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Novatel SPAN
Posted by Jerry Knisley, Last modified by
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on 09 December 2014 02:10 PM

Driver for Novatel SPAN-SE motion sensor and gyro. Reads timestamped heading, heave, pitch, & roll from a network stream.

 

Connection:

The device can be configured in many different ways. HYSWEEP expects a TCP network connection. The device's default IP address and port are 192.168.0.10, port 3000. To configure the device, a series of commands need to be sent to it using the Novatel CDU software. They are:

 

LOG ICOM2 BESTPOSA ONTIME 0.2

LOG ICOM2 HEAVEA ONNEW

LOG ICOM2 INSPVAA ONTIME 0.05

LOG ICOM2 TIMEA ONTIME 1

LOG ICOM3 INSPVAA ONTIME 0.05

LOG ICOM3 HEAVEA ONNEW

LOG ICOM3 TIMEA ONTIME 1

SAVECONFIG

 

"IPCONFIG" sets the network address. The remaining lines configure which outputs to HYPACK and HYSWEEP are enabled. The "ICOM3" lines turn on the messages HYSWEEP expects to see:

ñ  INSPVAA - pitch, roll, heading

ñ  HEAVEA - heave

ñ  TIMEA - GPS time to UTC time offset

 

NOTE: TIMEA is critical for correct timetags!

 

Offsets:

  • Starboard, Forward, Vertical:  Not used – set to 0.
  • Yaw: Enter the heading correction if any.
  • Pitch, Roll:  Not used – set to 0.
  • Latency:  Enter the gyro latency time if any - positive, seconds.

 

Notes:

  • Based on the commands described above, Port 3001 (ICOM2) should be entered in HYPACK Hardware and Port 3002 (ICOM3) should be entered in HYSWEEP Hardware.