Chapter 4 SMART7 with SPAN Operation
SMART7 Installation and Operation User Manual v6
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In a typical SMART7 installation, the slight misalignments described in the examples above are hard to detect
and difficult to measure. For this reason, it is recommended that a Body to Vehicle Frame rotation calibration
routine be used so the SPAN system can determine and compensate for these angles. Refer to
Frame Rotation Calibration Routine
on page 76 or
Multi-Line Body to Vehicle Frame Rotation Calibration Routine
on page 77 for more information.
These parameters are estimated in the background when the system is fully converged, however it is always bet-
ter to have this measured as precisely as possible before mission critical data is collected.
Since slight variations in alignment can be introduced when the SMART7 is remounted, a Body to
Vehicle Frame calibration should be performed each time the SMART7 is remounted.
An accurate RBV is especially important if the position is being transferred to an implement.
4.4 Software Configuration
On a SPAN system, both the GNSS receiver and the IMU must be configured.
4.4.1 Minimum Recommended Configuration
When configuring your SMART7 SPAN system for first time use, the following is the minimum amount of inform-
ation required to ensure proper operation of a SPAN system.
Required Information
Required Command
IMU to vehicle frame rotation
SETINSROTATION RBV
While this is the minimum amount of information required, additional information is typically needed for SPAN
systems. The following commands are commonly used to configure SPAN systems.
Common User Settings
Appropriate Command
Notes
IMU to output position offset
SETINSTRANSLATION USER
Default output position is at the IMU center
IMU to output frame rotation
SETINSROTATION USER
Default output frame is the vehicle frame
IMU to secondary antenna
lever arm
SETINSTRANSLATION ANT2
Only required if the SMART7 is part of an
ALIGN system.
Minimum alignment velocity
SETALIGNMENTVEL
4.4.2 GNSS Configuration
The GNSS configuration can be set up for different accuracy levels such as single point, SBAS, DGPS, PPP
and RTK. Refer to the
on page 34 for details on DGPS, RTK, L-Band or SBAS setup and
operation.
With no additional configuration, the system operates in single point mode.
4.4.3 SPAN Configuration
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