Chapter 4 SPAN Operation
CPT7 and CPT7700 Installation and Operation User Manual v12
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The rotational offsets are entered using the
SETINSROTATION
command. For this example, the command to
enter the rotations for the previous example is:
SETINSROTATION RBV -90 0 90
4.3 Software Configuration
On a SPAN system, both the GNSS receiver and the IMU must be configured.
4.3.1 GNSS Configuration
The GNSS configuration can be set up for different accuracy levels such as single point, SBAS, DGNSS,
PPP and RTK. Refer to
on page 42 for information about configuring the GNSS
settings.
With no additional configuration, the system operates in single point mode.
4.3.2 INS Profiles
INS Profiles provide two major functions; simplified configuration and enhanced performance. Each INS
Profile sets specific filter behavior to enhance system performance in particular environments.
The INS profile settings are enabled by the receiver model. A receiver model with an INS Mode of
S
,
P
,
R
or
K
is required to enable INS Profiles. The INS profile adds enhanced behavior such as Dead Reckoning for land
and Heave for marine and allows for simple configuration rather than sending many discreet commands.
Profile
Description
Enhanced Profile Settings
DEFAULT
The default SPAN profile.
This profile has legacy SPAN default settings.
N/A
LAND
INS Profile for fixed axle land vehicles. Enables
robust kinematic alignment routines and
configures the update profile.
Enables intelligent vehicle dynamics
modeling for land vehicles (Dead
Reckoning)
Enables course over ground attitude
updates
Enables direction detection on
kinematic alignment routine
MARINE
INS profile for marine vessels. Enacts changes to
disable static behavior and make the marine
solution more robust.
Disable Zero Velocity Updates
Disable turn-on bias estimation
Enables Heave algorithms
FIXEDWING
INS profile for fixed wing aircraft
None
FOOT
INS profile for walking or backpack applications
None
VTOL
INS profile for Vertical Take Off and Landing
aircraft (helicopter, quadcopter, etc.)
None
Table 10: OEM7 INS Profiles
