
Chapter 4 SPAN Operation
SPAN CPT7 Installation and Operation User Manual v3A
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rotation from the IMU Body frame to the Vehicle frame. See the
SETINSROTATION
com-
mand in the
OEM7 Commands and Logs Reference Manual
for more information.
Accurate knowledge of the rotational offset between the IMU Body frame and the Vehicle
frame (the RBV rotation) is critical to correctly computing an attitude solution, and is
required before a Kinematic alignment is possible.
The SETINSROTATION parameters are (where the standard deviation fields are optional):
RBV x_rotation y_rotation z_rotation [x_stdev] [y_stddev] [z_stdev]
The order of rotations is Z-X-Y. All rotations are right handed.
For an example of how to solve for the IMU Body to Vehicle frame rotation refer to
If the rotation between the IMU Body frame and the Vehicle frame is not precisely
known, enter an approximate rotation (to the nearest 45 degrees). The precise offset
can be estimated by carrying out the
Body to Vehicle Frame Rotation Calibration
SPAN Configuration with NovAtel Connect
NovAtel Connect provides a wizard that takes you through the steps required to configure a
SPAN system. For information about using the SPAN Configuration wizard in NovAtel Connect,
refer to the help file available within NovAtel Connect.
NovAtel Connect 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 Interface
The 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 (
).
Содержание SPAN CPT7
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