Chapter 4 SPAN Operation
CPT7 and CPT7700 Installation and Operation User Manual v12
81
2. Issue the
SETINSROTATION
command, using the
RBV
parameter, to enter the Euler Angle rotation from
the IMU Body frame to the Vehicle frame. See the
SETINSROTATION
command in the
Commands and Logs Reference Manual
for more information.
Accurate knowledge of the rotational offset between the IMU Body frame and the Vehicle frame (the RBV
rotation) is critical to correctly computing an attitude solution, and is required before a Kinematic alignment
is possible.
The SETINSROTATION parameters are (where the standard deviation fields are optional):
RBV x_rotation y_rotation z_rotation [x_stdev] [y_stddev] [z_stdev]
The order of rotations is Z-X-Y. All rotations are right handed.
For an example of how to solve for the IMU Body to Vehicle frame rotation refer to
If the rotation between the IMU Body frame and the Vehicle frame is not precisely known, enter an
approximate rotation (to the nearest 45 degrees). The precise offset can be estimated by carrying
out the
Body to Vehicle Frame Rotation Calibration Routine
SPAN Configuration with NovAtel Application Suite
NovAtel Application Suite provides a graphical user interface to help configure a SPAN system. For
information about configuring SPAN using NovAtel Application Suite, refer to
.
SPAN Configuration with NovAtel Setup & Monitor (Web)
The SPAN parameters can be configured using the NovAtel Setup & Monitor (Web) User Interface. For
information about using Setup & Monitor (Web), refer to
4.3.5 Importance of RBV Calibration
For the SPAN system to provide the best performance, the rotation offset of the IMU body to the Vehicle frame
(RBV) should be known as accurately as possible. Since constraints happen at the vehicle level, any error in
the offset will translate into worse performance.
After the SPAN system has been installed and the appropriate translations and rotations have been applied
(see
on page 79), the IMU Body frame is aligned with the Vehicle frame.
However, aspects of the mounting platform and vehicle design, such as vehicle tilt, and slight misalignments in
