest way to compute an azimuth and is done using either  
the GNSS solution or the INS solution. This method does not work when the vehicle is stationary as any  
position difference is due to position error and the computed azimuth is meaningless.  
Course over ground azimuth is of greatest advantage in aerial or marine environments where the actual  
direction of travel may not match the forward axis of the aircraft/boat due to winds or currents. This effect  
is known as the crab angle. Course over ground azimuth is a great way to compute the offset if another  
means of computing the vehicle azimuth are available.  
Course over ground azimuths are available in several different velocity logs. See Table 6, Logs with  
3.3.2  
Inertial Azimuth  
The inertial azimuth computed by the SPAN inertial navigation filter. It uses the sensors in the IMU to  
compute the azimuth of the IMU (this can be rotated to another reference if desired). For more  
information, see the APPLYVEHICLEBODYROATIONand VEHICLEBODYROTATIONcommands in the  
SPAN on OEM6 Firmware Reference Manual (OM-20000144).  
This azimuth is the one provided in the majority of the INS logs available to a SPAN user. See Table 6,  
3.3.3  
ALIGN Azimuth  
On SPAN systems with dual antennas, an azimuth is available from the dual antenna baseline. This is  
the same azimuth that is used as an update to the SPAN solution. It is noisier than the inertial azimuth  
and is available at a much lower rate, but will have a stable mean. This azimuth is computed from the  
master antenna to the rover antenna based on how the antennas are oriented on the vehicle.  
There is a specific subset of logs that output this azimuth. See Table 6, Logs with Azimuth data on  
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Chapter 3  
SPAN Operation  
Table 6: Logs with Azimuth data  
Log  
Log  
Azimuth Source  
Format  
INSPVA / INSPVAS / INSPVAX  
INSATT / INSATTS / INSATTX  
PASHR  
NovAtel  
NovAtel  
NMEA  
Inertial  
Inertial  
Inertial  
INSSPD  
NovAtel  
Course Over Ground  
Computed using the INS solution only  
BESTVEL  
GPVTG  
NovAtel  
NMEA  
Course Over Ground  
From the best system solution which could be either  
GNSS or INS  
Course Over Ground  
From the best system solution which could be either  
GNSS or INS  
HEADING  
GPHDT  
NovAtel  
NMEA  
ALIGN  
ALIGN  
3.4 Data Collection for Post-Processing  
Some operations, such as aerial measurement systems, do not require real time information from SPAN.  
These operations are able to generate the position, velocity or attitude solution post-mission in order to  
generate a more robust and accurate solution than is possible in real time.  
In order to generate a solution in post-processing, data must be simultaneously collected at a base  
station and each rover. The following logs must be collected in order to successfully post-process data  
From a base:  
RANGECMPB ONTIME 1  
RAWEPHEMB ONCHANGED  
GLOEPHEMERISB ONCHANGED(if using GLONASS)  
From a rover:  
RANGECMPB ONTIME 1  
RAWEPHEMB ONCHANGED  
GLOEPHEMERISB ONCHANGED(if using GLONASS)  
RAWIMUSXB ONNEW  
VEHICLEBODYROTATIONB ONCHANGED  
IMUTOANTOFFSETSB ONCHANGED  
Post-processing is performed through the Waypoint Inertial Explorer software package available from the  
NovAtel Waypoint Products Group. Visit our Web site at www.novatel.com for details.  
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Chapter 3  
3.5 Variable Lever Arm  
The variable lever arm concept arose to support applications in which the IMU is no longer rigidly fixed to  
the vehicle, but rather on a gimballed mount. This creates an issue where the lever arm offset to the  
GNSS antenna is no longer fixed, because the IMU can rotate on its mount, while the antenna remains  
fixed.  
The use of the variable lever arm functionality requires that the device to which the IMU is attached be  
able to send its gimbal rotation angles back to SPAN. These angles are used to re-calculate the lever arm  
at the rate that they are received. SPAN will also be able to output a gimballed solution at the rate the  
gimbal angles are received.  
See the SPAN on OEM6 Firmware Reference Manual (OM-20000144) for more information.  
SPAN-IGM User Manual Rev 2  
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Chapter 4  
SPAN-IGM Dual Antenna  
®
NovAtel's ALIGN heading technology generates distance and bearing information between a “master”  
and one or more “rover” receivers. This information can be used by SPAN to update the inertial error  
estimates and improve attitude accuracy. This is particularly useful in applications with reduced motion.  
SPAN-IGM Dual Antenna provides the hardware necessary to run an ALIGN baseline with a second  
receiver.  
With SPAN-IGM, the ALIGN GNSS baseline can be used to assist the initial alignment of the SPAN  
solution. In addition, the ALIGN baseline solution will aid the heading solution from the receiver if the  
heading drifts due to slow or constant dynamics.  
ALIGN is capable of a 10 Hz heading output rate when integrated with the OEM6 receiver.  
4.1 Installation  
The hardware for SPAN-IGM Dual Antenna is installed in a manner similar to other SPAN systems. Some  
points to consider during your installation are:  
1. Install the SPAN-IGM and the two antennas in the vehicle such that the relative distance between  
them is fixed.  
2. The antennas should be mounted where the view of the satellites will not be obstructed by any part of  
the vehicle. As heading accuracy is dependent on baseline length, mount the antennas as far apart  
as possible. A minimum separation distance of 1 metre is recommended.  
3. The lever arms, or distance from the SPAN-IGM to the antennas, needs to be fixed and accurately  
measured using the coordinate axes defined on the outside of the SPAN-IGM. The baseline between  
the two antennas does NOT need to be aligned with the vehicle axes or with the axes of the  
SPAN-IGM.  
4. Install the secondary OEM6 receiver.  
A FlexPak6 receiver can be mounted directly on top of the SPAN-IGM using the SPAN-IGM  
Bracket Kit (01019091).  
5. Both the SPAN-IGM and the rover receiver need to be powered and connected to each other via  
serial ports before sending any configuration commands. It does not matter which receiver is  
powered on first, or how long they are both powered before sending any commands.  
When a FlexPak6 receiver is mounted directly on top of a SPAN-IGM (stack up  
configuration), connect the SPAN-IGM to the FlexPak6 using the SPAN-IGM ALIGN  
interface cable (01019089). This cable provides the required communication connections  
and powers the SPAN-IGM.  
To mount the SPAN-IGM and FlexPak6 in a stack up configuration you need the SPAN-IGM  
Bracket Kit (01019091).  
SPAN-IGM Dual Antenna operation requires the dedicated use of a serial port on each  
receiver for communication between receivers.  
Use the USB port to connect the receiver to the computer used to send commands and  
receive logs.  
Figure 8, SPAN-IGM - Dual Antenna Installation on page 39 shows dual antenna configuration using a  
SPAN-IGM and FlexPak6.  
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SPAN-IGM Dual Antenna  
Chapter 4  
Figure 8: SPAN-IGM - Dual Antenna Installation  
Primary GNSS Antenna Secondary GNSS Antenna  
Power Supply  
Secondary Receiver  
(Rover)  
SPAN-IGM  
ALIGN Cable  
(01019089)  
SPAN-IGM  
(Master)  
USB  
USB  
NovAtel interface cables have more connections than are shown in the diagram. Additional  
connections were removed for clarity.  
4.2 Configuring ALIGN with SPAN-IGM  
Before configuring the ALIGN solution, the SPAN-IGM and the secondary receiver MUST both be  
powered on and connected directly between COM 2 of the SPAN-IGM and COM 2 of the secondary  
receiver through either a null modem cable or an appropriate radio connection.  
The rover receiver must be an ALIGN-capable model, such as D2S-Z00-000, running the  
latest OEM6 firmware version.  
To enable the dual-antenna ALIGN solution to aid the INS alignment and provide heading updates, the  
offset between the antennas and the SPAN-IGM must be known. This is achieved by entering lever arms  
to both antennas, using the SETIMUTOANTOFFSET and SETIMUTOANTOFFSET2 commands.  
To configure SPAN with ALIGN Aiding:  
1. Enter the lever arm from the SPAN-IGM to the primary antenna (primary antenna is connected to the  
SPAN-IGM) using the SETIMUTOANTOFFSETcommand.  
Abbreviated ASCII example:  
SETIMUTOANTOFFSET 0.54 0.32 1.20 0.03 0.03 0.05  
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Chapter 4  
SPAN-IGM Dual Antenna  
2. Enter the lever arm from the SPAN-IGM to the secondary antenna (secondary antenna is connected  
to the second receiver) using the SETIMUTOANTOFFSET2command.  
Abbreviated ASCII example:  
SETIMUTOANTOFFSET2 0.54 2.32 1.20 0.03 0.03 0.05  
Alternately, the angular offset between the dual-antenna baseline (from Primary GNSS antenna to  
Secondary GNSS antenna) and the IMU frame forward axis can be entered directly via the  
EXTHDGOFFSETcommand.  
We recommend entering the lever arms rather than entering the angular offset as this is  
Refer to the SPAN on OEM6 Firmware Reference Manual (OM-20000144) for the syntax of the above  
easier to measure and will lead to better overall accuracy.  
commands.  
As with all ALIGN-capable products, the GNSS baseline solution is available from the GPHDT and  
HEADING logs. For INS heading, use the INSATT or INSPVA logs.  
The SPAN-IGM can be configured for different alignment routines depending on the motion conditions  
experienced during the alignment period. For example, in marine applications, the dynamics required for  
either a coarse or kinematic alignment cannot be guaranteed, so a different alignment routine will be  
required.  
The different alignment routines are described in the following sections:  
4.2.1  
Alignment on a Moving Vessel - Aided Transfer Alignment  
This alignment routine is the preferred dual antenna alignment method. It is used if the alignment mode is  
set to AIDED_TRANSFER using the ALIGNMENTMODE command, and can be used if the alignment  
mode is set to AUTOMATIC.  
If your vehicle is not stationary during the alignment, such as may be the case on a ship, use the Aided  
Transfer Alignment routine. This alignment method uses the ALIGN baseline solution to perform an  
instantaneous alignment of the vehicle attitude.  
The alignment happens instantaneously after the SPAN-IGM computes a verified, fixed integer, ALIGN  
solution. The INS status changes to INS_ALIGNMENT_COMPLETE or INS_SOLUTION_GOOD,  
depending on the variances of the ALIGN solution, and the measured lever arm/external heading offset.  
To guarantee the use of this alignment mode, the configuration command ALIGNMENTMODEmust be sent  
to the receiver:  
ALIGNMENTMODE AIDED_TRANSFER  
4.2.2  
Alignment on a Stationary Vehicle - Aided Static Alignment  
An alternative to the aided transfer alignment, the ALIGN heading can be used as a seed for a coarse  
static alignment. In this mode, the standard coarse alignment routine runs given the initial azimuth value.  
As with the transfer alignment, the first verified fixed RTK solution is used to provide the alignment seed  
after which the coarse alignment (INS_ALIGNING) begins. After the coarse alignment is complete, the  
INS status changes to INS_ALIGNMENT_COMPLETE. After the attitude accuracy has converged, the  
INS status changes to INS_SOLUTION_GOOD. This alignment mode is useful if the initial vehicle roll is  
more than 20 degrees.  
To use this alignment mode, the configuration command ALIGNMENTMODEmust be sent to the receiver.  
ALIGNMENTMODE AIDED_STATIC  
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Chapter 4  
4.2.3  
Unaided Alignment  
The unaided alignment sets the SPAN system to use only single antenna alignment options (kinematic or  
manual alignment).  
To use this alignment mode, the configuration command ALIGNMENTMODEmust be sent to the receiver.  
ALIGNMENTMODE UNAIDED  
4.2.4  
Automatic Alignment Mode - Automatic Alignment (default)  
Automatic Alignment Mode Selection is the default setting for a SPAN-IGM. This mode is designed to  
allow alignment of the system as quickly as possible, using either an aided transfer alignment (Alignment  
on page 31) or a manual alignment (Manual Alignment on page 31).  
The first available technique will be used, regardless of its relative quality. If you wish to guarantee a  
specific technique is used, or use an aided static alignment, you must select the desired alignment mode  
manually. No additional configuration is required to use this alignment routine.  
4.3 SPAN ALIGN Attitude Updates  
The INS heading updates are used to help constrain the azimuth drift of the INS solution whenever  
possible. This is of the greatest value in environments with low dynamics where the attitude error is less  
observable. Slow moving marine or train applications are good examples of the intended use. By  
providing an external heading source, the solution drift can be constrained in these environments.  
You can monitor the heading update status as outlined in the INSUPDATE log (see the SPAN on OEM6  
Firmware Reference Manual (OM-20000144)).  
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Chapter 5  
Reference Frames Within SPAN  
The reference frames that are most frequently used throughout this manual are the following:  
the Local-Level Frame  
the SPAN Body Frame  
the Enclosure Frame  
the Vehicle Frame  
5.1 The Local-Level Frame (ENU)  
The definition of the local level coordinate frame is as follows:  
z-axis – pointing up (aligned with gravity)  
y-axis – pointing north  
x-axis – pointing east  
Figure 9: Local-Level Frame (ENU)  
5.2 The SPAN Body Frame  
The definition of the SPAN body frame is as follows:  
z-axis – pointing up (aligned with gravity)  
y-axis – defined by how the IMU is mounted  
x-axis – defined by how the IMU is mounted  
To determine your SPAN x-axis and y-axis, see Table 7, Full Mapping Definitions on page 43. This frame  
is also known as the computation frame and is the frame where all the mechanization equations are  
computed.  
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Reference Frames Within SPAN  
Chapter 5  
Table 7: Full Mapping Definitions  
SPAN  
Frame Axis  
IMU Enclosure  
Frame Axis  
IMU Enclosure  
Mapping  
SPAN Frame  
Frame  
X
Y
Z
X
Y
Z
Z
X
1
Y
Z
Y
X
X
X
X
X
X
Y
Z
X
Y
Z
Z
Y
Z
Z
Z
Z
Z
2
3
4
X
Y
Y
Y
Y
Y
Y
-X  
X
Y
Z
Z
X
Y
X
Z
Z
X
X
Y
Z
X
Z
Y
Z
-Y  
X
Y
Z
X
Y
Z
5
(default)  
Y
X
X
Y
X
Y
Z
Y
X
6
Z
-Z  
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Chapter 5  
Reference Frames Within SPAN  
5.3 The Enclosure Frame  
The definition of the enclosure frame is marked on the SPAN-IGM and represents how the sensors are  
mounted in the enclosure. If the SPAN-IGM is mounted with the z-axis (as marked on the SPAN-IGM  
enclosure) pointing up, the SPAN-IGM enclosure frame is the same as the SPAN frame.  
The origin of this frame is not the enclosure center, but the center of Navigation (sensor center).  
Figure 10: SPAN-IGM-A1 Enclosure Frame Markings  
5.4 The Vehicle Frame  
The definition of the vehicle frame is as follows:  
z-axis – points up through the roof of the vehicle perpendicular to the ground  
y-axis – points out the front of the vehicle in the direction of travel  
x-axis – completes the right-handed system (out the right-hand side of the vehicle when facing  
forward  
Figure 11: Vehicle Frame  
Z
X
Y
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Chapter 6  
NovAtel Firmware and Software  
Download the most recent versions of the NovAtel firmware and receiver software from the NovAtel  
OEM6 Firmware and Software  
Refer to Transferring Firmware Files on page 47 for descriptions of the Update and OEM  
versions.  
NovAtel Connect PC Utilities Software Bundle  
Bundled PC Utilities software includes:  
NovAtel Connect (a GUI interface)  
Connection Import (imports connection profiles)  
Convert (converts receiver data logs into different formats)  
USB Drivers and Window Signing  
The NovAtel Connect PC Utilities bundle can be download from our web site:  
Firmware and Software included  
SoftLoad firmware  
WinLoad software utility  
WinLoad and SoftLoad instructions follow.  
6.1 Firmware Updates and Model Upgrades  
www.novatel.com/where-to-buy for contact information or contact sales@novatel.com or  
6.1.1  
Firmware Updates  
Firmware updates are firmware releases that include fixes and enhancements to the receiver  
functionality. Firmware updates are released occasionally on the NovAtel web site as they become  
available. New firmware must be loaded into the receiver through one of the COM ports. Once loaded,  
the receiver reboots and begins operating with the new firmware.  
Direct access to a serial COM port on the SPAN-IGM is required.  
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Chapter 6  
NovAtel Firmware and Software  
6.1.2  
Model Upgrades  
Model upgrades enable purchased receiver features.  
Contact a local NovAtel dealer to assist in selecting the upgrade options that best suit your GNSS needs  
at www.novatel.com/where-to-buy. Contact NovAtel Customer Support www.novatel.com/support or  
NovAtel Sales to request a temporary upgrade authorization code for trial purposes.  
The receiver stores the firmware in Non-Volatile Memory (NVM), which allows model upgrades to be  
performed without returning the receiver to the dealer. Model upgrades can be applied to the receiver  
with an authorization code and the AUTHcommand.  
6.2 Authorization Code  
An authorization code, commonly known as an auth-code, is required to upgrade and possibly update a  
SPAN-IGM. authorization codes are obtained by contacting NovAtel Customer Support. Upon contact,  
NovAtel Customer Support requires:  
the receiver model number  
the receiver serial number  
the receiver firmware version  
Enter the LOG VERSIONcommand to determine the receiver model, serial number and firmware version.  
Example:  
MODEL  
SERIAL  
FIRMWARE  
VERSION  
ENTER  
NUMBER  
NUMBER  
GPSCARD “D2LR0RTTRA” “BFN11230026” “OME615-1.00” “OEM060200RN0000”  
RELEASE  
PRODUCT  
FAMILY  
INDICATOR  
FIRMWARE  
NUMBER  
After determining the appropriate model and firmware version the authorization code (auth-code) is  
issued. The authorization code is required to unlock the features on the new model type.  
To upgrade to a new model with the same firmware version, use the AUTHcommand with the issued  
authorization code (if required), as outlined in Updating or Upgrading Using the WinLoad Utility on  
To upgrade to a new model with a higher firmware version, the new firmware .shex file needs to be  
loaded into the receiver using the WinLoad utility program. WinLoad and the firmware .shex files can be  
Firmware version OEM060200RN0000 (also known as firmware version 6.200) and later contain the  
Firmware Signature feature. This firmware feature removes the authorization code dependency on the  
firmware version and eliminates the need to obtain an authorization code when downloading the latest  
version of signed firmware.  
If updating from a version before 6.200 to a signed 6.200 version, an authorization code is required. The  
receiver must have boot version code 6.100 or later for signature signed to work.  
In version OEM060200RN0000, the receiver serial number and the software model are built into the  
signature in the firmware file. Once the 6.200 signed firmware is installed with a signature authorization  
code, future firmware updates no longer require a new unique authorization code.  
An authorization code is still required if the software model changes for temporary trial  
upgrades or purchased permanent upgrades.  
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Chapter 6  
The new download package includes a signed firmware file type that uses an extension designated as  
“.shex” (example OEM060200RN0000.shex), as well as the latest Winload utility and What’s New file  
containing firmware update change details.  
Prior to firmware version OEM060200RN0000, authorization codes depended on the  
software model, the firmware version and the serial number of the receiver. The  
authorization code changed if any of the three items changed. This is no longer the case.  
6.3 Updating or Upgrading Using the WinLoad Utility  
WinLoad is the simplest and most common way to update or upgrade a receiver.  
6.3.1  
Transferring Firmware Files  
To proceed with an update or possibly an upgrade, obtain the latest version of firmware from the NovAtel  
6.3.1.1  
Types of Firmware Files  
OEM Version - NovAtel Customer Service may generate and provide the required authorization  
code. Authorization codes are obtained by contacting support@novatel.com or at  
The OEM version is named OEMXXXX.EXE, where XXXX is the firmware version.  
For convenience, copy the update file to a GNSS sub-directory (for example, C:\GNSS\LOADER).  
If the firmware update file is password protected, NovAtel Customer Support provides the required  
password. After copying the file to a computer, perform the following steps to extract the files:  
Syntax:  
[filename] [password] (if required)  
where filename is the name of the compressed file (but not including the .EXE extension) and  
password if the password required for extraction.  
Example:  
OEM060200RN0000.shex  
In the above example, a window appears asking for a password.  
The self-extracting archive produces the following files:  
winload.exe  
howto.txt  
WinLoad utility program  
Instructions on how to use the WinLoad utility  
Information on the changes made in the firmware since the last revision  
whatsnew.rtf  
x..x.shex  
Firmware version upgrade file, where x..x defines the product name and release  
(e.g., OEM060200RN0000.shex)  
The files are extracted to unzip/program files/NovAtel Inc/x.xxx Full Update Disk, where x.xxx is the  
firmware version.  
NovAtel has an online video tutorial that explains firmware uploading at www.novatel.com/  
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Chapter 6  
NovAtel Firmware and Software  
6.3.2  
Using the WinLoad Utility  
If opening WinLoad for the first time, ensure the file and communications settings are correct.  
6.3.2.1 Open a File to Download  
Select File | Open. Navigate to the file to open (Figure 12, WinLoad Open Window).  
Figure 12: WinLoad Open Window  
When a file is selected, the filenameappears in the main WinLoad display area and in the title bar  
Figure 13: Open File in WinLoad  
6.3.2.2  
Communications Settings  
To set the communications port and baud rate, select Settings | COM Settings. Choose the computer port  
to use from the Com Port drop down list and the baud rate from the Download Baudrate drop down list.  
Set the baud rate as high as possible (the default of 115200 and is preferred if a higher baud rate is not  
available).  
Figure 14: COM Port Setup  
6.3.2.3  
Downloading Firmware  
1. Select the file to download according to Open a File to Download on page 48.  
2. Ensure the file path and name are displayed in main display area (see Figure 13, Open File in  
3. Click Write Flash to download the firmware.  
4. When Searching for card appears in the main display, power cycle the receiver.  
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NovAtel Firmware and Software  
Chapter 6  
Figure 15: Searching for Card  
5. If the Authorization Code window appears, enter the authorization code and click OK. See  
Authorization Code on page 46 for further information about the Authorization Code.  
Figure 16: Authorization Code Window  
6. The receiver finishes the download and then resets. The process is complete when Doneappears in  
the main display area.  
Figure 17: Upgrade Process Complete  
7. Close WinLoad.  
6.4 Updating using SoftLoad Commands  
Use SoftLoad to update an OEM6 family receiver.  
Use SoftLoad if automated loading is required or the platform used to communicate with the  
receiver if not supported by WinLoad.  
Refer to Types of Firmware Files on page 47 for details on updating versus upgrading.  
1. Open a connection to any port on the receiver (COM or USB port) with a user Application Program-  
ming Interface (API).  
2. Request the SOFTLOADSTATUSA log using the following command:  
LOG SOFTLOADSTATUSA ONCHANGED.  
3. Initialize SoftLoad with a SOFTLOADRESETcommand. This command stops all tracking on the  
receiver to ensure sufficient memory is available for the loading process. A RXSTATUSEVENTA log  
reports a SoftLoad In Progress status.  
4. Open the *.SHEX firmware file.  
If using NovAtel Connect, close all windows before using the SOFTLOADSRECcommand  
to avoid failure. Only the Console and ASCII Message windows may remain open.  
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Chapter 6  
NovAtel Firmware and Software  
5. Send each line of the *.SHEX file to the receiver in a SOFTLOADSRECcommand. The S-Records  
must be enclosed by quotation marks:  
SOFTLOADSREC "<S-RECORD>"  
To significantly decrease data transfer time, NovAtel recommends creating a batch file to  
automatically send each line of SOFTLOADSREC. Contact NovAtel Customer Support for  
assistance creating SoftLoad batch files.  
6. Send the SOFTLOADCOMMIT command.  
7. During the loading process, SOFTLOADSTATUSA logs report the load status. Wait for the  
SOFTLOADSTATUSA to indicate loading is COMPLETE.  
Signature authorization codes are maintained internally by the receiver and do not need  
to be re-entered. Refer to Authorization Code on page 46 for details on obtaining any  
authorization code.  
8. Reset the receiver by entering RESET, FRESETor power cycling.  
9. Once the receiver resets, the new version of firmware is active.  
The SoftLoad process can be cancelled safely at any time during the process using the  
RESETcommand.  
6.4.1  
Working with S-Records  
Records beginning with S0, S5 and S7 should be passed to the receiver directly using the  
SOFTLOADSREC command. These records contain meta data about the firmware image.  
Records beginning with S3 form the actual firmware image and can be converted to  
SOFTLOADDATA binary commands. Aside from the header, each pair of characters forms the  
ASCII representation of binary byte. The format is as follows:  
S3  
LL  
AAAAAAAA  
DDDDDDDD...DDDDDDDD  
CC  
Check Sum. One's compliment of all other  
bytes  
Little Endian Data. These bytes are copied into the "data" field of the  
SOFTLOADDATA command  
4 - Byte Address. Set this as the value of "offset" in the SOFTLOADDATA command  
Length.This is the hexadecimal number of character pairs to follow in the record. This value minus 4 bytes  
for the address and 1 byte for the check sum is copied into the "data length" field of the SOFTLOADDATA  
command  
Header  
Multiple S3 records can be packaged into a single SOFTLOADDATAcommand as long as the data  
from one S3 record follows immediately after the previous record, up to a maximum of 4096  
bytes of data. That is, the address must equal the previous address plus the previous data  
length. The "offset" field remains the address of the first S3 record and the "data" and "data  
length" are updated to include the new data.  
The shex file data may contain many gaps and jumps. For example, in most NovAtel shex files  
data for address 0x000_00000 is stored near the very end of the file.  
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NovAtel Firmware and Software  
Chapter 6  
6.5 Upgrading Using the AUTH Command  
The AUTHcommand authorizes the enabling (unlocking) of model features. The AUTHcommand is used  
to upgrade a new OEM6 family model, available with the same firmware version as the current model.  
This command only functions with a valid authorization code assigned by NovAtel Customer Support.  
The upgrade can be performed directly through the NovAtel Connect command line or from any other  
communications program.  
Refer to Types of Firmware Files on page 47 for details on updating versus upgrading.  
6.5.1  
Upgrade Procedure  
1. Power up the receiver and establish communications (refer to the SPAN-IGM Quick Start Guide for  
instructions).  
2. Issue the LOG VERSIONcommand to verify the current model, firmware version and serial number  
(refer to Authorization Code on page 46 for instructions on obtaining).  
3. Issue the AUTH command, followed by the authorization code and model type (refer to Authorization  
Code on page 46 for details on obtaining any authorization code). The syntax is as follows:  
auth <your auth-code here>  
where authis a command that enables model upgrades and auth-codeis the upgrade  
authorization code, expressed as follows:  
XXXXXX,XXXXXX,XXXXXX,XXXXXX,XXXXXX,MODEL,EXPDATE  
where:  
Each X character is a case-insensitive ASCII character.  
The MODEL string is a maximum of 15 characters long and represents the model enabled by the  
authorization code.  
The EXPDATE string is the authorization code’s expiry date, in YYMMDD format  
Example:  
auth 7WBMBK,887CB6,K5J3FH,5DF5P2,42PW8G,D1SB0GTT0,121211  
When the AUTHcommand is executed, the receiver reboots. Issuing the LOG VERSIONcommand  
confirms the new upgrade model type and firmware version number.  
If communicating using NovAtel Connect, the communication path must be closed and reopened using  
the Device menu.  
SPAN-IGM User Manual Rev 2  
51  
 
           
Appendix A  
Technical Specifications  
This appendix details the technical specifications of the SPAN-IGM.  
A.1 SPAN-IGM-A1 Technical Specifications  
Table 8: SPAN-IGM-A1 Physical Specifications  
PHYSICAL  
Enclosure Size  
Weight  
152.0 mm x 141.5 mm x 50.5 mm  
515 g  
CONNECTORS  
DB-15HD Female  
DB-15HD Male  
TNC Female  
MAIN  
AUX  
RF Antenna Connector  
Table 9: SPAN-IGM-A1 GNSS Performance  
HORIZONTAL POSITION ACCURACY (RMS)  
Single Point L1/L2  
1.2 m  
SBAS  
DGPS  
RT2  
0.6 m  
0.4 m  
1 cm + 1 ppm  
Table 10: SPAN-IGM-A1 Data Rates  
DATA RATES  
20 Hz  
GNSS Measurement  
GNSS Position  
IMU Measurement  
INS solution  
20 Hz  
200 Hz  
Up to 200 Hz  
20 ns RMS  
Time accuracy  
Table 11: SPAN-IGM-A1 IMU Performance  
PERFORMANCE - GYROS  
Gyro Input Range  
450 °/second  
In Run Gyro Rate Bias Stability  
Angular Random Walk  
6 °/hour  
0.3 °/√hr  
PERFORMANCE - ACCELEROMETERS  
Accelerometer Range  
18 g  
In Run Accelerometer Bias Stability 0.1 mg  
Velocity Random Walk 0.029 m/s/√hr  
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Technical Specifications  
Appendix A  
Table 12: SPAN-IGM-A1 Electrical Specifications  
ELECTRICAL  
a
Input Voltage  
10 - 30 VDC  
Power consumption  
4 W  
(typical, GPS & GLONASS)  
5.5 W (typical, GPS, GLONASS & wheel sensor)  
b
6.2 W (typical, GPS, GLONASS, wheel sensor & ALIGN)  
a. An ALIGN system requires 11 VDC if the FlexPak6 powers the SPAN-IGM.  
b. A system with a FlexPak6 requires 8.7 W typical.  
Table 13: SPAN-IGM-A1 Environmental Specifications  
ENVIRONMENTAL  
Temperature, operational  
Temperature, storage  
Humidity  
-40°C to +65°C  
-50°C to +80°C  
95% Non-condensing  
A.1.1 SPAN-IGM-A1 Mechanical Drawings  
Figure 18: SPAN-IGM-A1 Dimensions  
Dimensions are in  
millimetres.  
The center of navigation is at the location marked by the axis labels on the enclosure and  
indicated on the drawing above. It is not at the depression in the enclosure cover.  
SPAN-IGM User Manual Rev 2  
53  
 
           
Appendix A  
Technical Specifications  
A.2 SPAN-IGM-S1 Technical Specifications  
Table 14: SPAN-IGM-S1 Physical Specifications  
PHYSICAL  
Enclosure Size  
Weight  
152.0 mm x 141.5 mm x 50.5 mm  
540 g  
CONNECTORS  
DB-15HD Female  
DB-15HD Male  
TNC Female  
MAIN  
AUX  
RF Antenna Connector  
Table 15: SPAN-IGM-S1 GNSS Performance  
HORIZONTAL POSITION ACCURACY (RMS)  
Single Point L1/L2  
1.2 m  
SBAS  
DGPS  
RT2  
0.6 m  
0.4 m  
1 cm + 1 ppm  
Table 16: SPAN-IGM-S1 Data Rates  
DATA RATES  
20 Hz  
GNSS Measurement  
GNSS Position  
IMU Measurement  
INS solution  
20 Hz  
125 Hz  
Up to 125 Hz  
20 ns RMS  
Time accuracy  
Table 17: SPAN-IGM-S1 IMU Performance  
PERFORMANCE - GYROS  
Gyro Input Range  
400 °/second  
In Run Gyro Rate Bias Stability  
Angular Random Walk  
0.5 °/hour  
0.15 °/√hr  
PERFORMANCE - ACCELEROMETERS  
Accelerometer Range  
10 g  
In Run Accelerometer Bias Stability 0.05 mg  
Velocity Random Walk 0.06 m/s/√hr  
54  
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Technical Specifications  
Appendix A  
Table 18: SPAN-IGM-S1 Electrical Specifications  
ELECTRICAL  
a
Input Voltage  
10 - 30 VDC  
Power consumption  
6 W  
(typical, GPS & GLONASS)  
7.5 W (typical, GPS, GLONASS & wheel sensor)  
b
8.2 W (typical, GPS, GLONASS, wheel sensor & ALIGN)  
a. An ALIGN system requires 11 VDC if the FlexPak6 powers the SPAN-IGM.  
b. A system with a FlexPak6 requires 10.7 W typical.  
Table 19: SPAN-IGM-S1 Environmental Specifications  
ENVIRONMENTAL  
Temperature, operational  
Temperature, storage  
Humidity  
-40°C to +65°C  
-50°C to +80°C  
95% Non-condensing  
A.2.1 SPAN-IGM-S1 Mechanical Drawings  
Figure 19: SPAN-IGM-S1 Dimensions  
Dimensions are in  
millimetres.  
The center of navigation is at the location marked by the axis labels on the enclosure and  
indicated on the drawing above. It is not at the depression in the enclosure cover.  
SPAN-IGM User Manual Rev 2  
55  
 
           
Appendix A  
Technical Specifications  
A.3 SPAN-IGM Ports  
Table 20: Main Port Pinout  
Description  
MODE2 high or open: MIC port transmit (RS-232)  
Pin #  
Label  
1
MIC_TX/MIC_TX+  
MODE2 low: MIC port transmit positive (RS-422)  
2
CAN+/MIC_TX-  
MODE2 high or open: CAN bus positive  
MODE2 low:  
MIC port transmit negative (RS-422)  
3
4
5
6
DGND  
V+  
Digital ground  
SPAN-IGM power supply input, positive  
SPAN-IGM power supply input, negative  
V-  
MIC_RX/MIC_RX+ MODE2 high or open: MIC port receiver (RS-232)  
MODE2 low: MIC port receive positive (RS-422)  
MODE2 high or open: CAN bus negative  
7
CAN-/MIC_RX-  
MODE2 low:  
MIC port receive negative (RS-422)  
8
9
DGND  
Digital ground  
User_TX/  
User_TX+  
MODE1 high or open: User port (COM2) transmit (RS-232)  
MODE1 low:  
User port (COM2) transmit positive (RS-422)  
10  
User_RX/  
User_RX+  
MODE1 high or open: User port (COM2) receive (RS-232)  
MODE1 low:  
User port (COM2) receive positive (RS-422)  
11  
12  
13  
14  
DGND  
Digital ground  
MODE1  
MODE2  
User_TX-  
Mode 1 input, controls User port standard  
Mode 2 input, controls MIC port standard and CAN bus  
MODE1 high or open: No connection  
MODE1 low:  
User port (COM2) transmit negative (RS-422)  
15  
User_RX-  
MODE1 high or open: No connection  
MODE1 low:  
User port (COM2) receive negative (RS-422)  
Table 21: AUX Port Pinout  
Description  
Pin #  
Label  
1
2
ODM_A+  
ODM_B+  
D+  
Odometer input A positive  
Odometer input B positive (no connection on SPAN-IGM-S1)  
USB Data, input  
3
4
WS_VOUT  
DGND  
Wheel sensor output voltage (15 VDC)  
Digital ground  
5
6
ODM_A-  
ODM_B-  
D-  
Odometer input A negative  
Odometer input B negative (no connection on SPAN-IGM-S1)  
USB data, negative  
7
8
9
DGND  
Digital ground  
10  
11  
12  
13  
14  
15  
VARF  
Variable Frequency output  
Event 2/Mark 2 input  
EVENT2  
EVENT1  
COM3_TX  
COM3_RX  
PPS  
Event 1/Mark 1 input  
COM3 port transmit (RS-232)  
COM3 port receive (RS-232)  
Pulse Per Second  
56  
SPAN-IGM User Manual Rev 2  
 
       
Technical Specifications  
Appendix A  
A.4 SPAN-IGM Interface Cable  
The NovAtel part number for the SPAN-IGM interface cable is 01019014. This cable provides power and  
communication signals to the SPAN-IGM.  
Figure 20: SPAN-IGM Interface Cable  
Dimensions are in  
millimetres.  
Table 22: SPAN-IGM Interface Cable Pin-Out Descriptions  
J1  
J2  
J3  
J4  
J5  
MAIN  
Pin #  
Function  
Wire Bundle MIC Port Wire Bundle User Port  
Label  
Pin #  
Label  
Pin #  
1
2
MIC Port Transmit/Transmit+ (RS-422)  
MIC Port Transmit- (RS-422)/CAN Bus+  
Digital Ground  
2
8
3
DGND  
4
Battery +  
BATT+  
BATT-  
5
Digital Ground  
6
MIC Port Receive/Receive+ (RS-422)  
MIC Port Receive-/CAN Bus-  
Digital Ground  
3
7
5
7
8
5
2
3
9
User Port Transmit/Transmit+ (RS-422)  
User Port Receive/Receive+ (RS-422)  
Digital Ground  
10  
11  
12  
13  
14  
15  
DGND  
MODE 1  
MODE 2  
MODE 1  
MODE 2  
User Port Transmit- (RS-422)  
User Port Receive- (RS-422)  
8
7
SPAN-IGM User Manual Rev 2  
57  
 
     
Appendix A  
Technical Specifications  
A.5 SPAN-IGM ALIGN Interface Cable  
The NovAtel part number for the SPAN-IGM ALIGN interface cable is 01019089. This cable connects a  
SPAN-IGM to a FlexPak6 receiver when the SPAN-IGM and FlexPak6 are connected in an dual antenna  
configuration.  
Use the ALIGN cable when the SPAN-IGM is connected to a FlexPak6 receiver in a stack  
up configuration. You must connect this cable to COM 2 on the FlexPak6.  
Figure 21: SPAN-IGM ALIGN Interface Cable  
Dimensions are in  
millimetres.  
Table 23: SPAN-IGM ALIGN Interface Cable Pin-Out Descriptions  
J1  
J2  
MAIN  
Pin #  
Function  
COM 2  
Pin #  
3
4
Digital Ground  
Battery +  
5
4
5
2
3
5
Digital Ground  
9
User Port Transmit/Transmit+ (RS-422)  
User Port Receive/Receive+ (RS-422)  
10  
58  
SPAN-IGM User Manual Rev 2  
 
     
Technical Specifications  
Appendix A  
A.6 SPAN-IGM Auxiliary Port Interface Cable  
The NovAtel part number for the SPAN-IGM auxiliary port interface cable is 01019015. This cable  
provides connection for the I/O strobe inputs, odometer input, COM3 serial port and USB port.  
Figure 22: SPAN-IGM Auxiliary Port Interface Cable  
Dimensions are in  
millimetres.  
Table 24: SPAN-IGM Auxiliary Port Interface Cable Pin-Out Descriptions  
J2 J3 J4  
J1  
AUX  
Pin #  
J5  
USB  
Function  
Wire Bundle COM3 Port Wire Bundle  
Labels  
Pin #  
Labels  
1
2
3
4
5
6
7
8
Odometer A+  
ODM_A+  
ODM_B+  
Odometer B+  
USB Data+  
Connected  
Connected  
Wheel Sensor V Out  
Digital Ground  
Odometer A-  
Odometer B-  
USB Data-  
WS-OUT  
DGND  
ODM_A-  
ODM_B-  
Connected  
VARF DGND  
EVENT2 DGND  
EVENT1 DGND  
PPS DGND  
VARF  
9
Digital Ground  
5
10  
11  
12  
13  
14  
15  
VARF  
Event2 Input  
Event1 Input  
COM 3 Transmit  
COM 3 Receive  
PPS  
EVENT2  
EVENT1  
2
3
PPS  
SPAN-IGM User Manual Rev 2  
59  
 
     
Appendix B  
Frequently Asked Questions  
1. Why don’t I have any INS logs?  
On start-up, the INS logs are not available until the system has solved for time. This requires that an  
antenna is attached, and satellites are visible, to the system. You can verify that time is solved by  
checking the time status in the header of any standard header SPAN log such as BESTPOS. When  
the time status reaches FINETIME, the inertial filter starts and INS messages are available.  
2. How can I access the inertial solution?  
The INS/GNSS solution is available from a number of specific logs dedicated to the inertial filter. The  
INSPOS, INSPVA, INSVEL, INSSPD, and INSATT logs are the most commonly used logs for  
extracting the INS solution. These logs can be logged at any rate up to the rate of the IMU data (125  
or 200 Hz). The solution can also be triggered by the mark input signal by requesting the MARKxPVA  
logs. Further details on these logs are available in the SPAN on OEM6 Firmware Reference Manual  
(OM-20000144).  
3. Can I still access the GNSS-only solution while running SPAN?  
The GNSS only solution used when running the OEM6 receiver without the IMU is still available  
when running SPAN. Logs such as PSRPOS, RTKPOS and OMNIPOS are still available. The  
BESTGNSSPOS log is also available to provide the best available GNSS only solution. Any non-INS  
logs should be logged at a maximum rate of 5 Hz when running SPAN. Only INS-specific logs  
documented in the SPAN on OEM6 Firmware Reference Manual (OM-20000144) should be logged  
at rates higher than 5 Hz when running SPAN.  
4. What will happen to the INS solution when I lose GNSS satellite visibility?  
When GNSS tracking is interrupted, the INS/GNSS solution bridges through the gaps with what is  
referred to as free-inertial navigation. The IMU measurements are used to propagate the solution.  
Errors in the IMU measurements accumulate over time to degrade the solution accuracy. For  
example, after ten seconds of GNSS outage, the horizontal position accuracy is approximately 3 m.  
The SPAN solution continues to be computed for as long as the GNSS outage lasts, but the solution  
uncertainty increases with time. This uncertainty can be monitored using the INSCOV log, see the  
SPAN on OEM6 Firmware Reference Manual (OM-20000144).  
60  
SPAN-IGM User Manual Rev 2  
 
     
Appendix C  
Replacement Parts  
The following are a list of the replacement parts available. Should you require assistance, or need to  
order additional components, contact your local NovAtel dealer or Customer Support.  
C.1 SPAN System  
Part Description  
NovAtel Part  
01018993  
SPAN-IGM-A1  
SPAN-IGM-S1  
01019169  
SPAN-IGM interface cable  
01019014  
SPAN-IGM Auxiliary Port interface cable  
SPAN-IGM ALIGN interface cable  
01019015  
01019089  
SPAN-IGM ALIGN Bracket Kit  
01019091  
SPAN-IGM Quick Start Guide  
GM-14915114  
OM-20000141  
OM-20000144  
OM-20000128  
OM-20000129  
SPAN-IGM User Manual  
SPAN on OEM6 Firmware Reference Manual  
OEM6 Family Installation and Operation User Manual  
OEM6 Family Firmware Reference Manual  
C.2 Accessories and Options  
Part Description  
NovAtel Part  
Optional NovAtel GNSS Antennas:  
Model 702 (L1/L2)  
GPS-702  
Model 702GG (L1/L2/GLONASS)  
Model 703GGG (L1/L2/L5/GLONASS/Galileo)  
Model A72GA (L1/L2)  
GPS-702-GG  
GPS-703-GGG  
ANT-A72GA-TW-N  
ANT-C2GA-TW-N  
Model C2GA (L1/L2)  
Optional RF Antenna Cable:  
5 metres  
GPS-C006  
GPS-C016  
GPS-C032  
GPS-C002  
15 metres  
30 metres  
22 cm interconnect adapter cable  
SPAN-IGM User Manual Rev 2  
61  
 
         
Index  
R
A
replacement parts 61  
revision, manual 2  
antenna 61  
AUTH command 51  
authorization 51  
S
C
scope 12  
serial  
cables 15  
number 46  
set up hardware 14  
antenna 61  
power 19  
copyright 2  
customer service 46  
T
technical specifications 5253, 55  
troubleshooting 60  
D
dealer 46  
driving 33  
U
update firmware 4647, 51  
upgrade firmware 45  
E
upgrade models 4647  
e-mail 7  
Event1 21  
Event2 21  
V
VARF 21  
F
Variable Frequency 21  
version 51  
features 46, 51  
firmware updates 4647, 51  
frequently asked questions 60  
W
Web site 7  
G
wheel sensor  
messages 34  
WinLoad 47  
graphical user interface 28  
H
hardware setup 14  
help 27  
I
IMU-CPT  
dimensions 53, 55  
introduction 11  
M
Mark1 21  
Mark2 21  
model upgrades 4647  
P
port 19  
power 19  
PPS 21  
prerequisites 13  
Pulse Per Second 21  
SPAN-IGM User Manual Rev 2  
62  
 
 
Index  
SPAN-IGM User Manual Rev 2  
63  
 
OM-20000141  
Rev 2  
September 2013  
 

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