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 154 page image

Chapter 2 New for OEM7 – FirmwareOEM6 to OEM7 Integration Guide v1 154The steps for the calibration routine are:1. Apply power to the receiver and IMU.2. Configure the SPAN system, see SPAN Configuration.3. Ensure that an accurate lever arm has been entered into the system either manually orthrough a lever arm calibration, see Lever Arm Calibration Routine.4. Perform an initial system alignment using one of the methods described in System Start-Upand Alignment Techniques. Ensure the system reaches Solution Good.5. Enable a new calibration using the INSCALIBRATE command, with the optional standarddeviation target omitted:INSCALIBRATE RBV NEW6. Start to move the vehicle. Drive a straight course, at a vehicle speed greater than 5 m/s (18km/hr). A distance of at approximately 250 metres is recommended.To monitor the calibration, log INSCALSTATUS using the ONCHANGED trigger.7. When the end of the available distance is reached, stop the vehicle. Halt the ongoing cal-ibration by sending the INSCALIBRATE command again:INSCALIBRATE RBV STOP8. At this point INSCALSTATUS will report a source status of CALIBRATED. Turn the vehiclearound and come to a stop on the finishing point of the previous line.9. Initiate the second pass of the calibration by issuing the INSCALIBRATE command with theADD parameter:INSCALIBRATE RBV ADD10. Drive the vehicle back along the original course, until you reach the starting point for thefirst pass. Stop the vehicle, and re-issue the INSCALIBRATE command, with the STOP para-meter. INSCALSTATUS will again indicate a source status of CALIBRATED.At this point the multi-line calibration can be considered complete, but more iterations canbe repeated until the desired accuracy level is reached.11. When the calibration is complete, the calibrated offset value can be viewed in either theINSCALSTATUS log or the INSCONFIG log.To save a calibrated rotation for subsequent start ups, issue the SAVECONFIG command aftercalibration is complete. Each time the IMU is re-mounted this calibration should be performedagain.After the INSCALIBRATE RBV ENABLE command is entered, there are no body-vehiclerotation parameters present and a kinematic alignment is NOT possible. Therefore thiscommand should only be entered after the system has performed either a static or kin-ematic alignment and has a valid INS solution.For information about the logs and commands used in this procedure, refer to the OEM7Commands and Logs Reference Manual (OM-20000169).