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LOGGING DATA
You can collect data logs through any I/O port on the SPAN-SE
receiver into any data capture software, including Connect.
SPAN-SE also has a SD card for data collection. To send data to
the SD card, open a file, then use FILE as the port designator in
log requests. You must close the file when collection is
complete.
For example:
LOGFILE OPEN TEST.GPS
LOG FILE RANGECMPB ONTIME 1
LOGFILE CLOSE
The SPAN-SE has a default logging profile with all raw data
needed for post-processing. If you press the SD logging button,
this profile automatically logs to a uniquely named file until the
SD logging button is pressed again. To change the default
logging profile, send the log requests that you want, the
command: SETAUTOLOGGING ON and then SAVECONFIG.
The newly-defined profile is automatically logged to the SD card
on power up.
Save logs and commands with the SAVECONFIG command to
ensure that the same logging configuration starts whenever the
receiver is powered on. Remove the SD card from the receiver
and plug it into a computer to download data from the card. The
data logging button, located beside the SD card, stops and starts
the data logging if you must change cards during operation.
You can monitor the logs’ output to determine the system status.
Multiple Connect windows show the status of various receiver
subsystems. Light Emitting Diodes (LEDs) on the front of the
SPAN-SE receiver also show the status of many subsystems.
Log SPAN Data
Raw GNSS, IMU and navigation data (position, velocity and
attitude) are available from the system as ASCII or binary logs.
Data can be collected through Connect using the Logging
Control window, or sent through the receiver COM port to user-
supplied data collection software.
For post-processing applications, collect the data shown in the
Post-Processing section of this guide.
OPERATING THE SPAN SYSTEM
Observe the status of the system in the Connect INS window or
in the status field of any of the INS solution logs (for example
INSPOS, INSVEL, INSATT and INSPVA).
If performing a static alignment, allow the system to be
stationary for at least one minute after the GNSS solution is
computed for its initial system alignment.
If performing a kinematic alignment, move the vehicle forward at
a speed faster than 1.15 m/s.
If performing a dual antenna alignment, allow the system to
begin alignment, and wait approximately thirty seconds for a
dual antenna solution to be computed.
The following status stages may be observed:
• The status changes from INS_INACTIVE to INS_ALIGNING
when the alignment starts
• The status changes to INS_ALIGNMENT_COMPLETE
when the alignment is complete. Typically, this state contin-
ues until the system senses motion.
After some motion (stops, starts, and turns), the attitude
solution converges to within specifications, and the status
changes to INS_SOLUTION_GOOD.
The status may occasionally change to
INS_BAD_GPS_AGREEMENT. This status indicates that the
inertial solution has detected poor quality GNSS positions from
the receiver due to limited satellite visibility or high multipath
conditions. The inertial filter may choose to disregard this
information and wait for the GNSS quality to improve. The
solution is still valid during this status, but it is a warning that the
GNSS/INS solution is more reliable than the GNSS-only
solution.
POST-PROCESSING
Post-processing requires collection of simultaneous data from
the base and rover stations. This includes accurate coordinates
of the base station and accurate measurement of the IMU to
antenna separation.
The following logs are required for post-processing:
• From the base station
• RANGECMPB ontime 1
• RAWEPHEMB onchanged
• From the rover station(s)
• RANGECMPB ontime 1
• RAWEPHEMB onchanged
• RAWIMUSB onnew
In addition, the following is required to log GLONASS:
• GLOEPHEMERISB onchanged
• GLOCLOCKB onchanged
The SPAN-SE system output is compatible with post-processing
software from the Waypoint Products Group, NovAtel Inc. Visit
their web page at www.novatel.com/products/waypoint-software
for more details.
QUESTIONS OR COMMENTS
If you have any questions or comments regarding your
SPAN-SE system, please contact NovAtel Customer Service by:
Email: support@novatel.ca
Web: www.novatel.com
Phone: 1-800-NOVATEL (U.S. & Canada)
1-800-668-2835
1-403-295-4900 (International)
Fax: 1-403-295-4901
INS data is available when the GNSS solution has solved for time
(i.e., FINESTEERING status). An antenna must be connected and
tracking satellites for the system to function.
NovAtel, SPAN, Inertial Explorer, Waypoint and OEMV are registered trademarks of
NovAtel Inc.
SPAN-SE is a trademark of NovAtel Inc.
Windows is a registered trademark of Microsoft Corporation.
© Copyright 2012 NovAtel Inc. All rights reserved.
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