Novatel OEM6 Integration Manual

Also see for OEM7 SPAN: User manual Installation and operation user guide Installation and operation manual Installation and Operation User Manual

Contents

Novatel OEM6 Integration Manual Manual pdf 150 page image

Chapter 2 New for OEM7 – FirmwareOEM6 to OEM7 Integration Guide v1 150OEM6 Command OEM7 Command NotesSETMARKxOFFSETSETINSTRANSLATIONMARKxSETINSROTATIONMARKxTranslational and rotational offsets arenow entered separately.Markx can be MARK1, MARK2, MARK3 orMARK4.VEHICLEBODYROTATIONSETIMUORIENTATIONSETINSROTATIONRBVThe information provided by the OEM6commands is now combined in the RBVrotation.GIMBALSPANROTATIONSETGIMBALORIENTATIONSETINSROTATIONRBMThe information provided by the OEM6commands is now combined in the RBMrotation.The RBV rotation must also be specifiedfor correct operation.EXTHDGOFFSET SETINSROTATIONALIGNThis offset continues to be automaticallycalculated if the translational offsets tothe primary and secondary GNSSantennas are provided.APPLYVEHICLEBODYROTATION SETINSROTATIONRBVDefault attitude output is now in theVehicle Frame, as long as an RBV rotationis provided. This is overridden if a USERrotational offset is provided.2.4.3 INS ProfilesINS Profiles are a method to improve the performance of the system in different conditions.When a receiver is configured with an INS Profile, the default receiver settings are modified tooptimize performance in the selected condition. See INS Profiles on page 152 for more inform-ation.2.4.4 INS SeedThe INS Seed functionality is an alignment method whereby INS alignment information from aprevious powerup can be injected into the system at startup to achieve an INS alignment veryquickly. This is especially useful for systems that previously required a kinematic alignment.See INS Seed / Fast INS Initialization on page 155 for more information.2.4.5 Multi-Line Body to Vehicle CalibrationThe Body to Vehicle frame offset calibration feature assumes flat ground when estimating theroll offsets between the IMU Body and Vehicle frames. For applications where vehicle roll mustbe well known, or pass-to-pass accuracy of a highly offset position is especially important, theMulti-Line IMU Body to Vehicle frame offset calibration routine offers higher calibrated accuracyin roll. This is done by running independent calibrations over the same ground path in oppositedirections; averaging the results cancels out the effect of any terrain induced roll. See Multi-LineBody to Vehicle Frame Rotation Calibration Routine on page 153 for more information.