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APPENDIX A IMU Technical Specifications

OEM7 SPAN Installation and Operation User Manual v14

253

A.18.2 IMU Performance

Gyroscope Performance

Gyro Input Range

±1000 °/second

Gyro Rate Bias

1.0 °/hour

Gyro Rate Scale Factor

150 ppm

Angular Random Walk

0.125 °/√hour

Accelerometer Performance

Accelerometer Range

±50 g

Accelerometer Linearity

500 ppm

Accelerometer Scale Factor

300 ppm

Accelerometer Bias

1.0 mg

Data Rate

IMU Measurement

100 Hz

Table 138: HG1700-AG58 IMU Performance

Gyroscope Performance

Gyro Input Range

±1000 °/second

Gyro Rate Bias

5.0 °/hour

Gyro Rate Scale Factor

150 ppm

Angular Random Walk

0.5 °/√hour

Accelerometer Performance

Accelerometer Range

±50 g

Accelerometer Linearity

500 ppm

Accelerometer Scale Factor

300 ppm

Accelerometer Bias

2.0 mg

Data Rate

IMU Measurement

100 Hz

Table 139: HG1700-AG62 IMU Performance

Содержание OEM7 SPAN

Страница 1: ...OEM7 SPAN Installation and Operation User Manual OEM7 SPAN Installation and Operation User Manual v14 January 2020...

Страница 2: ...nce agreement or non dis closure agreement The software may be used or copied only in accordance with the terms of the agreement It is against the law to copy the software on any medium except as spec...

Страница 3: ...d 36 2 1 6 Connect Power 53 2 2 MIC Installation 56 2 2 1 Install a MIC in a Stack Up Configuration 56 2 2 2 Install a MIC in a Standalone Configuration 61 2 3 UIC Installation 67 2 3 1 Mount the SPAN...

Страница 4: ...ing Timed Sensor Triggers 106 3 6 1 Configuring the Hardware 106 3 6 2 Configuring the Software 107 3 6 3 Using Timed Event Pulses 107 3 6 4 Recording Incoming Sensor Events 107 3 7 Distance Measureme...

Страница 5: ...SAS Performance 151 A 3 3 IMU FSAS Electrical and Environmental 151 A 3 4 Interface Cable for IMU FSAS 152 A 3 5 IMU FSAS Cable with Wheel Sensor 152 A 4 IMU HG1900 155 A 4 1 IMU HG1900 Mechanical Dra...

Страница 6: ...IC Cable Assembly 212 A 12 OEM IMU EG320N 213 A 12 1 OEM IMU EG320N Mechanical Drawings 214 A 12 2 OEM IMU EG320N Sensor Specifications 215 A 12 3 OEM IMU EG320N Electrical and Environmental 215 A 12...

Страница 7: ...to MIC Cable Assembly 269 A 20 UIC Universal IMU Controller 271 A 20 1 UIC Mechanical Drawings 272 A 20 2 UIC Electrical and Environmental 274 A 20 3 UIC Connectors 275 A 20 4 HG1900 IMU to UIC Cable...

Страница 8: ...OEM7 SPAN Installation and Operation User Manual v14 8 APPENDIX F Frequently Asked Questions APPENDIX G Importance of Antenna Selection APPENDIX H Accessories and Replacement Parts...

Страница 9: ...U to the MIC OEM Cable Kit 01018869 64 Figure 15 Connect the ADIS 16488 IMU to the MIC OEM Cable Kit 01019007 65 Figure 16 Connect the STIM300 IMU to the MIC OEM Cable Kit 01019174 65 Figure 17 Basic...

Страница 10: ...IMU HG1900 Center of Navigation 157 Figure 51 IMU IGM A1 Dimensions 161 Figure 52 IMU IGM S1 Dimensions 162 Figure 53 IMU IGM Interface Cable 167 Figure 54 IMU ISA 100C Dimensions 170 Figure 55 IMU I...

Страница 11: ...re 88 IMU Bottom Dimensions 244 Figure 89 IMU Coordinate Axis 244 Figure 90 IMU to UIC Cable Assembly 246 Figure 91 Universal IMU Enclosure Side Dimensions 249 Figure 92 Universal IMU Enclosure Top Bo...

Страница 12: ...IMU to Base 294 Figure 123 Install Bracket to Base 294 Figure 124 Making Connections 295 Figure 125 Connect Internal Cable Harness 295 Figure 126 Installing the Enclosure Body to the Base 296 Figure...

Страница 13: ...Figures OEM7 SPAN Installation and Operation User Manual v14 13 Figure 144 Plot of Good and Poor Antenna Phase Center Variation over Elevation Angle 0 90 314...

Страница 14: ...ns 69 Table 15 UIC Status LEDs 70 Table 16 Additional IMU to PwrPak7 Connections 73 Table 17 IMU IGM LEDs 75 Table 18 IMU Enclosure LEDs 75 Table 19 OEM7 INS Profiles 83 Table 20 Enable INS Commands 8...

Страница 15: ...ations 155 Table 52 IMU HG1900 IMU Performance 158 Table 53 IMU HG1900 Electrical Specifications 159 Table 54 IMU HG1900 Environmental Specifications 159 Table 55 IMU IGM A1 Physical Specifications 16...

Страница 16: ...rmance 193 Table 89 IMU ENC LN200 Electrical Specifications 194 Table 90 IMU ENC LN200 Environmental Specifications 194 Table 91 IMU IMU IC Physical Specifications 195 Table 92 IMU IMU IC IMU Performa...

Страница 17: ...cations 230 Table 124 OEM IMU ISA 100C IMU to UIC Cable Pinout 231 Table 125 OEM IMU STIM300 Physical Specifications 234 Table 126 OEM IMU STIM300 Performance 236 Table 127 OEM IMU STIM300 Electrical...

Страница 18: ...or Drivers 266 Table 155 HG1930 IMU to MIC Cable Assembly 267 Table 156 HG1700 and HG1900 IMU to MIC Cable Assembly 269 Table 157 UIC Physical Specifications 271 Table 158 UIC Electrical Specification...

Страница 19: ...ocate the receiving antenna l Increase the separation between the equipment and the receiver l Connect the equipment to an outlet on a circuit different from that to which the receiver is connected l...

Страница 20: ...ir wheeled bin label See www novatel com products compliance environmental compliance for more information RoHS The OEM7 GNSS receivers are in conformity with Directive 2011 65 EU of the European Parl...

Страница 21: ...ossible 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 condi...

Страница 22: ...five feet 1 5 m of the point where it enters the build ing l Grounded metallic service raceway l Grounded electrical service equipment enclosure l Eight foot grounding rod driven into the ground only...

Страница 23: ...ly Do not connect them to Telecommunications Network Voltage TNV circuits Conventions The following conventions are used in this manual Information that supplements or clarifies text A caution that ac...

Страница 24: ...OG ALMANACB onchanged LOG RAWEPHEMB onchanged LOG GLORAWEPHEMB onchanged LOG TRACKSTATB ontime 1 LOG SATVIS2B ontime 60 LOG BESTPOSB ontime 1 LOG RANGEB ontime 1 LOG RXCONFIGA once LOG ITDETECTSTATUSB...

Страница 25: ...re problem send a list of the troubleshooting steps taken and the results Contact Information Log a support request with NovAtel Customer Support using one of the following methods Log a Case and Sear...

Страница 26: ...eceiver is connected to the IMU with an RS 232 RS 422 or SPI link A NovAtel GNSS antenna must also be connected to the receiver to track GNSS signals After the IMU enclosure GNSS antenna and appropria...

Страница 27: ...ervation data to constrain INS solution drift even when too few satellites are available for a full GNSS solution For more information about GNSS and INS refer to www novatel com an introduction to gn...

Страница 28: ...nctionality of the P model For more information see Relative INS on page 126 S P R 1 2 2 IMU Grade The IMU grade indicates which classes of IMUs are supported by the model The IMU grade is specified a...

Страница 29: ...nquiries see Customer Support on page 24 The OEM7 receiver utilizes a comprehensive user interface command structure which requires com munications through its communications ports For descriptions of...

Страница 30: ...page 71 l PwrPak7 E1 PwrPak7 E2 Installation on page 74 If your IMU enclosure and IMU were supplied separately additional instructions for installing the IMU into an enclosure are available in the fo...

Страница 31: ...1 OEM7 Receiver Card Installation The following diagram shows a typical SPAN installation using an OEM7 receiver card and an IMU in an enclos ure Figure 1 Typical Installation of a SPAN System with a...

Страница 32: ...and wide band reference antennas refer to our web site www novatel com antennas for details of available antennas All antennas include band pass filtering and an LNA The GNSS antenna chosen depends o...

Страница 33: ...ion with a clear view of the sky so each satellite above the horizon can be tracked without obstruction For more information on RF signal propagation and multipath refer to the NovAtel applic ation no...

Страница 34: ...AN Configuration for Receiver Cards on page 84 The closer the antenna is to the IMU particularly in the horizontal plane the more accurate the position solution Also your measurements entered using th...

Страница 35: ...re an IMU enclosure using the IMU Enclosure Mounting Plate 1 Place the mounting plate on the bottom of the IMU Enclosure and align the holes in the mounting plate with the threaded holes in the IMU En...

Страница 36: ...Receiver Card The method used to connect the IMU depends on the IMU and OEM7 receiver in the system IMUs that are con tained within an IMU enclosure communicate with the OEM7 receiver using a serial p...

Страница 37: ...19 OEM729 OEM7600 OEM7700 OEM7720 PwrPak7 Serial port RS 232 or RS 422 IMU IGM S1 OEM719 OEM729 OEM7600 OEM7700 OEM7720 PwrPak7 Serial port RS 232 or RS 422 IMU ISA 100C OEM719 OEM729 OEM7600 OEM7700...

Страница 38: ...Pak7 Serial port RS 422 UIMU LN200 OEM719 OEM729 OEM7600 OEM7700 OEM7720 PwrPak7 Serial port RS 422 Connect an IMU Enclosure to an OEM7 Receiver Card Using a Serial Port An interface is needed between...

Страница 39: ...more information OEM IMU STIM300D The OEM IMU STIM300D requires an additional input from the receiver to synchronize the IMU and receiver Connect the EVENT_IN2 signal from the receiver to the TOV sig...

Страница 40: ...eceivers such as the OEM7600 OEM7700 and OEM7720 using a SPI connection The SPI connection handles timing and data communication between the receiver and IMU The OEM IMU ADIS 16488 can also connect to...

Страница 41: ...DIS 16488 Receiver Pin Pin Name Pin Pin Name Description 1 NC Do not connect 2 NC Do not connect 3 SCLK 44 SPI_ SCLK SPI Serial Clock 4 SDO 43 SPI_ MISO SPI Data Output 5 SDI 41 SPI_ MOSI SPI Data Inp...

Страница 42: ...his configuration note that l pin 8 must be pulled low for greater than 100 ms to properly soft reset the IMU l pin has an internal pull up resistor 9 DIO2 29 EVENT_ IN2 Data ready 10 VDD 3 3 VDC powe...

Страница 43: ...the EG320N or EG370N must provide l a Samtec CLM 110 02 H D connector This connector mates with the connector on the EG320N EG370N See Figure 4 EG320N EG370N Pin Locations below for the location of t...

Страница 44: ...Data Input 6 CS 42 SPI_nCS SPI Chip Select 7 SOUT UART Data Out Connect to the 3 3 VDC power supply through a resistor default 10 k 8 GND Digital ground 9 SIN UART Data In Connect to the 3 3 VDC powe...

Страница 45: ...and Operation User Manual For more information about the EG320N see OEM IMU EG320N on page 213 For information about the EG370N see OEM IMU EG370N on page 218 Connect an OEM IMU STIM300 Directly to an...

Страница 46: ...llation and Operation User Manual l a 5 0 VDC 0 5 VDC regulated power supply Refer to the following table for the location of the power supply connections Figure 5 OEM IMU STIM300 Pin Out STIM300 RS 4...

Страница 47: ...air LVCMOS B IN COMx_RXD GND Any receiver ground pin STIM300 Receiver Pin Pin Name Pin Pin Name Description 1 STIM TXD OEM729 COM1 15 PwrPak7 COM1 4 COM2 12 COMx_ RXD Part of RS 422 transmit pair from...

Страница 48: ...nd Operation User Manual or PwrPak7 Installation and Operation User Manual Connect an OEM IMU HG4930 Directly to an OEM7 Receiver The OEM IMU HG4930 can connect directly to an OEM7 receiver using a se...

Страница 49: ...wing tables for the connections required between the IMU and receiver For information about the receiver connector see the OEM7 Installation and Operation User Manual l a 5 0 VDC 0 5 VDC regulated pow...

Страница 50: ...ure the receiver to use the direct connection to the HG4930 described in the previous table 1 CONNECTIMU COMx HG4930_AN01 2 PPSCONTROL ENABLE POSITIVE Direct Connect COM1 on the OEM729 to the OEM IMU...

Страница 51: ...L ENABLE POSITIVE 3 SETIMUPORTPROTOCOL RS422 Direct Connect a PwrPak7 to the OEM IMU HG4930 HG4930 AN01 PwrPak7 Pin Pin Name DSUB HD26 Pin All I O SPAN Cable COM2 IMU DB9 Pin Pin Name Description 1 DG...

Страница 52: ...0 Baud Rate Conversion If purchased directly from KVH the KVH1750 must be configured before it can be used with an OEM7 receiver The KVH1750 natively communicates at 921 600 bps however the maximum ba...

Страница 53: ...onfiguration options are available two of which allow changing the baud rate of the IMU to either 921 600 or 460 800 This provides cus tomers upgrading to OEM7 an easy method to modify the baud rate T...

Страница 54: ...uirements of both devices IMU Power Requirement IMU CPT 9 to 18 VDC IMU FSAS 10 to 34 VDC IMU HG1900 10 to 34 VDC IMU IGM 10 to 30 VDC IMU ISA 100C 10 to 34 VDC IMU KVH1750 9 to 36 VDC IMU ENC LN200 1...

Страница 55: ...ires are connected to the power supply However the IMU Enclosure can be powered from a single pair VIN and VIN This is beneficial in systems with a backup power supply as one pair can be connected to...

Страница 56: ...moun ted on an OEM719 receiver In a standalone configuration the MIC is mounted separately from the receiver The MIC supports all OEM7 receiver cards for communications The OEM719 is the only OEM7 rec...

Страница 57: ...01 53780 2070 Molex 51146 2000 Molex Connects to HG1700 HG1900 HG1930 and STIM300 IMUs NovAtel supplied cable kit 3 P701 53780 1070 Molex 51146 1000 Molex Connects to ADIS 16488 IMUs NovAtel supplied...

Страница 58: ...er for the recommended standoffs is RAF M21073005AL7 Irwin Industrial If alternate standoffs are selected use equivalent parts with a minimum height of 12 mm Ensure all standoffs are properly installe...

Страница 59: ...Board PCB to the IMU Ensure all the pins on the header are aligned with the holes on the mating connector An IMU mounting PCB is not used with the STIM300 IMU 2 Connect the IMU to MIC interface cable...

Страница 60: ...t the HG1900 IMU to the MIC OEM Cable Kit 01018871 Figure 9 Connect the HG1930 IMU to the MIC OEM Cable Kit 01018869 The ADIS 16488 and STIM 300 are capable of a direct connection with OEM7 receivers...

Страница 61: ...ctions include l MIC serial port l OEM719 serial port COM2 l USB port l Event1 trigger input l Event2 trigger input l 1 PPS Pulse Per Second output l VARF Variable Frequency output l Reset input l Pos...

Страница 62: ...formation about ESD practices see the OEM7 Installation and Operation User Manual Figure 12 Basic MIC Set Up Ref Connector Part Number Mating Connector Description 1 P101 43650 0313 Molex 43645 0300 M...

Страница 63: ...iver on page 66 Mount the SPAN System Components 1 Mount the antenna See Mounting the GNSS Antenna on page 33 2 Mount the OEM7 receiver See the OEM7 Installation and Operation User Manual for informat...

Страница 64: ...00 HG1930 or STIM300 IMU See Figure 13 Connect the HG1900 IMU to the MIC OEM Cable Kit 01018871 below Figure 14 Connect the HG1930 IMU to the MIC OEM Cable Kit 01018869 below or Figure 16 Connect the...

Страница 65: ...t connecting a serial port to the receiver All signal I O on the MIC with the exception of the USB port are at LVCMOS levels To connect the MIC to devices that use other signals levels such as a compu...

Страница 66: ...to the MIC and OEM7 Receiver A separate power supply is required for the OEM7 receiver For information about the power supply requirements refer to the Technical Specifications appendix for the receiv...

Страница 67: ...200 C and Litef IMU For other IMUs that require an interface card and have lower power requirements e g HG 1700 HG 1900 and HG 1930 a MEMS Interface Card MIC can be used See MIC Installation on page 5...

Страница 68: ...ge 2 3 1 Mount the SPAN System Components 1 Mount the antenna See Mounting the GNSS Antenna on page 33 2 Mount OEM7 receiver See the OEM7 Installation and Operation User Manual for information about i...

Страница 69: ...t converts to and from RS 422 levels is required for the port connected to the UIC OEM729 COM1 on the OEM729 receiver can use RS 232 default or RS 422 levels To use COM1 for connection to the UIC conf...

Страница 70: ...power to the receiver 2 3 5 UIC Status LEDs The LEDs on the UIC provide basic status information Figure 18 UIC Status LEDs LED Off On Red On Green Flash Slow Yellow 1 Hz Flash Fast Yellow 3 Hz Power...

Страница 71: ...ation of a SPAN System with a PwrPak7 Complete the following steps to set up your NovAtel SPAN system 1 Mount the GNSS antenna See Mounting the GNSS Antenna on page 33 for details 2 Mount the IMU See...

Страница 72: ...U and receiver See Table 16 Additional IMU to PwrPak7 Connections on the next page If using a KVH1750 IMU the baud rate of the IMU must be changed to 460 800 bps For information about changing the IMU...

Страница 73: ...nector cabling design For information about the DB26 COM PORTS pinout refer to the PwrPak7 Installation and Operation User Manual For information about the IMU port pinout refer to refer to the appli...

Страница 74: ...E1 Complete the following steps to set up your NovAtel SPAN system 1 Mount the GNSS antenna See Mounting the GNSS Antenna on page 33 for details 2 Mount the PwrPak7 E1 PwrPak7 E2 See the PwrPak7 Inst...

Страница 75: ...Enclosure IMU HG1900 IMU ISA 100C IMU ENC LN200 IMU IMU IC have LEDs that provide the IMUs basic status information LED Off On Flash Slow 1 Hz Flash Fast 3 Hz Power Red No power to unit Unit is power...

Страница 76: ...ow Yellow 1 Hz Flash Fast Yellow 3 Hz COM No communication between IMU Enclosure and GNSS receiver N A IMU Enclosure is transmitting and receiving data without errors IMU Enclosure is receiving data f...

Страница 77: ...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 loggin...

Страница 78: ...the enclosure Refer to IMU Technical Specifications on page 134 for illustrations of the IMU Body frame axes The origin of this frame is not the enclosure center but the center of navigation sensor c...

Страница 79: ...ted rel ative to the phase center of the GNSS antenna In an INS system the position velocity and attitude data is reported relative to the center of navigation of the IMU For a SPAN system to provide...

Страница 80: ...00 l y 1 500 l z 2 000 The translational offsets are entered using the SETINSTRANSLATION command For this example the com mand to enter these offsets is SETINSTRANSLATION ANT1 1 1 5 2 The measurements...

Страница 81: ...ional offsets Rota tional offsets are given as the rotation from the IMU Body Frame to the frame of interest The order of rotations is Z X Y and all rotations are right handed Generally frames of refe...

Страница 82: ...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 rot...

Страница 83: ...of P or R is required to enable Enhanced INS Profiles Profile Description Basic Profile Settings Enhanced Profile Settings DEFAULT The default SPAN profile This profile has legacy SPAN default setting...

Страница 84: ...is available in the INSCONFIG log RBV Calibration For the profiles to provide the greatest benefit the rotation offset of the IMU body to the vehicle frame RBV should be known as accurately as possib...

Страница 85: ...antenna lever arm SETINSTRANSLATION ANT2 Only required for dual antenna systems Vehicle type SETINSPROFILE Minimum alignment velocity SETALIGNMENTVEL Configure SPAN Manually Follow these steps to ena...

Страница 86: ...ing the OEM719 MIC board stack you must use COM1 For SPAN systems with a OEM729 receiver COM2 is the recommended serial port for the IMU however you can use any available port for these IMUs 2 If the...

Страница 87: ...ectly 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 If it is impossible to measure the IMU to GNSS antenna offset precis...

Страница 88: ...nect version 2 0 or greater is required for OEM7 receivers Download the latest NovAtel Connect software and documentation from www novatel com novatel connect SPAN Configuration with NovAtel Web User...

Страница 89: ...e type SETINSPROFILE Minimum alignment velocity SETALIGNMENTVEL Configure SPAN Manually Follow these steps to enable INS as part of the PwrPak7 system using software commands A GNSS antenna with a cle...

Страница 90: ...GNSS antenna Issue the SETINSTRANSLATION command using the ANT2 parameter to enter the distance from the IMU or PwrPak7D E1 to the secondary GNSS antenna Required only for the PwrPak7D PwrPak7D E1or P...

Страница 91: ...ration Routine See Lever Arm Calibration Routine on page 101 A Lever Arm Calibration Routine is not available for the PwrPak7 E1 PwrPak7D E1 PwrPak7 E2 PwrPak7D E2 ADIS 16488 EG320N EG370N HG1930 HG49...

Страница 92: ...he SPAN parameters can be configured using the NovAtel Web User Interface For information about using the NovAtel Web User Interface refer to the online OEM7 documentation docs novatel com OEM7 3 3 5...

Страница 93: ...s shown 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 det...

Страница 94: ...INS logs documented in INS Logs in the OEM7 Commands and Logs Reference Manual l The IMU raw data is available at the maximum rate of output of the IMU Because of this high data rate a shorter header...

Страница 95: ...he system requires an initial position velocity and attitude estimate to start the navigation filter This is called system alignment On start up the system has no position velocity or attitude informa...

Страница 96: ...lignment below If a stationary alignment is required refer to Manual Alignment on the next page Kinematic Alignment An alternate form of aligning the SPAN system is a kinematic alignment A kinematic a...

Страница 97: ...sly required a kinematic alignment When INS Seed is enabled alignment data is automatically saved when appropriate with no specific action required from the user During subsequent power ups the saved...

Страница 98: ...l also remove some requirements typically asserted to allow the filter to converge This will allow the system to run without GNSS adequately at startup Example Usage Enabling functionality after FRESE...

Страница 99: ...o 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...

Страница 100: ...requested at a specific synchronous time interval asynchronously matching the IMU output rate or can be triggered by the mark input trigger at rates up to 200 Hz The GNSS only solution is still availa...

Страница 101: ...or post processing See Data Collection for Post Processing on page 121 To store data from an OEM7 receiver connect the receiver to a computer running NovAtel Connect or other ter minal program capable...

Страница 102: ...offset between the vehicle and IMU Body frame RBV is known If the angles are simple that is a simple rotation about one axis the values can easily be entered manually through the SETINSROTATION RBV c...

Страница 103: ...and commands used in this procedure refer to the OEM7 Commands and Logs Reference Manual 3 4 7 Multi Line Body to Vehicle Frame Rotation Calibration Routine The single pass Body to Vehicle frame offs...

Страница 104: ...described in System Start Up and Alignment Techniques on page 95 Ensure the system reaches Solution Good 5 Enable a new calibration using the INSCALIBRATE command with the optional standard deviation...

Страница 105: ...inematic alignment and has a valid INS solu tion For information about the logs and commands used in this procedure refer to the OEM7 Commands and Logs Reference Manual 3 5 Synchronizing External Equi...

Страница 106: ...and EVENT OUT connections to attach up to three sensor devices to an OEM7 receiver and then trigger the sensors based upon GPS time In this context a sensor is any external device The sensor reference...

Страница 107: ...DMARK1PVA log will be produced when any pulses on that line are observed In this case the TAGGEDMARK1PVA log should be requested ONNEW to capture the data 3 7 Distance Measurement Instrument A Distanc...

Страница 108: ...the IMU connector For information about connecting and configuring a DMI connected to an IMU see DMI Connected to an IMU on page 112 l UIC For a SPAN system that uses a UIC to connect the IMU to the r...

Страница 109: ...is then generated from the trans ducer which is fed to the receiver l The WPT mounts to the wheel lug nuts via adjustable mounting collets The torsion protection rod which maintains rotation around t...

Страница 110: ...for the Kistler WPT 8 pin M12 plug cable number 14865 The WPT requires power to operate which is not supplied through the receiver or IMU Pins 1 and 2 should therefore be connected to an external powe...

Страница 111: ...SPAN filter uses sequential RAWDMI 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...

Страница 112: ...ollowing command to enable a DMI on the PwrPak7 wheel sensor inputs DMICONFIG DMI1 ENABLE ENCLOSURE 2 Send the following commands to log the DMI data LOG DMICONFIGA ONCHANGED LOG RAWDMIA ONNEW LOG INS...

Страница 113: ...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 o...

Страница 114: ...om cable that provides access to the wheel sensor inputs See the IMU FSAS Cable with Wheel Sensor on page 152 for more information 3 Connect an external power supply to the DMI The power required for...

Страница 115: ...vals 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 d...

Страница 116: ...to an Intermediate Processor NovAtel s OEM7 receiver cards do not handle DMI encoded signals natively If using a receiver card an inter mediate processor is required to convert DMI pulses into NovAte...

Страница 117: ...processor Refer to EVENT_IN EVENT_OUT and PPS Signal Protection in the OEM7 Installation and Operation User Manual for information about connecting the 1PPS signal 5 Connect an external power supply t...

Страница 118: ...intermediate processor to send a RAWDMI command to the OEM7 receiver once per update period This command provides the current velocity for this update period Note the RAWDMI value is a 32 bit signed i...

Страница 119: ...increase l DMISTATUS in the INSUPDATESTATUS log reports a status greater than or equal to ACTIVE If there are no valid RAWDMI logs being published from the receiver then debugging the hardware connec...

Страница 120: ...rtial 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...

Страница 121: ...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 l RANGECMPB ONTIME 1 l RAWEPHEMB ONCHANGED l GL...

Страница 122: ...xed 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 recalculate t...

Страница 123: ...ation commands required to configure Variable Lever Arm for this setup are SETINSROTATION RBM 180 0 0 SETINSROTATION USER 0 0 90 SETINSROTATION RBV 0 0 90 Figure 35 Operating Gimbal on the next page s...

Страница 124: ...sic I O The variable lever arm functionality is based on the input of the INPUTGIMBALANGLE command This com mand specifies the right handed rotation angles from the mount body frame m to the gimbal bo...

Страница 125: ...ant use the GIMBALLEDPVA log Table 30 Logs used with Variable Lever Arm Rotations and Translations For the information provided by the system to be meaningful the following offsets have to be set corr...

Страница 126: ...ctor between two SPAN sys tems One is the Master receiver and the other is the Rover receiver Once configured the Master receiver begins transmitting corrections to the Rover receiver Relative informa...

Страница 127: ...UT 5 For information about the RTKTIMEOUT command refer to the OEM7 Commands and Logs Refer ence Manual 3 12 1 Configure Relative INS To configure the receivers to begin computing the relative informa...

Страница 128: ...n OEM7 SPAN Installation and Operation User Manual v14 128 The Model option must be present on both the rover and master for the Relative INS feature to be enabled The master and rover receiver must b...

Страница 129: ...ween them is fixed 2 The antennas should be mounted as a similar height relative to the IMU where the view of the satellites will not be obstructed by any part of the vehicle As heading accuracy is de...

Страница 130: ...such as the OEM7720 and PwrPak7D contain the hardware necessary to provide an ALIGN solution without an additional receiver Set up a SPAN system with a dual antenna receiver as shown in Figure 38 SPAN...

Страница 131: ...be powered on and connected directly between COM 2 of the SPAN receiver and COM 2 of the second receiver through either a null modem cable or an appropriate radio connection For dual antenna receiver...

Страница 132: ...mands and Logs Reference Manual for the syntax of the above commands As with all ALIGN capable products the GNSS baseline solution is available from the GPHDT log and HEADING2 log For INS heading use...

Страница 133: ...eiver ALIGNMENTMODE UNAIDED 4 3 3 Automatic Alignment Mode Automatic Alignment default Automatic Alignment Mode Selection is the default setting for a SPAN receiver This mode is designed to allow alig...

Страница 134: ...ENC LN200 on page 190 l IMU IMU IC on page 195 l LN 200 IMU single connector enclosure on page 200 l OEM IMU ADIS 16488 on page 205 l OEM IMU EG320N on page 213 l OEM IMU HG4930 on page 223 l OEM IMU...

Страница 135: ...160 mm x 160 mm x 100 mm 6 3 x 6 3 x 3 9 IMU Enclosure Weight 3 4 kg 7 49 lb Table 32 HG1700 IMU Physical Specifications See the following sections for more information about the HG1700 IMU l HG1700...

Страница 136: ...OEM7 SPAN Installation and Operation User Manual v14 136 A 1 1 HG1700 IMU Mechanical Drawings The dimensions in the following diagrams are in millimeters Figure 39 HG1700 Top Bottom Dimensions...

Страница 137: ...Operation User Manual v14 137 Figure 40 HG1700 Enclosure Side Dimensions The center of Navigation shown on the HG1700 label for the internal IMU is the same as the enclosure center The enclosure cente...

Страница 138: ...Accelerometer Linearity 500 ppm Accelerometer Scale Factor 300 ppm Accelerometer Bias 1 0 mg Data Rate IMU Measurement 100 Hz Table 33 HG1700 AG58 IMU Performance Gyroscope Performance Gyro Input Ran...

Страница 139: ...l IMUs IMU Interface RS 232 or RS 422 Table 35 HG17000 Electrical Specifications Environmental IMU Operating Temperature 30 C to 60 C 22 F to 140 F Storage Temperature 45 C to 80 C 49 F to 176 F Humid...

Страница 140: ...168 mm W X 152 mm L X 89 mm H IMU Weight 2 29 kg Table 37 IMU CPT Physical Specifications See the following sections for more information about the IMU CPT l IMU CPT Mechanical Drawings on the next p...

Страница 141: ...cations OEM7 SPAN Installation and Operation User Manual v14 141 A 2 1 IMU CPT Mechanical Drawings The dimensions in the following diagrams are in inches and millimeters in square brackets Figure 41 I...

Страница 142: ...APPENDIX A IMU Technical Specifications OEM7 SPAN Installation and Operation User Manual v14 142 Figure 42 IMU CPT Top Front and Bottom View...

Страница 143: ...r Linearity 1000 ppm 1 Temperature Dependent SF Variation 500 ppm 1 Angular Random Walk 0 0667 hour 1 Maximum Input 375 second Accelerometer Performance Bias Offset 50 mg Turn On To Turn On Bias Repea...

Страница 144: ...Time Valid Data 5 seconds Table 39 IMU CPT Electrical Specifications Environmental Temperature operational 40 C to 65 C Temperature non operational 50 C to 80 C Vibration operational 6 g rms 20 Hz 2...

Страница 145: ...elopment Terminated Cable J1 Pin Function J2 Female DB9 Pin Bare Connectors 1 Power Return Labeled Pin 1 2 9 16 VDC Power Input Labeled Pin 2 3 20 Reserved 21 IMU RS422 TX 2 22 IMU RS422 TX 8 23 24 Re...

Страница 146: ...Specifications OEM7 SPAN Installation and Operation User Manual v14 146 Connector Description J1 MIL DTL 38999 37 connector plug J2 DB 9 female Table 42 Connectors IMU RS 422 IMU CPT 1 5 meters Table...

Страница 147: ...3 86 IMU Weight 2 1 kg 4 63 lb Table 44 IMU FSAS Physical Spe cifications See the following sections for more information about the IMU FSAS l IMU FSAS Mechanical Drawings on the next page l IMU FSAS...

Страница 148: ...ications OEM7 SPAN Installation and Operation User Manual v14 148 A 3 1 IMU FSAS Mechanical Drawings The dimensions in the following diagrams are in millimeters Figure 44 IMU FSAS Top Dimensions Figur...

Страница 149: ...APPENDIX A IMU Technical Specifications OEM7 SPAN Installation and Operation User Manual v14 149 Figure 46 IMU FSAS Side Dimensions...

Страница 150: ...APPENDIX A IMU Technical Specifications OEM7 SPAN Installation and Operation User Manual v14 150 Figure 47 IMU FSAS Center of Navigation...

Страница 151: ...eter Bias 1 0 mg Data Rate IMU Measurement 200 Hz Table 45 IMU FSAS Performance A 3 3 IMU FSAS Electrical and Environmental Electrical IMU Power Consumption 16 W max IMU Input Voltage 10 to 34 VDC Rec...

Страница 152: ...eel Sensor 01018388 For standard pinout enclosures Includes an additional connector for wheel sensor cabling See IMU FSAS Cable with Wheel Sensor below A 3 5 IMU FSAS Cable with Wheel Sensor The NovAt...

Страница 153: ...ed Label Vin 10 to 34 VDC 21 Vin 5 Not used 6 Not used 7 DAS 1 Shielded data acquisition signal LVCMOS to VARF 9 DAS GN 5 Shielded ground reference for data acquisition and control signals 8 Reserved...

Страница 154: ...Tx Tx 3 Twisted pair serial data in RS 422 20 OEM_ RTS Tx 7 Twisted pair serial data in RS 422 Custom Cable Recommendations The tables below provide recommendations for creating custom cables to repl...

Страница 155: ...IMU Enclosure Size 130 mm x 130 mm x 125 mm IMU Enclosure Weight 2 5 kg Table 51 IMU HG1900 Physical Specifications See the following sections for more information about the IMU HG1900 l IMU HG1900 Me...

Страница 156: ...U Technical Specifications OEM7 SPAN Installation and Operation User Manual v14 156 A 4 1 IMU HG1900 Mechanical Drawings The dimensions in the following diagrams are in millimeters Figure 49 IMU HG190...

Страница 157: ...APPENDIX A IMU Technical Specifications OEM7 SPAN Installation and Operation User Manual v14 157 Figure 50 IMU HG1900 Center of Navigation...

Страница 158: ...cope Performance Input range 1000 second Rate bias 5 hour In run bias stability 1 hour Rate Scale factor 150 ppm Angular random walk 0 09 hour Accelerometer Performance Range 30 g Linearity 500 ppm Sc...

Страница 159: ...810G Ch1 Method 507 6 Random Vibe MIL STD 810G Ch1 Method 514 7 2 0 g Environment MIL STD 810G Ch1 Method 512 6 IEC 60529 IP67 Table 54 IMU HG1900 Environmental Specifications A 4 4 IMU HG1900 Cables...

Страница 160: ...le Table 55 IMU IGM A1 Physical Specifications Physical Enclosure Size 152 0 mm x 137 0 mm x 50 5 mm Weight 500 g Connectors MAIN DB 15HD Female AUX DB 15HD Male Table 56 IMU IGM S1 Physical Specifica...

Страница 161: ...161 A 5 1 IMU IGM Mechanical Drawings Figure 51 IMU IGM A1 Dimensions The center of navigation is at the location marked by the axis labels on the enclosure and indicated on the drawing above It is n...

Страница 162: ...n User Manual v14 162 Figure 52 IMU IGM S1 Dimensions 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 depress...

Страница 163: ...ODE2 open MIC port receiver RS 232 MODE2 low MIC port receive positive RS 422 7 MIC_RX MODE2 open No connection MODE2 low MIC port receive negative RS 422 8 DGND Digital ground 9 Reserved Reserved 10...

Страница 164: ...Pin Label Description 6 ODM_A Wheel sensor input A negative 7 ODM_B Wheel sensor input B negative No connection on IMU IGM S1 8 Reserved Reserved 9 DGND Digital ground 10 Reserved Reserved 11 Reserve...

Страница 165: ...rometer Range 18 g In Run Accelerometer Bias Stability 0 1 mg Velocity Random Walk 0 029 m s hour Data Rate IMU Measurement 200 Hz Table 59 IMU IGM A1 IMU Performance Gyroscope Performance Gyro Input...

Страница 166: ...ications Environmental Temperature operational 40 C to 65 C Temperature storage 50 C to 80 C Humidity 95 Non condensing Table 62 IMU IGM A1 Environmental Spe cifications Electrical Input Voltage 10 30...

Страница 167: ...een the IMU IGM and the OEM7 family receiver Figure 53 IMU IGM Interface Cable The dimensions in this drawing are in millimeters J1 MAIN Pin Function J2 Wire Bundle Label J3 MIC Port Pin 1 MIC Port Tr...

Страница 168: ...RS 232 or RS 422 serial port l To set the MIC port to RS 232 leave the MODE 2 pin open unconnected l To set the MIC port to RS 422 tie the MODE 2 pin low Custom Cable Recommendations The tables below...

Страница 169: ...ble 68 IMU ISA 100C Physical Specifications See the following sections for more information about the IMU ISA 100C IMU l IMU ISA 100C Mechanical Drawings on the next page l Optional Side Mounting Hole...

Страница 170: ...Technical Specifications OEM7 SPAN Installation and Operation User Manual v14 170 A 6 1 IMU ISA 100C Mechanical Drawings The dimensions in the following diagrams are in millimeters Figure 54 IMU ISA 1...

Страница 171: ...APPENDIX A IMU Technical Specifications OEM7 SPAN Installation and Operation User Manual v14 171 Figure 55 IMU ISA 100C Center of Navigation...

Страница 172: ...e IMU enclosure to allow the IMU to be mounted on its side These holes have the same pattern and spacing as the mounting and alignment holes on the bottom of the IMU enclosure To access these holes th...

Страница 173: ...APPENDIX A IMU Technical Specifications OEM7 SPAN Installation and Operation User Manual v14 173 Figure 56 Optional Side Mounting Holes...

Страница 174: ...run bias stability 0 05 hour Scale factor repeatability 100 ppm Scale factor non linearity 100 ppm Angular random walk 0 012 hour Accelerometer Performance Range 10 g In run bias stability 100 g 1 ye...

Страница 175: ...o 34 VDC IMU Interface RS 422 Connectors Power SAL M12 5 pin male Data SAL M12 5 pin female Wheel Sensor SAL M12 8 pin male Table 70 IMU ISA 100C Electrical Specifications Environmental Operating Temp...

Страница 176: ...MU Enclosure Inter face Cable below This cable enables communication between the receiver and the IMU This cable is used for all versions of the IMU Enclosure IMU ISA 100C IMU ENC LN200 IMU HG1900 and...

Страница 177: ...Custom Cable Recommendations The tables below provide recommendations for creating custom cables to replace the IMU Enclosure interface cable 01019319 Connector Description P1 M12x1 5 position male J2...

Страница 178: ...This cable provides power to the IMU from an external power source This cable is used for all versions of the IMU Enclosure IMU ISA 100C IMU ENC LN200 IMU HG1900 and IMU IMU IC Figure 58 IMU Enclosure...

Страница 179: ...e below This cable enables communication between the IMU and the wheel sensor This cable is used for all versions of the IMU Enclosure IMU ISA 100C IMU ENC LN200 IMU HG1900 and IMU IMU IC See also DMI...

Страница 180: ...erved Blue 8 Reserved Red Custom Cable Recommendations The tables below provide recommendations for creating custom cables to replace the IMU Enclosure Wheel Sensor cable 60723137 Connector Descriptio...

Страница 181: ...H 88 9 mm X 73 7 mm Weight 0 7 kg Table 79 IMU KVH1750 Physical Spe cifications See the following sections for more information about the IMU KVH 1750 l IMU KVH1750 Mechanical Drawings on the next pa...

Страница 182: ...Technical Specifications OEM7 SPAN Installation and Operation User Manual v14 182 A 7 1 IMU KVH1750 Mechanical Drawings The dimensions in the following diagrams are in millimeters Figure 60 IMU KVH17...

Страница 183: ...APPENDIX A IMU Technical Specifications OEM7 SPAN Installation and Operation User Manual v14 183 Figure 61 IMU KVH1750 Top View...

Страница 184: ...APPENDIX A IMU Technical Specifications OEM7 SPAN Installation and Operation User Manual v14 184 Figure 62 IMU KVH1750 Side View...

Страница 185: ...APPENDIX A IMU Technical Specifications OEM7 SPAN Installation and Operation User Manual v14 185 Figure 63 IMU KVH1750 Gyro Axes...

Страница 186: ...r typical 1 hour max Bias Offset at 25 C 2 hour Scale Factor nominal 1 0 2 Scale Factor Non linearity at 25 C 50 ppm Scale Factor Temperature Sensitivity 200 ppm Angular Random Walk 0 012 hour Input A...

Страница 187: ...formance Time room temp 60 seconds IMU Interface RS 422 Connectors Power and I O 15 pin Micro D male Table 81 IMU KVH1750 Electrical Specifications Environmental Temperature operational 40 C to 75 C T...

Страница 188: ...he receiver and the IMU Figure 64 IMU KVH1750 Cable Dimensions are in millimeters J1 15 Pin Micro D Female P2 Female DB9 P3 Pin Signal Name Pin Signal Name Labels 1 TX 2 RX 2 TX 8 RX 3 RX 7 TX 4 RX 3...

Страница 189: ...e existing IMU KVH1750 Cable 01019211 in safe environments no interference sources No issues or failures have been observed There are no plans to modify NovAtel cables at this time However for any cus...

Страница 190: ...closure Size 150 mm x 134 mm x 134 mm IMU Enclosure Weight 3 2 kg Table 86 IMU ENC LN200 Physical Specifications See the following sections for more information about the IMU ENC LN200 l IMU ENC LN200...

Страница 191: ...echnical Specifications OEM7 SPAN Installation and Operation User Manual v14 191 A 8 1 IMU ENC LN200 Mechanical Drawings The dimensions in the following diagrams are in millimeters Figure 65 IMU ENC L...

Страница 192: ...APPENDIX A IMU Technical Specifications OEM7 SPAN Installation and Operation User Manual v14 192 Figure 66 IMU ENC LN200 Center of Navigation...

Страница 193: ...rmance Input range 40 g Scale factor asymmetry 150 ppm Scale factor error 300 ppm Bias 0 3 mg Data Rate IMU Measurement 200 Hz Table 87 IMU ENC LN200 IMU Per formance Gyroscope Performance Input range...

Страница 194: ...Method 507 6 Random Vibe MIL STD 810G Ch1 Method 514 7 2 0 g Environment MIL STD 810G Ch1 Method 512 6 IEC 60529 IP67 Table 90 IMU ENC LN200 Environmental Specifications A 8 4 IMU ENC LN200 Cables IM...

Страница 195: ...Enclosure Size 130 mm x 130 mm x 115 mm IMU Enclosure Weight 2 57 kg Table 91 IMU IMU IC Physical Specifications See the following sections for more information about the IMU IMU l IMU IMU IC Mechanic...

Страница 196: ...U Technical Specifications OEM7 SPAN Installation and Operation User Manual v14 196 A 9 1 IMU IMU IC Mechanical Drawings The dimensions in the following diagrams are in millimeters Figure 67 IMU IMU I...

Страница 197: ...APPENDIX A IMU Technical Specifications OEM7 SPAN Installation and Operation User Manual v14 197 Figure 68 IMU IMU IC Center of Navigation...

Страница 198: ...ions Gyroscope Performance Input range 499 second Bias stability 6 hour Scale factor error 1400 ppm Angular random walk 0 3 hour Accelerometer Performance Input range 15 g Bias repeatability 3 mg Scal...

Страница 199: ...810G Ch1 Method 507 6 Random Vibe MIL STD 810G Ch1 Method 514 7 2 0 g Environment MIL STD 810G Ch1 Method 512 6 IEC 60529 IP67 Table 94 IMU IMU IC Environmental Specifications A 9 4 IMU IMU IC Cables...

Страница 200: ...5 315 x 6 024 x 5 118 IMU Size 89 mm D x 85 mm H 3 504 D x 3 346 H IMU Weight 3 19 kg 7 02 lb Table 95 LN 200 IMU Physical Specifications See the following sections for more information about the LN 2...

Страница 201: ...ons OEM7 SPAN Installation and Operation User Manual v14 201 A 10 1 LN 200 IMU Mechanical Drawings The dimensions in the following diagrams are in millimeters Figure 69 LN 200 IMU Enclosure Top Bottom...

Страница 202: ...al v14 202 Figure 70 LN 200 Enclosure Side Dimensions The Center of Navigation offsets shown on the LN 200 label are for the internal IMU and are different than for the enclosure center The enclosure...

Страница 203: ...ias 0 3 mg Data Rate IMU Measurement 200 Hz Table 96 LN 200 IMU Performance A 10 3 LN 200 Electrical and Environmental Electrical IMU Power Consumption 16 W max IMU Input Voltage 12 to 28 VDC Receiver...

Страница 204: ...A 10 4 Interface Cable for the LN 200 IMU The IMU interface cable provides power to the IMU from an external power source and enables communication between the receiver and IMU The LN 200 IMU uses the...

Страница 205: ...MIC or a direct connection via the SPI port Physical IMU Size 47 mm x 44 mm x 14 mm IMU Weight 48 g IMU with mounting PCB size 71 1 mm x 45 7 mm x 17 6 mm Table 99 OEM IMU ADIS 16488 Physical Specifi...

Страница 206: ...r Manual v14 206 A 11 1 OEM IMU ADIS 16488 Mechanical Drawings The dimensions in these drawings are in millimeters The following two drawings include the ADIS 16488 interface board The ADIS 16488 with...

Страница 207: ...eration User Manual v14 207 Figure 72 ADIS 16488 Center of Navigation The following diagram shows the ADIS 16488 without the interface board The ADIS 16488 without interface board is for applications...

Страница 208: ...APPENDIX A IMU Technical Specifications OEM7 SPAN Installation and Operation User Manual v14 208 Figure 73 OEM ADIS 16488 Dimensions...

Страница 209: ...n run Accelerometer Bias Stability 0 1 mg Velocity Random Walk 0 029 m s hour Data Rate IMU Measurement 200 Hz Table 100 OEM IMU ADIS 16488 Performance A 11 3 OEM IMU ADIS 16488 Electrical and Environ...

Страница 210: ...7 DIO1 26 EVENT_ OUT2 Synchronization signal 8 RST Reset IMU RST must be high for the IMU to be active To enable the IMU when the receiver is powered on connect this pin to Pin 1 or Pin 2 of the rece...

Страница 211: ...connect 17 NC Do not connect 18 NC Do not connect 19 NC Do not connect 20 NC Do not connect 21 NC Do not connect 22 NC Do not connect 23 NC Do not connect 24 NC Do not connect For the location of the...

Страница 212: ...e is 01019008 Figure 74 ADIS 16488 IMU to MIC Cable Assembly below This cable provides power to the IMU and enables communication between the MIC and the IMU Figure 74 ADIS 16488 IMU to MIC Cable Asse...

Страница 213: ...m IMU Weight 10 g Table 105 OEM IMU EG320N Physical Specifications See the following sections for more information about the OEM IMU EG320N IMU l OEM IMU EG320N Mechanical Drawings on the next page l...

Страница 214: ...SPAN Installation and Operation User Manual v14 214 A 12 1 OEM IMU EG320N Mechanical Drawings The following graphics are courtesy of Seiko Epson Corporation In the following graphics the dimensions ar...

Страница 215: ...city Random Walk 0 05 m s hour Data rate IMU Measurement 125 Hz 200 Hz Table 106 OEM IMU EG320N Per formance A 12 3 OEM IMU EG320N Electrical and Environmental Electrical Input Power 3 15 to 3 45 VDC...

Страница 216: ...eiko Epson Corporation Figure 76 OEM IMU EG320N Pin Locations Pin Pin Name Description 1 SCLK SPI Serial Clock 2 SDO SPI Data Output 3 GND Digital ground 4 GND Digital ground 5 SDI SPI Data Input 6 CS...

Страница 217: ...on 12 VCC 3 3 VDC power supply 13 DRDY GPIO1 Data Ready 14 GPIO2 EXT External Trigger 15 GND Digital ground 16 RST Reset IMU RST must be high for the IMU to be active 17 NC Do not connect 18 NC Do not...

Страница 218: ...m IMU Weight 10 g Table 110 OEM IMU EG370N Physical Specifications See the following sections for more information about the OEM IMU EG370N IMU l OEM IMU EG370N Mechanical Drawings on the next page l...

Страница 219: ...SPAN Installation and Operation User Manual v14 219 A 13 1 OEM IMU EG370N Mechanical Drawings The following graphics are courtesy of Seiko Epson Corporation In the following graphics the dimensions ar...

Страница 220: ...m s hour Data rate IMU Measurement 200 Hz Table 111 OEM IMU EG370N Per formance A 13 3 OEM IMU EG370N Electrical and Environmental Electrical Input Power 3 15 to 3 45 VDC 3 3 VDC typical Power consump...

Страница 221: ...courtesy of Seiko Epson Corporation Figure 78 OEM IMU EG370N Pin Locations Pin Pin Name Description 1 SCLK SPI Serial Clock 2 SDO SPI Data Output 3 GND Digital ground 4 GND Digital ground 5 SDI SPI D...

Страница 222: ...VDC power supply 12 VCC 3 3 VDC power supply 13 DRDY GPIO1 Data Ready 14 GPIO2 EXT External Trigger 15 GND Digital ground 16 RST Reset IMU RST must be high for the IMU to be active 17 NC Do not connec...

Страница 223: ...height IMU Weight 200 g Table 115 OEM IMU HG4930 Physical Spe cifications See the following sections for information about the OEM IMU HG4930 IMU l OEM IMU HG4930 Mechanical Drawings on the next page...

Страница 224: ...EM7 SPAN Installation and Operation User Manual v14 224 A 14 1 OEM IMU HG4930 Mechanical Drawings Figure 79 OEM IMU HG4930 Center of Navigation For additional mechanical drawings visit the Honeywell A...

Страница 225: ...nge 20 g Data rate IMU Measurement 100 Hz Table 116 OEM IMU HG4930 Per formance A 14 3 OEM IMU HG4930 Electrical and Environmental Electrical Input Power 5 0 VDC Power consumption 3 W typical Connecto...

Страница 226: ...g input 4 No connect No connect 5 No connect No connect 6 Reserved Reserved 7 No connect No connect 8 No connect No connect 9 SER_DATA_OUT_H Serial Data High Output RS 485 10 SER_DATA_OUT_L Serial Dat...

Страница 227: ...ontroller on page 271 Physical IMU Size 100 mm x 130 mm x 125 mm IMU Weight 2 kg Table 120 OEM IMU ISA 100C Physical Specifications See the following sections for more information about the OEM IMU IS...

Страница 228: ...Installation and Operation User Manual v14 228 A 15 1 OEM IMU ISA 100C Mechanical Drawings The following graphics are courtesy of Northrop Grumman LITEF GmbH The dimensions in the following graphics...

Страница 229: ...APPENDIX A IMU Technical Specifications OEM7 SPAN Installation and Operation User Manual v14 229 Figure 81 ISA 100C Coordinate Axis...

Страница 230: ...In run bias stability 100 g 1 year scale factor repeatability 1250 ppm Scale factor non linearity 100 ppm Velocity random walk 100 g Hz Data Rate IMU Measurement 200 Hz Table 121 OEM IMU ISA 100C IMU...

Страница 231: ...ISA 100C IMU to UIC interface cable is 01019393 Figure 82 OEM IMU ISA 100C IMU to UIC Cable Assembly below This cable provides power to the IMU and enables com munication between the UIC and the IMU F...

Страница 232: ...Pin ISA 100C Signal J1 Pin UIC 7 GND 10 8 GND 15 9 GND 16 10 GND 21 11 GND 22 12 5 25 V 43 13 5 25 V 49 14 5 25 V 50 15 5 25 V 16 15 V 7 17 3 3 V 3 18 GND 28 19 20 21 NOGOx 18 22 23 GND 29 GND 35 24...

Страница 233: ...Technical Specifications OEM7 SPAN Installation and Operation User Manual v14 233 J2 Pin ISA 100C Signal J1 Pin UIC 34 RESETIMUx 14 35 36 GND 45 37 38 TXC 30 39 GND 48 40 SYNC 36 41 TXD 38 42 43 GND 4...

Страница 234: ...rect RS 422 link see Connect an OEM IMU STIM300 Directly to an OEM7 Receiver on page 45 Physical IMU Size 45 mm x 39 mm x 22 mm IMU Weight 55 g Table 125 OEM IMU STIM300 Physical Specifications See th...

Страница 235: ...ion and Operation User Manual v14 235 A 16 1 OEM IMU STIM300 Mechanical Drawings The following graphics are courtesy of Sensonor AS In the following graphics the dimensions are in millimeters Figure 8...

Страница 236: ...run Accelerometer Bias Stability 0 05 mg Velocity Random Walk 0 07 m s hour Data rate IMU Measurement 125 Hz Table 126 OEM IMU STIM300 Performance A 16 3 OEM IMU STIM300 Electrical and Environmental...

Страница 237: ...OEM7600 29 OEM7700 29 OEM7720 29 Interface Circuit Required The STIM TOV output uses 5V logic but the OEM7 EVENT_ IN lines are not 5V tolerant A circuit to convert from 5V logic to 3 3V levels is requ...

Страница 238: ...ircuit to convert from 5V logic to 3 3V levels is required 5 NC Do not connect 6 NC Do not connect 7 NC Do not connect 8 5V Pwr 5 VDC power supply 9 STIM TxD OEM729 COM1 18 PwrPak7 COM1 3 COM2 20 COMx...

Страница 239: ...Technical Specifications OEM7 SPAN Installation and Operation User Manual v14 239 For more information about connecting using a SPI port refer to Connect an OEM IMU STIM300 Directly to an OEM7 Receiv...

Страница 240: ...s power to the IMU and enables communication between the MIC and the IMU Figure 85 STIM300 IMU to MIC Cable Assembly The dimensions in this drawing are in millimeters P2 Pin MIC Signal P1 Pin STIM300...

Страница 241: ...NDIX A IMU Technical Specifications OEM7 SPAN Installation and Operation User Manual v14 241 P2 Pin MIC Signal P1 Pin STIM300 16 No connection 17 IMU DAS 4 18 No connection 19 IMUTYPE1 15 20 No connec...

Страница 242: ...C Universal IMU Controller on page 271 Physical IMU Size x H 85 mm x 60 mm IMU Weight 0 68 kg Table 132 OEM IMU IMU Phys ical Specifications See the following sections for more information about the O...

Страница 243: ...n and Operation User Manual v14 243 A 17 1 OEM IMU IMU Mechanical Drawings The following graphics are courtesy of Northrop Grumman LITEF GmbH The dimensions in the following graphics are in millimeter...

Страница 244: ...APPENDIX A IMU Technical Specifications OEM7 SPAN Installation and Operation User Manual v14 244 Figure 88 IMU Bottom Dimensions Figure 89 IMU Coordinate Axis...

Страница 245: ...Performance Input range 15 g Bias repeatability 3 mg Scale factor error 1500 ppm Velocity random walk 0 25 mg degree Hz Data Rate IMU Measurement 200 Hz Table 133 OEM IMU IMU IMU Per formance A 17 3...

Страница 246: ...This cable provides power to the IMU and enables communication between the UIC and the IMU Figure 90 IMU to UIC Cable Assembly The dimensions in this drawing are in millimeters P1 Pin IMU Signal J2 P...

Страница 247: ...OEM7 SPAN Installation and Operation User Manual v14 247 P1 Pin IMU Signal J2 Pin UIC 20 Ground A21 B21 21 Ground B5 B11 22 Ground A23 B24 26 Lug Ring 27 IMU_PDWARN B6 30 IMU_RESET B7 31 SYNC B18 IMU_...

Страница 248: ...U Enclosure Size 168 mm x 195 mm x 146 mm IMU Enclosure Weight 4 25 kg Table 137 Universal IMU Enclosure Physical Spe cifications See the following sections for more information about the IMUs availab...

Страница 249: ...ications OEM7 SPAN Installation and Operation User Manual v14 249 A 18 1 Universal IMU Enclosure Mechanical Drawings The dimensions for the drawing in this section are in mm inches Figure 91 Universal...

Страница 250: ...APPENDIX A IMU Technical Specifications OEM7 SPAN Installation and Operation User Manual v14 250 Figure 92 Universal IMU Enclosure Top Bottom Dimensions...

Страница 251: ...APPENDIX A IMU Technical Specifications OEM7 SPAN Installation and Operation User Manual v14 251 Figure 93 Universal IMU Center of Navigation...

Страница 252: ...APPENDIX A IMU Technical Specifications OEM7 SPAN Installation and Operation User Manual v14 252 Figure 94 Universal IMU Frame Axis...

Страница 253: ...elerometer Linearity 500 ppm Accelerometer Scale Factor 300 ppm Accelerometer Bias 1 0 mg Data Rate IMU Measurement 100 Hz Table 138 HG1700 AG58 IMU Performance Gyroscope Performance Gyro Input Range...

Страница 254: ...ro Input Range 1000 second Gyro Rate Bias 1 0 hour Gyro Rate Scale Factor 100 ppm Angular Random Walk 0 07 hour Accelerometer Performance Accelerometer Range 40 g Accelerometer Linearity 150 ppm Accel...

Страница 255: ...Us Receiver Power Consumption 1 8 W typical for all IMUs Input Output Connectors MIL C 38999 III 22 pin all IMUs IMU Interface RS 232 or RS 422 Table 141 Universal IMU Enclosure Electrical Specificati...

Страница 256: ...rsal IMU Enclosure Interface Cable below This cable provides power to the IMU from an external power source and enables communication between the receiver and the IMU Figure 95 Universal IMU Enclosure...

Страница 257: ...used 18 Not used 19 OEM_Tx Tx J1 3 20 OEM_RTS Tx J1 7 Shield P3 Shield Custom Cable Recommendations The tables below provide recommendations for creating custom cables to replace the Universal IMU Enc...

Страница 258: ...1 80 x 0 76 MIC Weight 31 g 0 0683 lb Table 146 MEMS Interface Card Physical Spe cifications See the following sections for more information about the MIC l MIC Mechanical Drawings on the next page l...

Страница 259: ...chnical Specifications OEM7 SPAN Installation and Operation User Manual v14 259 A 19 1 MIC Mechanical Drawings The dimensions in the following drawings are in millimeters and inches Figure 96 MIC Top...

Страница 260: ...User Manual v14 260 Figure 97 MIC Keep Out Zone Cross hatched areas indicate keepout areas intended for NovAtel circuitry NovAtel reserves the right to modify components and component placements insid...

Страница 261: ...EM719 IMU Data Interfaces UART and SDLC over RS 422 Table 147 MIC Electrical Specifications Environmental Operating Temperature 40 C to 75 C 40 F to 167 F Storage Temperature 55 C to 90 C 67 F to 194...

Страница 262: ...20 pin locking IMU connector for Honeywell and Sensonor IMUs 53780 2070 Molex Electronics 51146 2000 Molex Electronics P701 10 pin locking IMU connector for ADIS IMUs 53780 1070 Molex Electronics 511...

Страница 263: ...3 port is disabled by default If you enable the COM3 port the USB port is disabled 15 RESETIN Input OEM719 reset in Only available in board stackup with OEM719 In standalone no connect 16 VARF CAN1 RX...

Страница 264: ...OEM719 this pin is for firmware download In standalone use this pin can be used for either firmware download and or for IMU data communication to a SPAN receiver 23 DGND Power 24 USER_ TXD2 Output In...

Страница 265: ...n be 3 3 VDC or 5 VDC depending on the IMU type detected 9 IMU VDD Output Power Positive voltage supply for IMU logic circuits 10 DGND Power Digital ground 11 Tx Data Output Serial data out Non invert...

Страница 266: ...Input Master Input Slave Output LVCMOS level not 5V tolerant 8 DGND Digital Ground 9 IMU_DIO1 Bidirectional LVCMOS level not 5V tolerant 10 IMU_DIO2 Bidirectional LVCMOS level not 5V tolerant Table 1...

Страница 267: ...s 01018827 Figure 98 HG1930 IMU to MIC Cable Assembly below This cable provides power to the IMU and enables communication between the MIC and the IMU Figure 98 HG1930 IMU to MIC Cable Assembly The di...

Страница 268: ...APPENDIX A IMU Technical Specifications OEM7 SPAN Installation and Operation User Manual v14 268 For more information refer to the IMU documentation provided by Honeywell...

Страница 269: ...18828 Figure 99 HG1700 and HG1900 IMU to MIC Cable Assembly below This cable provides power to the IMU and enables communication between the MIC and the IMU Figure 99 HG1700 and HG1900 IMU to MIC Cabl...

Страница 270: ...APPENDIX A IMU Technical Specifications OEM7 SPAN Installation and Operation User Manual v14 270 For more information refer to the IMU documentation provided by Honeywell...

Страница 271: ...17 54 mm 3 94 x 4 45 x 0 69 UIC Weight 125 g 0 28 lb Table 157 UIC Physical Specifications See the following sections for more information about the UIC l UIC Mechanical Drawings on the next page l U...

Страница 272: ...echnical Specifications OEM7 SPAN Installation and Operation User Manual v14 272 A 20 1 UIC Mechanical Drawings The dimensions in the following drawings are in millimeters Figure 100 UIC Dimensions an...

Страница 273: ...APPENDIX A IMU Technical Specifications OEM7 SPAN Installation and Operation User Manual v14 273 Figure 101 UIC Connectors LEDs and Heat Sink Details...

Страница 274: ...Consumption 4 W1 IMU Data Interfaces UART and SDLC over RS 422 Table 158 UIC Electrical Specifications Environmental Operating Temperature 40 C to 75 C 40 F to 167 F Storage Temperature 55 C to 90 C...

Страница 275: ...ery 4 VIN Power Power return Connect to negative terminal of battery 5 GND Power Chassis ground Table 161 Pinouts for Power Connector J101 Pin Signal3 Type Description Comments A1 UIC_RX Input RS 422...

Страница 276: ...Power Positive 3 3 VDC supply 2 3 3V Output Power Positive 3 3 VDC supply 3 3 3V Output Power Positive 3 3 VDC supply 4 GND Power Digital ground 5 GND Power Digital ground 6 GND Power Digital ground 7...

Страница 277: ...round 23 IMU_TYPE0 Input Detect IMU type 0 24 IMU_EVENT_IN 25 IMU_TYPE1 Input Detect IMU type 1 26 IMU_EVENT_OUT 27 IMU_TYPE2 Input Detect IMU type 2 28 GND Power Digital ground 29 IMU_TYPE3 Input Det...

Страница 278: ...44 5 25V Output Power Positive 5 25 VDC supply 45 GND Power Digital ground 46 5 25V Output Power Positive 5 25 VDC supply 47 GND Power Digital ground 48 GND Power Digital ground 49 5 25V Output Power...

Страница 279: ...ce cable is 01019762 Figure 102 OEM IMU HG1900 IMU to UIC Cable Assembly below This cable provides power to the IMU and enables communication between the MIC and the IMU Figure 102 OEM IMU HG1900 IMU...

Страница 280: ...for the LN200 IMU to UIC interface cable is 01019763 Figure 103 OEM IMU LN200 IMU to UIC Cable Assembly below This cable provides power to the IMU and enables communication between the MIC and the IMU...

Страница 281: ...fications OEM7 SPAN Installation and Operation User Manual v14 281 J1 Pins to LN200 J2 Pins to UIC C1 A3 B14 D1 A24 B24 D2 A21 B21 D3 Lug Fork E1 A22 E2 B22 E3 B23 F3 A4 G2 A5 K1 B4 B5 L2 B18 L3 B17 A...

Страница 282: ...install the HG1700 sensor into the Universal Enclosure NovAtel part number 01018589 both illustrated below The steps required for this procedure are l Disassemble the Universal Enclosure l Install the...

Страница 283: ...ot dam aged Figure 105 Remove Base 2 Using a 30 mm socket remove the jam nut and free the wiring harness connector from the body as shown in Figure 106 Disconnect Wiring Harness from Enclosure Body be...

Страница 284: ...gure 107 Remove IMU Mounting Plate and Bracket B 2 Install the HG1700 Sensor Unit To install the HG1700 sensor unit in the Universal Enclosure 1 Using a Phillips screwdriver remove the 8 32 IMU mounti...

Страница 285: ...IMU cable harness make sure the con nector on the board assembly is clicked open Connect the IMU cable harness to the IMU fasten the 2 56 screws but do not use thread locking fluid then connect to th...

Страница 286: ...shown in Figure 110 Installing IMU to Mounting Plate below Figure 110 Installing IMU to Mounting Plate 4 Starting with the round pilot hole shown in Figure 111 Assemble Into Enclosure Body on the next...

Страница 287: ...ernal Cable Har ness on the next page During this step ensure the connector O ring supplied with the connector of the internal cable harness remains flat within the connector s groove and make sure th...

Страница 288: ...ul not to stretch or twist them O rings must remain flat within the grooves during the remainder of the assembly procedure Figure 113 Install O rings 7 Clean the surface of the enclosure body where it...

Страница 289: ...en four equally spaced M4 screws to hold the parts together Apply thread locking fluid to each screw before inserting Install the remaining screws in similar fashion Tighten all screws then check all...

Страница 290: ...APPENDIX B HG1700 IMU in Universal Enclosure OEM7 SPAN Installation and Operation User Manual v14 290 Figure 116 Final Assembly...

Страница 291: ...essary information to install the LN 200 sensor into the Universal Enclosure NovAtel part number 01018590 both illustrated below The steps required for this procedure are l Disassemble the Universal E...

Страница 292: ...ully turn the assembly over and set it down as shown in Figure 119 Disconnect Wiring Harness from SDLC Card below Raise the enclosure body and disconnect the internal cable harness at the SDLC board E...

Страница 293: ...et SDLC below Figure 121 Remove IMU Bracket SDLC C 2 Install the LN 200 Sensor Unit To install the LN 200 sensor unit in the Universal Enclosure 1 Using a 3 mm hex bit remove original captive 6 32 scr...

Страница 294: ...n in Figure 123 Install Bracket to Base below Use thread locking fluid on each M4 screw Figure 123 Install Bracket to Base 3 Connect the cable harness to the board assembly and IMU routing it as shown...

Страница 295: ...internal cable harness to the board assembly as shown in Figure 125 Connect Internal Cable Harness below Figure 125 Connect Internal Cable Harness 5 Clean the surface of the enclosure body where it w...

Страница 296: ...ure body and base together to maintain tight contact carefully turn the assembly over and place it on its top as shown in Figure 127 Screw Enclosure Base to Body below Using a 3 mm hex bit lightly fas...

Страница 297: ...0 IMU in Universal Enclosure OEM7 SPAN Installation and Operation User Manual v14 297 and contain the correct information The final assembled unit is shown in Figure 128 Final Assembly below Figure 12...

Страница 298: ...Install the HG1700 Sensor Unit l Make Electrical Connections l Reassemble the SPAN HG Enclosure Ensure you use a ground strap before installing the internal circuit boards Do NOT scratch any surfaces...

Страница 299: ...Hex Key 2 Set aside the bolts with their sealing washers 3 Lift the top cover off the tube body and set it aside as shown in Figure 131 Lift Top Cover Tube Body and 3 Ring Spacer Screws on the next p...

Страница 300: ...Install the HG1700 Sensor Unit To re assemble the SPAN IMU with the HG1700 sensor see Figure 132 SPAN IMU Re Assembly on the next page and follow these steps 1 Mount the HG1700 sensor with the attach...

Страница 301: ...need a 3 32 hex key the flex cable and the partially assembled SPAN IMU from Install the HG1700 Sensor Unit on the previous page Now follow these steps 1 Attach the flex cable to the HG1700 sensor en...

Страница 302: ...h Flex Cable 2 Tighten the screws to 4 in lbs 3 Connect the opposite end of the flex cable to the corresponding connector on the IMU card ensuring that the contacts on the flex cable mate with the con...

Страница 303: ...allation of the flex cable Notice how the flex cable sits flush against the IMU surface Figure 134 Incorrect Bowed Flex Cable Installation Figure 135 Correct Flat Flex Cable Installation D 4 Re Assemb...

Страница 304: ...l Disassemble the SPAN IMU Enclosure l Install the LN 200 Sensor Unit l Make Electrical Connections l Reassemble the SPAN IMU Enclosure Important Ensure you use a ground strap before installing the i...

Страница 305: ...er Manual v14 305 Figure 138 Bolts and Hex Key 2 Set aside the bolts with their sealing washers 3 Lift the top cover off the tube body and set it aside 4 Lift the tube body away from its base plate an...

Страница 306: ...t Top Cover and Tube Body E 2 Install the LN 200 Sensor Unit To install the LN 200 sensor follow these steps 1 Mount the LN 200 sensor with the attached M4 screws Apply threadlock to the screw threads...

Страница 307: ...make the electrical connections you will need a 3 32 a hex key the wiring harness and the partially assembled SPAN IMU from Install the LN 200 Sensor Unit on the previous page Now follow these steps 1...

Страница 308: ...Manual v14 308 Figure 141 Attach Wiring Harness 2 Connect the Samtec connector at the other end of the wiring harness to the corresponding connector on the internal IMU card as shown in Figure 142 At...

Страница 309: ...ble the SPAN IMU Enclosure Use a hex key to align the long bolts with the threaded holes in the base as shown in Figure 138 Bolts and Hex Key on page 305 Apply threadlock to threads Finger tighten the...

Страница 310: ...APPENDIX E LN 200 IMU in SPAN IMU Enclosure OEM7 SPAN Installation and Operation User Manual v14 310 Figure 143 LN 200 SPAN IMU...

Страница 311: ...eck the input power supply A minimum of 12V should be supplied to the system for stable IMU per formance The supply should also be able to output at least 12W over the entire operating temperature ran...

Страница 312: ...log is also available to provide the best available GNSS only solution Any non INS logs should be logged at a max imum rate of 5 Hz when running SPAN Only INS specific logs should be logged at rates h...

Страница 313: ...ement gain might be com pensated by an increased low noise amplifier gain However the signal to noise ratio or C No is still degraded 4 Antenna beamwidth and gain roll off Gain roll off is a factor of...

Страница 314: ...error translates to a 10 15 error in reported position For RTK survey applications geodetic grade antennas offer superior PCO PCV performance 6 The application An antenna has to meet the performance...

Страница 315: ...APPENDIX G Importance of Antenna Selection OEM7 SPAN Installation and Operation User Manual v14 315...

Страница 316: ...G320N IMU Wi Fi and built in data storage PwrPak7D E1 Single enclosure SPAN GNSS INS receiver with dual antenna inputs EG320N IMU Wi Fi and built in data storage PwrPak7 E2 Single enclosure SPAN GNSS...

Страница 317: ...mman LN 200 L IMU in an IMU enclosure IMU IMU IC Litef IMU IC IMU in an IMU enclosure OEM IMU ADIS 16488 Analog Devices ADIS16488 IMU OEM IMU EG320N Epson G320N IMU OEM IMU EG370N Epson G370N IMU OEM...

Страница 318: ...01 3 5 circular form factor GPS L1 GPS 302 A ARINC 743 bolt pattern GPS L1 L2 GPS 302L A ARINC 743 bolt pattern GPSL1 L2 GLONASS L1 and L Band GNSS 302L A ARINC 743 bolt pattern GPS L1 L2 GLONASS L1 L...

Страница 319: ...o ISA 100C Interface Cable 01019760 UIC to IMU Interface Cable 01019762 UIC to HG1900 Interface Cable 01019763 UIC to LN200 Interface Cable 60723136 IMU Enclosure Power Cable 60723137 IMU Enclosure Wh...

Страница 320: ...OEM7 SPAN Installation and Operation User Manual v14 320...

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