Novatel OEM7 SPAN, Инструкция по установке и эксплуатации

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Chapter 1 OEM7 SPAN Overview
OEM7 SPAN Installation and Operation User Manual v14 27
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:
l
Provide a full attitude solution (roll, pitch and azimuth)
l
Provide continuous solution output (in situations when a GNSS-only solution is impossible)
l
Provide faster signal reacquisition and RTK solution resolution (over stand-alone GNSS because of the
tightly integrated GNSS and INS filters)
l
Output high-rate (up to the IMU data rate depending on your logging selections) position, velocity and attitude
solutions for high-dynamic applications, see also
Logging Restriction Important Notice on page 101
l
Use raw phase observation 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-gnss/
1.2 Models and Features
All SPAN system receivers are factory configurable for L1/L2 RTK capability and are compatible with an IMU.
Each model is capable of multiple positioning modes of operation.
The SPAN features enabled on a receiver are identified in the 10
th
and 11
th
characters of the OEM7 model string.
For example, if the model string is FFNRNNTBN S1 , the characters S1 identify the SPAN features. If the 10
th
and 11
th
characters are not present in the model number, SPAN has not been enabled on the receiver.
The model string is viewed using the VERSION log.
The SPAN features can also be viewed using the MODELFEATURES log.
The 10
th
character (S in this example) identifies the INS Options. The 11
th
character (1 in this example) identifies
the IMU grade.
1.2.1 INS Options
The INS Model character indicates which features are enabled by the model. The INS options are explained in
Table 1: INS Options below.
INS
Model
Meaning Description
Functionality
Inheritance
S
SPAN
Enabled
Standard SPAN functionality.
This model enables most SPAN functionality.
S
Table 1: INS Options