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SPAN-SE NovAtel Confidential Information © Copyright NovAtel Inc. (2012)

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Presentation on theme: "SPAN-SE NovAtel Confidential Information © Copyright NovAtel Inc. (2012)"— Presentation transcript:

1 SPAN-SE NovAtel Confidential Information © Copyright NovAtel Inc. (2012)

2 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)

3 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)

4 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)

5 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)

6 SPAN-SE Technical Specs IEC IPX7 Waterproof IEC IPX6 Dust IEC , 60 g Shock (non-operating) RTCA D0-160D, curve C Vibration (random) IEC Vibration (sinusoidal) FCC Part 15, Class B Emissions EN 55022, Class B Emissions EN Immunity EN Safety Regulatory Compliance Test NovAtel Confidential Information © Copyright NovAtel Inc. (2012)

7 SPAN-SE Supported IMU Types iMAR-FSAS LN-200 HG-1700 SPAN-SE Model NameMax. Output RateCompatible IMUsSPAN-SE Models IMU-H58 IMU-H62 100HzHG1700-AG58 HG1700-AG62 SPAN-SE-S-RT2-G-I SPAN-SE-S-RT2-I SPAN-SE-D-RT2-G-I SPAN-SE-D-RT2-I IMU-LN200200HzLN and 400 Hz models SPAN-SE-S-RT2-G-J SPAN-SE-S-RT2-J SPAN-SE-D-RT2-G-J SPAN-SE-D-RT2-J IMU-FSAS-EI200HziMar-FSASSPAN-SE-S-RT2-G-J SPAN-SE-S-RT2-J SPAN-SE-D-RT2-G-J SPAN-SE-D-RT2-J IMU-LCI200HzLITEF LCI-ISPAN-SE-S-RT2-G-J SPAN-SE-S-RT2-J SPAN-SE-D-RT2-G-J SPAN-SE-D-RT2-J IMU-CPT100HzKVH IMU-CPTSPAN-SE-S-RT2-G-I SPAN-SE-S-RT2-I SPAN-SE-D-RT2-G-I SPAN-SE-D-RT2-I Generic-- SPAN-SE-S-Generic SPAN-SE-D-Generic NovAtel Confidential Information © Copyright NovAtel Inc. (2012)

8 SPAN-SE Front Panel Features and Functionality NovAtel Confidential Information © Copyright NovAtel Inc. (2012)

9 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)

10 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)

11 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)

12 Removable SD Memory Card Prepare the card 1.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

13 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)

14 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

15 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 ONTIME1 LOG FILE BESTPOSB ONTIME1 LOG FILE RAWEPHEMB ONNEW LOG FILE RAWIMUSB ONNEW LOG FILE BESTLEVERARMB ONNEW SPAN-SE Front Panel Features and Functionality NovAtel Confidential Information © Copyright NovAtel Inc. (2012)

16 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.GPS or LOGFILE CLOSE NOTE: logging to more than one file name at a time is NOT supported. The system will return the statement:

17 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: SAVECONFIG SETAUTOLOGGING 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)

18 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 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)

19 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)

20 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 CommandDescription GET Copy file from SD card to PC DIRDirectory listing of SD card DEL Delete file off SD card CWDChange Working Directory 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)

21 SPAN-SE Rear Panel Features and Functionality NovAtel Confidential Information © Copyright NovAtel Inc. (2012)

22 SPAN-SE Rear Panel Features and Functionality NovAtel Confidential Information © Copyright NovAtel Inc. (2012)

23 SPAN-SE Rear Panel Features and Functionality Power Supply NovAtel Confidential Information © Copyright NovAtel Inc. (2012)

24 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 equipment causing the receiver and IMU to lose lock and calibration settings. SPAN-SE Rear Panel Features and Functionality Power Supply NovAtel Confidential Information © Copyright NovAtel Inc. (2012)

25 SPAN-SE Rear Panel Features and Functionality USB Host This feature is not currently available NovAtel Confidential Information © Copyright NovAtel Inc. (2012)

26 SPAN-SE Rear Panel Features and Functionality USB Device This functions as a standard NovAtel USB 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). NovAtel Confidential Information © Copyright NovAtel Inc. (2012)

27 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 MAC MAC Example output: "00:21:66:00:01:5C" UDP SPAN-SE Rear Panel Features and Functionality NovAtel Confidential Information © Copyright NovAtel Inc. (2012)

28 SPAN-SE Rear Panel Features and Functionality GREEN CABLE NovAtel Confidential Information © Copyright NovAtel Inc. (2012)

29 SPAN-SE Rear Panel Features and Functionality YELLOW CABLE NovAtel Confidential Information © Copyright NovAtel Inc. (2012)

30 SPAN-SE Communication Overview NovAtel Confidential Information © Copyright NovAtel Inc. (2012)

31 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 NovAtel Confidential Information © Copyright NovAtel Inc. (2012)

32 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)

33 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)

34 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. NovAtel Confidential Information © Copyright NovAtel Inc. (2012)

35 EVENT-OUT SPAN-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 NovAtel Confidential Information © Copyright NovAtel Inc. (2012)

36 SPAN-SE COM Ports and EVENT Lines EVENTOUTCONTROL 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 NovAtel Confidential Information © Copyright NovAtel Inc. (2012)

37 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 even factor of 1 s. The minimum period is 1000 ns. The maximum period is ns.. SPAN-SE COM Ports and EVENT Lines NovAtel Confidential Information © Copyright NovAtel Inc. (2012)

38 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 ONNEWoutput time for every pulse received LOG MARK1PVAB ONNEWoutput time and position, velocity and attitude for every pulse received LOG MARK1COUNTA ONNEW gives the total pulses on event strobe 1 every second. NovAtel Confidential Information © Copyright NovAtel Inc. (2012)

39 SPAN-SE Basic System Connections to IMU Enclosures NovAtel Confidential Information © Copyright NovAtel Inc. (2012)


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