Chapter 3 SPAN Operation
OEM7 SPAN Installation and Operation User Manual v14
82
Z Rotation
:
Observe that if a positive 90 degree rotation is performed about the IMU Z axis, the rotated IMU X axis becomes
collinear with the Vehicle X axis.
X Rotation
:
Observe that if a negative 90 degree rotation is performed about the new IMU X axis, the rotated IMU Y axis is
now collinear with the Vehicle Y axis, and the rotated IMU Z axis is also collinear with the Vehicle Z axis.
Y Rotation
:
Since all three sets of axes are already collinear, our frames are coincident, and no further rotation is required.
This solution is not unique. Due to the properties of Euler Angles, there are usually multiple sets of equi-
valent rotations.
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
3.3 Software Configuration
On a SPAN system, both the GNSS receiver and the IMU must be configured.
3.3.1 GNSS Configuration
The GNSS configuration can be set up for different accuracy levels such as single point, SBAS, DGNSS,
PPP and RTK. Refer to the
OEM7 Installation and Operation User Manual
for details on DGNSS, RTK, L-Band
