Chapter 4 SMART7 with SPAN Operation
SMART7 Installation and Operation User Manual v6
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4.5.4 Data Collection
The INS solution is available in the INS-specific logs with either a standard or short header. Other parameters
are available in the logs shown in
Parameter
Logs
Position
INSPOS or INSPOSS
INSPVA or INSPVAS
INSPOSX or INSPVAX
Velocity
INSVEL or INSVELS
INSSPD or INSSPDS
INSPVA or INSPVAS
INSVELX or INSPVAX
Attitude
INSATT or INSATTS
INSPVA or INSPVAS
INSATTX or INSPVAX
Solution Uncertainty
INSSTDEV or INSSTDEVS
Table 13: Solution Parameters
The
INSATTX
log,
INSPOSX
log,
INSPVAX
log and
INSVELX
log contain solution and variance
information and are therefore large logs. Use a low logging rate (<20 Hz) only.
These logs also contain solution uncertainty in standard deviation format.
Note that the position, velocity and attitude are available together in the
INSPVA
log,
INSPVAS
log and
INSPVAX
log.
The inertial solution is available up to a rate of 200 Hz. Data can be 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 available through the GNSS-only logs such as RTKPOS and PSRPOS. Refer to
the
Agriculture Commands and Logs Reference Manual
. INS-only data logging and output can be at rates of up
to the rate of the IMU data.
The highest rate that you should request GNSS logs (RANGE, BESTPOS, RTKPOS, PSRPOS, and
so on) while in INS operation is 5 Hz. If the receiver is not running INS (no IMU is attached), GNSS logs
can be requested at rates up to 20 Hz.
Ensure that all windows, other than the Console, are closed in NovAtel Connect and then use the
SAVECONFIG
command to save settings in NVM. Otherwise, unnecessary data logging occurs and
may overload your system.
