SPAN Changes Scheduled for 7.07.00 Release
NovAtel’s SPAN (Synchronized Position Attitude Navigation) technology is widely known and used in applications requiring greater functionality and reliability, those that benefit from the seamless integration of GNSS and inertial data. With continuous development, especially coupling with the next generation OEM7 receiver; a list of improvements has been identified to better serve customers’ needs and simplify the interface communications. These changes will be rolling out in the upcoming future releases. Please plan accordingly.
DMI Interface Enhancement:
The DMI interface is simplified, allowing for simpler functional support and expansion in future releases for the use of multiple DMI’s. It also provides customers with the capability of starting the interface prior to the functionality being operational. Future multiple DMI support allows customers with more than one DMI sensor to benefit from the additional information. Velocity type input streamlines the passing of information to a NovAtel product for customers who have DMIs that produce velocity. Furthermore, this simplifies setting up a DMI sensor by removing the necessity to pass ticks/revolution and wheel circumference during a setup.
The result of these changes is that several logs/commands will be removed without deprecation. A maintenance version of Inertial Explorer will be released in tandem with 7.07.xx to support the changes proposed. Note that the WHEELSIZE log is no longer available, so customers will not be able to get the current estimated wheel circumference.
* The WHEELVELOCITY command will still be accepted in a limited capacity. WHEELVELOCITY’s cumulative tick field will be mapped to a RAWDMI command for backwards compatibility.
Removal of OEM6 SPAN Command Support:
Several OEM6 SPAN logs and commands that have been deprecated since OEM7 launched and will no longer be supported. The replacement logs and commands in OEM7 have been documented in the OEM6 to OEM7 transition page in our documentation portal. A full list of logs and commands no longer supported is below (DMI changes included):
|ASYNCHINSLOGGING||None||Command||No longer necessary|
|HEAVEFILTER||None||Command||Heave filter enabled with|
MARINE Profile set and a P
or R model.
|WHEELSIZE||None||Log||DMI Interface restructure|
|TIMEDWHEELDATA||RAWDMI||Log||DMI Interface restructure|
|SETWHEELPARAMETERS||DMICONFIG||Command||DMI Interface restructure|
|ENCLOSUREWHEELSENSOR||DMICONFIG||Command||DMI Interface restructure|
Additional CORRIMUS log / Deprecation of CORRIMUDATA(S):
The current CORRIMUDATA(S) logs will be replaced with the new CORRIMUS log. The CORRIMUS log is essentially the same log as the CORRIMUDATA(S) with an additional field added to output an IMUDataCount which counts the number of samples used in each log output. An example of the new log CORRIMUS is shown below. The CORRIMUDATA(S) log will remain working for those that choose to use it but will be removed from the official documentation.
|Field||Field Type||Description||Format||Binary Bytes||Binary Offset|
|1||CORRIMUS Header||Log header. See Messages for more information.||–||H||0|
|2||IMUDataCount||Count of the number of IMU Samples used in each log output accumulation.||ULong||4||H+|
|3||PitchRate||About x-axis rotation (right-handed)(rad/sample)||Double||8||H+4|
|4||RollRate||About y-axis rotation (right-handed)(rad/sample)||Double||8||H+12|
|5||YawRate||About z-axis rotation (right-handed)(rad/sample)||Double||8||H+20|
|6||LateralAcc||INS Lateral Acceleration (along x-axis)(m/s/sample)||Double||8||H+28|
|7||LongitudinalAcc||INS Longitudinal Acceleration (along yaxis) (m/s/sample)||Double||8||H+36|
|8||VerticalAcc||INS Vertical Acceleration (along z-axis)(m/s/sample)||Double||8||H+44|
|12||[CR][LF]||Sentence Terminator (ASCII only)||–||–||–|
The above changes are planned to be released in the next general release of 7.07.00 firmware scheduled for June 2019.
Per maggiori informazioni contattaci: https://www.lunitek.it/contatta-sensoristica-e-acquisizione-dati/