Chapter 3 SPAN Operation
OEM7 SPAN Installation and Operation User Manual v14
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Profile
Description
Basic Profile
Settings
Enhanced Profile Settings
RAIL
INS profile for railway applications
Enable direction
detection on
kinematic
alignment routine
Enable course over
ground attitude
updates
Enables intelligent vehicle
dynamics modeling for rail
vehicles (Dead Reckoning)
AGRICULTURE
INS profile for agriculture applications
Enables direction
detection on
kinematic
alignment routine
Enables course
over ground
attitude updates
Enables intelligent vehicle
dynamics modeling for
agricultural vehicles (Dead
Reckoning)
Use
To use an INS Profile, send the
SETINSPROFILE
command at startup (or save to NVM) to activate the mode.
For example:
SETINSPROFILE LAND
The type of profile activated, basic or enhanced, is determined by the SPAN model.
The currently selected profile option 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 possible. Since constraints happen at the vehicle level, any error in the offset
will translate into worse performance. These parameters are estimated in the background when the system is
fully converged, however it is always better to have this measured as precisely as possible before mission crit-
ical data is collected.
The INSCALIBRATE RBV functionality can be used to estimate and save these offsets to NVM in a controlled
manner.
3.3.3 SPAN Configuration for Receiver Cards
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Minimum Recommended Configuration
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SPAN Configuration with NovAtel Connect
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SPAN Configuration with NovAtel Web User Interface
Minimum Recommended Configuration
When configuring your OEM7 SPAN system for first time use, the following is the minimum amount of inform-
ation required to ensure proper operation of a SPAN system.
