span-se novatel confidential information © copyright novatel inc. (2012)
TRANSCRIPT
SPAN-SE
NovAtel Confidential Information © Copyright NovAtel Inc. (2012)
NOVATEL INC. PROPRIETARY DATA
The information disclosed herein is the exclusive property of NovAtel Inc. and is not to be disclosed without the written consent of NovAtel Inc. No part of this publication may be reproduced or transmitted in any form or by any means including electronic storage, reproduction, execution or transmission without the prior written consent of NovAtel Inc. The recipient of this document by its retention and use agrees to respect the security status of the information contained herein.
This document is intended for limited circulation.
The information contained in this document is subject to change without notice and should not be construed as a commitment by NovAtel Inc. unless such commitment is expressly given in a covering document.
© Copyright NovAtel Inc. (2012)
NovAtel Confidential Information © Copyright NovAtel Inc. (2012)
SPAN-SE Overview
• New engine for the SPAN product family
• Maintains the deeply-coupled architecture of SPAN
• Data logging via internal SD Card
• Additional I/O including more event inputs Serial com ports, USB , Ethernet
• CAN support
• Includes GLONASS and AdVance RTK
• Input for an optical-encoder-style wheel sensor
• Compatible with LCI,FSAS, LN200, HG1700 and CPT IMUs.
NovAtel Confidential Information © Copyright NovAtel Inc. (2012)
SPAN-SE Technical Specs
• allow 9-28 VDC Power Input
• With Single Antenna: 10 W (typical)
• With Dual Antenna: 12 W (typical)
• Single antenna option currently available
• Dimensions: 200mm x 248mm x 76mm
• Weight: 3.4kg
• I/O interface backwards compatible with OEMV SPAN
• Board-stack available
NovAtel Confidential Information © Copyright NovAtel Inc. (2012)
SPAN-SE Technical Specs
• Supports tracking combinations of GPS L1 C/A, L2C, L2 P(Y) and L5 code and carrier
• GLONASS L1 and L2 code and carrier
• L-band (CDGPS and OmniSTAR)
• maximum of 72 channels
NovAtel Confidential Information © Copyright NovAtel Inc. (2012)
SPAN-SE Technical Specs
• IEC 60529 IPX7 Waterproof
• IEC 60529 IPX6 Dust
• IEC 68-2-27, 60 g Shock (non-operating)
• RTCA D0-160D, curve C Vibration (random)
• IEC 68-2-6 Vibration (sinusoidal)
• FCC Part 15, Class B Emissions
• EN 55022, Class B Emissions
• EN 55024 Immunity
• EN 60950-1 Safety
Regulatory Compliance Test
NovAtel Confidential Information © Copyright NovAtel Inc. (2012)
SPAN-SE Supported IMU Types
iMAR-FSAS
LN-200
HG-1700
SPAN-SEModel Name Max. Output Rate Compatible IMUs SPAN-SE Models
IMU-H58IMU-H62
100Hz HG1700-AG58HG1700-AG62
SPAN-SE-S-RT2-G-ISPAN-SE-S-RT2-I
SPAN-SE-D-RT2-G-ISPAN-SE-D-RT2-I
IMU-LN200 200Hz LN-200200 and 400 Hz models
SPAN-SE-S-RT2-G-JSPAN-SE-S-RT2-J
SPAN-SE-D-RT2-G-JSPAN-SE-D-RT2-J
IMU-FSAS-EI 200Hz iMar-FSAS SPAN-SE-S-RT2-G-JSPAN-SE-S-RT2-J
SPAN-SE-D-RT2-G-JSPAN-SE-D-RT2-J
IMU-LCI 200Hz LITEF LCI-I SPAN-SE-S-RT2-G-JSPAN-SE-S-RT2-J
SPAN-SE-D-RT2-G-JSPAN-SE-D-RT2-J
IMU-CPT 100Hz KVH IMU-CPT SPAN-SE-S-RT2-G-ISPAN-SE-S-RT2-I
SPAN-SE-D-RT2-G-ISPAN-SE-D-RT2-I
Generic - -SPAN-SE-S-GenericSPAN-SE-D-Generic
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SPAN-SE Front Panel Features and Functionality
NovAtel Confidential Information © Copyright NovAtel Inc. (2012)
Press and hold approximately 3 seconds for power on/off
Power Button
SPAN-SE Front Panel Features and Functionality
NovAtel Confidential Information © Copyright NovAtel Inc. (2012)
1. The power LED is on the power button,
LED Indicators
SPAN-SE Front Panel Features and Functionality
NovAtel Confidential Information © Copyright NovAtel Inc. (2012)
The SPAN-SE receiver is shipped with a 4GB SD card
Currently the same logging rate restrictions apply as with current SPAN (testing higher rates)
Removable SD Memory Card
SPAN-SE Front Panel Features and Functionality
NovAtel Confidential Information © Copyright NovAtel Inc. (2012)
Removable SD Memory Card
Prepare the card1. Insert the card into the slot behind the door on the front of the receiver.
2. The SD LED will light up if the card is recognized. Large cards may take a few minutes to mount. During this time the led will flash green/orange.
3. Format the card using the command FORMAT SD.During the format process, the SD LED will flash alternating green and orange and a DIR command will generate the following response <ERROR: Disk Busy. The LED will turn solid green when the format is complete.
4. Select the location on the disk to store your data. The default location is in the root directory, but you can modify the directory structure.
SPAN-SE Front Panel Features and Functionality
NovAtel Confidential Information © Copyright NovAtel Inc. (2012)
Removable SD Memory Card SD CARD COMMANDS (similar to DOS commands)
PWD – To view the current working directory enter the PWD command.
pwd sd
DIR – View the DOS directory structure of the SD card.
FORMAT – formats the SD card
format sd
MKDIR – Make a directory. In this example a new directory called test1 is created in the root directory.
mkdir sd test1
CD – Change directory. In this example the current directory is changed to the newly made test1 directory.
cd sd test1
RMDIR – Remove a directory. In the example below the directory called test1 is removed from the SD card.
rmdir sd test1
SPAN-SE Front Panel Features and Functionality
NovAtel Confidential Information © Copyright NovAtel Inc. (2012)
Removable SD Memory Card
SD Card Specific Logs
DIRENT – This log allows you to view the contents of the current working directory.
[COM1] mkdir sd test1<OK
[COM1] cd sd test1<OK
[COM1] log dirent
<OK[COM1]<DIRENT COM1 0 99.0 FINESTEERING 1519 57110.110 40000020 0000 118< 1< "TEST1" 0 0 20090215 154946[COM1]
SPAN-SE Front Panel Features and Functionality
NovAtel Confidential Information © Copyright NovAtel Inc. (2012)
Removable SD Memory Card
Select which logs to send to the SC Card
Use the LOG command using the FILE designator to specify which the log output you wish to send to the SD card.
Example a standard logging configuration for post-processing applications would be:
LOG FILE RANGECMPB ONTIME1LOG FILE BESTPOSB ONTIME1LOG FILE RAWEPHEMB ONNEWLOG FILE RAWIMUSB ONNEWLOG FILE BESTLEVERARMB ONNEW
SPAN-SE Front Panel Features and Functionality
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Removable SD Memory Card
Starting/Stopping Logging
LOGFILE – the LOGFILE command can be used to open and close (start and stop) a logging file on the SD card.
This example opens a file called firstfile.gps for data logging. Any log previously requested with using the LOG command with the FILE designator will log to firstfile.gps
LOGFILE OPEN SD FIRSTFILE.GPS
This example closes a file called firstfile.gps.
LOGFILE CLOSE SD FIRSTFILE.GPSorLOGFILE CLOSE
NOTE: logging to more than one file name at a time is NOT supported. The system will return the statement: <ERROR:File conflict
SPAN-SE Front Panel Features and Functionality
NovAtel Confidential Information © Copyright NovAtel Inc. (2012)
Removable SD Memory Card
Auto Logging on Start-up
After configuring your logging output using the LOG commands you can configure the receiver to log the profile on start-up every time by issuing these two commands:
SAVECONFIGSETAUTOLOGGING ON
Now every time the receiver is powered-up the SD card logging configuration you have specified will be started.
SPAN-SE Front Panel Features and Functionality
NovAtel Confidential Information © Copyright NovAtel Inc. (2012)
Quick Setup:
To log a pre-defined list of logs needed for post-processing, follow these steps.
1. insert the card into the SD card slot
2. wait for the SD LED to turn solid green
3. press the SD Card button (to the right of the card itself) once.
4. The SD LED will start flashing to indicate logging is happening.
Removable SD Memory Card
SPAN-SE Front Panel Features and Functionality
Important SD Card considerationsdo not remove the SD Card while data is being logged to the card. This may result in damage to the card and loss of data. Stop the logging using the LOG button or the LOGFILE command before removing the card.do not unplug the power to the receiver while data is being logged to the card. Stop the logging before pulling the power or use the power button to power down.
NovAtel Confidential Information © Copyright NovAtel Inc. (2012)
Removable SD Memory Card
SPAN-SE Front Panel Features and Functionality
Important SD Card considerations
Do not remove the SD Card while data is being logged to the card. This may result in damage to the card and loss of data. Stop the logging using the LOG button or the LOGFILE command before removing the card.
Do not unplug the power to the receiver while data is being logged to the card. Stop the logging before pulling the power or use the power button to power down.
NovAtel Confidential Information © Copyright NovAtel Inc. (2012)
Removable SD Memory Card
SPAN-SE Front Panel Features and Functionality
Data can be removed from the SD card through serial communication using CDU, removal of the card and use of a SD card reader, or through FTP via the SPAN-SE ethernet.
FTP Commands
GET - Copy a file from SD card to PC
GET filename
DIR – Displays a directory listing of the SD card
DEL – Delete a file off the SD card
DEL filename
CWD – Change the working directory
NOTE: To ensure high-speed logging isn't corrupted, the FTP server will only read from the SD card when it's idle (ie: mounted and no logfile open for writing). Attempting to use an FTP command when the card is not idle will result in an error: 425 SD Card not ready
NovAtel Confidential Information © Copyright NovAtel Inc. (2012)
SPAN-SE Rear Panel Features and Functionality
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SPAN-SE Rear Panel Features and Functionality
NovAtel Confidential Information © Copyright NovAtel Inc. (2012)
SPAN-SE Rear Panel Features and FunctionalityPower Supply
NovAtel Confidential Information © Copyright NovAtel Inc. (2012)
Apply power to the IMU and to the receiver. It is recommended that a back-up battery is placed between the receiver and its voltage supply to act as a power buffer if installed in a vehicle.
When a vehicle engine is started, power can dip from 12 VDC to 9.6 VDC or cut-out to ancillary equipmentcausing the receiver and IMU to lose lock and calibration settings.
SPAN-SE Rear Panel Features and FunctionalityPower Supply
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SPAN-SE Rear Panel Features and Functionality
USB Host
This feature is not currently available
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SPAN-SE Rear Panel Features and Functionality
USB Device
This functions as a standard NovAtelUSB port when the NovAtel USB drivers are installed on the USB host computer.
There is only one of the virtual USB ports available to the user (USB 1.1).
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Ethernet (10/100 RJ-45)
• SPAN-SE supports both User Datagram Protocol (UDP) and Transmission Control Protocol/Internet Protocol
(TCP/IP).
• The IP address is configurable, and persists through power cycles.
• Both UDP and IP use port 3000, but only one protocol can be used at a time.
• The receiver has a Media Access Control (MAC) address hard coded into its flash memory. A sticker on the receiver reports this number.
• MAC is for the hardware address of the Ethernet plug whereas the IP is for a software address.
• You can retrieve the MAC address and Ethernet protocol by requesting the MAC log:
LOG MACMAC <MAC address> <ETH1
protocol> Example output:
"00:21:66:00:01:5C" UDP
SPAN-SE Rear Panel Features and Functionality
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SPAN-SE Rear Panel Features and Functionality
GREEN CABLE
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SPAN-SE Rear Panel Features and Functionality
YELLOW CABLE
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SPAN-SE Communication Overview
OEMV-2
OEMV-3
OEMV-2 COM2 OEMV-3 COM2
SPPC Board
OEMV-3USB3
OEMV-3USB1
NOTE:USB3-Reserved for internal messaging betweenV3 and SPPC
USB1-User requests are sent to V3 throughtUSB1
USB2-V3 responses to the user are sent throughUSB2
OEMV-3 COM1
OEMV-2 COM1
com1
com1
OEMV-3USB2
SPAN-SE RECEIVER
OEMV2
OEMV3
COM3, COM4
COM1, COM2
USB Device(USB1)
Ethernet
GPS Ant.
GPS 1
GPS 2
SD Card
EVENT-IN 1-4
EVENT-OUT 1-3
IMU
CAN 1-2
GPS Ant.
NovAtel Confidential Information © Copyright NovAtel Inc. (2012)
SPAN-SE COM Ports and EVENT Lines
Serial Com Ports
Com1 to Com4 are serial ports to the SPAN-SE SPPC board
These ports are 230K serial ports
The default baud rate is 9600 baud
These function just as the OEM4 and OEMV series of receivers
These 4 ports are RS232 by default but are RS422 configurable using a new parameter that has been added to the end of the COMCONTROL command parameter list.
usage;
COMCONTROL p1 p2 p3 p4
p1-> port - accepted inputs; com1; com2; com3; com4; IMU
p2-> signal - see existing OEMV COMCONTROL command
p3-> control - see existing COMCONTROL command
p4-> rs232/rs422 – accepted inputs; RS232; RS422
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EVENT-IN SPAN-SE has four input triggers; MARK1; MARK2; MARK3; MARK4
The EVENT-IN signals are controlled using the EVENTINCONTROL command
The input signal levels are 3.7V to -0.5V. Signal voltages outside these bounds will damage the receiver if the total current sink required for all 4 channels exceeds 100mA.
The minimum detectable pulse duration must be greater than or equal to 1microsecond.
SPAN-SE COM Ports and EVENT Lines
NovAtel Confidential Information © Copyright NovAtel Inc. (2012)
SPAN-SE COM Ports and EVENT Lines
EVENTINCONTROL Command
Usage:
EVENTINCONTROL p1 p2 p3 p4 p5
Where:
p1-> mark lines - accepted inputs; mark1; mark2; mark3; mark4
p2-> event in enable - accepted inputs; enable; disable; event; count
Enable – event input is enabled (default)
Disable – event input is disabled
Event – event input mode is asynchronous, one-shot style (like existing systems)
Count – event input mode is polled, counter style (for a wheel counter)
NOTE: When Count is chosen a new MARKxCOUNT log is valid with the onnew trigger
p3-> Trigger Polarity - accepted inputs; negative; positive
when polarity is positive, events will be triggered on the rising edge
when polarity is negative, events will be triggered on the falling edge
p4-> Time Bias – Optional value to specify an offset, in nanoseconds, to be applied to the time the mark input pulse occurs. Typically this is used to account for a transmission delay.
If no value is supplied, the default value of 0 is used.
p5-> Time Guard –used to coarsely filter the input pulses. The time guard specifies the minimum number of milliseconds between pules, in milliseconds.
If no value is supplied, the default value of 0 is used.
NovAtel Confidential Information © Copyright NovAtel Inc. (2012)
SPAN-SE COM Ports and EVENT Lines
EVENTINCONTROL Command Cont…
Using the input strobe to accumulate counts
An input strobe line can also be used to count the number of pulses over one second and report the total at the top of each second by setting the input event line to COUNT mode.
EVENTINCONTROL MARK1 COUNT NEGATIVE 0 0
When in count mode, the polarity, time bias and time guard entries in the EVENTINCONTROL log are ignored.
When an input strobe is configured for count mode, the totals are available by logging the MARKxCOUNT logs.
LOG MARK1COUNTA ONNEW gives the total pulses on event strobe 1 every second.
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EVENT-OUTSPAN-SE has 3 EVENT-OUT triggers; MARK1; MARK2; MARK3 These control the event-out 1 – 3 lines
The EVENT-OUT signals are controlled using the EVENTOUTCONTROL command
The event strobes are LVTTL level and toggle between 0 VDC and 3.3 VDC
The pulses consist of two states ACTIVE and NOT-ACTIVE
The start of the activce state is synchronized with the start of the GPS time second
The polarity of the signal indicates whether the active period is high (3.3 V) or low (0 v)
The not-active period immediately follows the active period and has the alternate voltage
The EVENT-OUT pulse counters have a resolution of 25ns.
The pulses are active low and latched to the PPS edges.
SPAN-SE COM Ports and EVENT Lines
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SPAN-SE COM Ports and EVENT LinesEVENTOUTCONTROL Command
Usage:
EVENTOUTCONTROL p1 p2 p3 p4 p5
Where:
p1-> mark lines - accepted inputs; mark1; mark2; mark3
p2-> event in enable - accepted inputs; enable; disable
Enable – event is enabled (default)
Disable – event input is disabled
p3-> Trigger Polarity - accepted inputs; negative; positive
polarity defines the active state portion of the signal.
Positive polarity dictates that the active portion of the signal is in a high state (3.3V)
p4-> Active Period Width – the active period starts at the GPS time synchronized edge (rising for negative polarity and falling for positive polarity). The time length of this
period is specified in nanoseconds (ns).
p5-> Not-Acitve Width - the not-active period immediately follows the active period. The width of this period is specified in nanoseconds
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Rules governing period widths:The minimum value of the period is 1000ns
Periods must be entered as a multiple of 25ns. i.e. 1000, 1025,1050, 1075…
The sum of the Active and Not-active periods must be an evenfactor of 1 s. The minimum period is 1000 ns. The maximumperiod is 999999000 ns.
SPAN-SE COM Ports and EVENT Lines
NovAtel Confidential Information © Copyright NovAtel Inc. (2012)
SPAN-SE COM Ports and EVENT Lines
Mark output logs
MARKxCOUNT
MARKxPVA
MARKxTIME
Where x = 1, 2, 3, 4
These can all be logged in ASCII, abbreviated ASCII or Binary similar to other NovAtel logs
For continuous logging these must all be logged with the ONNEW trigger
Example:
LOG MARK1TIMEB ONNEW output time for every pulse received
LOG MARK1PVAB ONNEW output time and position, velocity and attitude for every pulse received
LOG MARK1COUNTA ONNEW gives the total pulses on event strobe 1 every second.
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SPAN-SE Basic System Connections to IMU Enclosures
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