NOVATEL – Rilascio nuovo firmware versione 7.07.00 con modifiche ai comandi per tecnologia SPAN NOVATEL

NOVATEL – Rilascio nuovo firmware versione 7.07.00 con modifiche ai comandi per tecnologia SPAN NOVATEL

SPAN Changes Scheduled for 7.07.00 Release

Background:
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.

Issue Summary:

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.

Current Type Proposed Type
WHEELVELOCITY* Command RAWDMI Log/Command
TIMEDWHEELDATA Log RAWDMI Log/Command
WHEELSIZE Log Removed
INSWHEELUPDATE Command Removed
SETWHEELPARAMETERS Command DMICONFIG Command
ENCLOSUREWHEELSENSOR Command DMICONFIG Command

* 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):

OEM6 OEM7 Replacement Type Reason
BESTLEVERARM INSCONFIG Log OEM7 transition
INSUPDATE INSUPDATESTATUS Log OEM7 transition
BESTLEVERARM2 INSCONFIG Log OEM7 transition
IMUTOANTOFFSETS INSCONFIG Log OEM7 transition
ASYNCHINSLOGGING None Command No longer necessary
DUALANTENNAPORTCONFIG INSALIGNCONFIG Command OEM7 transition
HEAVEFILTER None Command Heave filter enabled with
MARINE Profile set and a P
or R model.
SETIMUTOANTOFFSET SETINSTRANSLATION Command OEM7 transition
SETIMUTOANTOFFSET2 SETINSTRANSLATION Command OEM7 transition
SETIMUORIENTATION SETINSROTATION Command OEM7 transition
RVBCALIBRATE INSCALIBRATE Command OEM7 transition
VEHICLEBODYROTATION SETINSROTATION Command OEM7 transition
SETINSOFFSET SETINSTRANSLATION Command OEM7 transition
SETINITATTITUDE SETINITAZIMUTH Command OEM7 transition
APPLYVEHICLEBODYROTATION SETINSROTATION Command OEM7 transition
EXTHDGOFFSET SETINSROTATION Command OEM7 transition
SETGIMBALORIENTATION SETINSROTATION Command OEM7 transition
GIMBALSPANROTATION SETINSROTATION Command OEM7 transition
SETIMUTOGIMBALOFFSET SETINSTRANSLATION Command OEM7 transition
SETINSROTATION_LEGACY SETINSROTATION Command OEM7 transition
SETMARKxOFFSET SETINSTRANSLATION
& SETINSROTATION
Command OEM7 transition
INSZUPTCONTROL SETINSUPDATE Command OEM7 transition
INSWHEELUPDATE SETINSUPDATE Command OEM7 transition
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.

Example log:

%CORRIMUSA,2023,340847.070;1,0.0000014373087865,-0.0000004823212266,
0.0000008045411198,-0.0000031392200288,-0.0000307448135051,
-0.0000751246680874,0,0*14d4586c

 

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
9 Reserved 1 Float 4 H+52
10 Reserved 2 ULong 4 H+56
11 xxxx 32-bit CRC Hex 4 H+60
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/

maggio 6, 2019/ by / in