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32 SPAN-CPT User Manual Rev 8
Chapter 3 SPAN-CPT Operation
3.6 Data Collection
The INS solution is available in the INS specific logs with either a standard or short header. Other
parameters are available in the logs shown in Table 6, Solution Parameters:
Table 6: Solution Parameters
The position, velocity and attitude are available together in the INSPVA and INSPVAS logs.
The inertial solution is available up to a rate of 100 Hz. Data can be requested at a specific rate up to the
maximum IMU output rate or can be triggered by the mark input trigger at rates up to 20 Hz.
The GNSS-only solution is still available through the GNSS-only logs such as RTKPOS and PSRPOS.
When running SPAN-CPT, rates of non-INS logs should be limited to a maximum rate of 5 Hz. Refer to
the OEM6 Family Firmware Reference Manual
(OM-20000129) for more details on these logs. INS-only
data logging and output can be at rates of up to the rate of the IMU data.
Specific logs need to be collected for post-processing (see Data Collection for Post-Processing on
page 33).
Parameter Log
Position INSPOS or INSPOSS
INSPVA or INSPVAS
INSPOSX or INSPVAX
a
a. These logs contain variance information and are therefore large logs.
Use a low logging rate (<20 Hz) only.
Velocity INSVEL or INSVELS
INSSPD or INSSPDS
INSPVA or INSPVAS
INSVELX or INSPVAX
a
Attitude INSATT or INSATTS
INSPVA or INSPVAS
INSATTX or INSPVAX
a
Solution Uncertainty INSCOV or INSCOVS
The highest rate to request GNSS logs (RANGE, BESTPOS, RTKPOS, PSRPOS and so
on) while in INS operation is 5 Hz. If the receiver is not running INS, GNSS logs can be
requested at rates up to 20 Hz.
Ensure all windows, other than the Console, are closed in NovAtel Connect before using
the SAVECONFIG command to save settings in NVM. Otherwise, unnecessary data logging
occurs and may overload the system.