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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)


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.


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



• 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



• 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


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


IMU-LCI 200Hz LITEF LCI-I SPAN-SE-S-RT2-G-JSPAN-SE-S-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


SPAN-SE Front Panel Features and Functionality


Press and hold approximately 3 seconds for power on/off

Power Button



1. The power LED is on the power button,

LED Indicators



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




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.



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




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]




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




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




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.



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.



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.




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.




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


SPAN-SE Rear Panel Features and Functionality




SPAN-SE Rear Panel Features and FunctionalityPower Supply


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



USB Host

This feature is not currently available



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).


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




GREEN CABLE



YELLOW CABLE


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.


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


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.




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.



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.


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 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


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.




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.


SPAN-SE Basic System Connections to IMU Enclosures
