For a free mission planning utility which does not require a hardlock key please see the Waypoint Toolbox.

GrafNav Lite Interface

The moving baseline module allows for GPS post-processing between two moving platforms. By processing directly between two moving kinematic objects, the accuracy of the relative trajectory can be improved significantly over that of a stationary base. This is especially true if the base station distance is much larger than the relative distance. If the two antennae are fix mounted, then heading can also be computed. The Moving Baseline module (called GrafMov) is purchased as an upgrade to GrafNav/GrafNet™, and some of its additional features are:

• Relative Processing – All of the advanced features of GrafNav including KAR, reliable Kalman Filter, forward/reverse/combined processing, dual and single frequency, and fast processing speed are all supported.
• Relative Vector Output – GrafMov can export a number of relative vectors including local level, ECEF, and range and bearing.
• Relative Velocity – Not only is the relative position available, the instantaneous differential velocity vector is also computed.
• Heading Determination – For applications that require heading, GrafMov’s fast integer ambiguity resolution algorithm (i.e. KAR) can make use of the antenna separation to further the speeding up of initialization times. Pitch can be computed from the relative vector output.

Waypoint Inertial Explorer runs within the familiar Waypoint GrafNav processing environment and data analysis is performed with the same plotting tools. This provides Waypoint Inertial Explorer with all of the same features available in GrafNav. Waypoint Inertial Explorer can bring GNSS and IMU data together two different ways. In loosely coupled processing the GPS data must first be processed in order to store optimal position, velocity and quality information in the standard Waypoint GrafNav fwd/rev/cmb files. Following this, the IMU component of Inertial Explorer can be invoked to perform alignment, mechanization of measurements and filtering.

In tightly coupled mode, the GNSS and IMU data are processed simultaneously. Benefits of tightly coupled processing include the application of phase updates which limits inertial error growth when even two GPS satellites are available, as well as through automatic ZUPT detection. Tightly coupled processing is suggested for poor signal tracking environments such as ground vehicle surveys in urban environments.

It is the user’s responsibility to time tag each set of inertial measurements to the GPS time frame during the data collection process. NovAtel’s SPAN Technology offers this. For more information on SPAN, click here.

Figure 1 Forward/Reverse attitude separation (LN200)

Figure 2 GPS-IMU position difference (LN200)

Waypoint ToolBox 1.00 includes:

The Waypoint ToolBox 1.00 BETA software is available at no charge. Click on the link below to download.

Please contact our Customer Support or your NovAtel Dealer with your four digit license number for information on how to upgrade.

NovAtel’s SPAN (Synchronous Position, Attitude and Navigation) technology brings together two different, but complementary technologies: GNSS positioning and inertial navigation. The absolute accuracy of GNSS positioning and the stability of IMU gyro and accelerometer measurements combine to provide a 3D position, velocity and attitude solution. Unlike GNSS-only navigation systems, the solution is stable and continuously available, even through periods when GNSS signals are blocked.

SPAN-SE is the engine of NovAtel’s leading-edge SPAN technology. It provides the user interface to SPAN and outputs raw measurement data or solution data over several communication protocols or to a removable SD card. Multiple GPS-synchronous strobes and event input lines offer easy integration into a larger system. Combining SPAN-SE with a SPAN-supported IMU creates a complete GNSS/INS system. SPAN-SE is available in single or dual antenna configurations. The dual-antenna version uses two GNSS antennas mounted on the vehicle to assist with alignment on moving vehicles and to give a more accurate heading solution in low-dynamic conditions such as marine.

Utilizing Powerful, Proven GNSS Technology

The SPAN-SE utilizes NovAtel’s powerful OEMV® receiver technology. The OEMV is a feature rich receiver, delivering GPS + GLONASS capability and AdVance® RTK. A dedicated CPU for real-time GNSS/INS processing results in fast data rates and low raw data and solution latency for highly dynamic or time-critical applications.

Benefits

• Single or dual antenna configuration for use across land, air and marine applications
• On-board data logging for simplified real-time workflow
• Environmentally sealed
• GPS + GLONASS option for improved performance in difficult GNSS conditions
• Wheel sensor input for ground applications
• Easy integration with NovAtel’s Inertial Explorer™ post-processing software

Features

• Delivers tight-coupling of GNSS/INS technology, resulting in more accurate positioning, velocity and attitude for user applications
• Compatible with IMUs from various suppliers
• SE software is backwards compatible with previous SPAN products
• Available in a fully enclosed product or as a board stack for OEM integrators

To learn more, click on the Sales link at top to find a NovAtel representative closest to you, or on the links at right to download product literature.

Flexibility and Ease of Integration

The ProPak-V3 provides the same easy-to-use interface as the ProPak-G2plus, while adding the ability to receive measurements from GLONASS constellations in addition to GPS positioning. The ProPak-V3 also features integrated L-band corrections from geosynchronous satellites such as OmniSTAR and CDGPS. Additionally, with firmware upgrades, your investment will continue to work into the future, tracking L5 signals as soon as they are available.

Protects against harsh conditions

The ProPak-V3 features a durable metal enclosure to ensure that your receiver delivers accurate positions even in harsh environments and EMI conditions. Combined with one of NovAtel’s rugged GPS-700 series antennas, the ProPak-V3 provides superior tracking performance, positioning accuracy and reliability.

Advanced multipath mitigation

The OEMV™ family of GNSS receivers is available with PAC, NovAtel’s current industry-leading multipath mitigation technology. The initial OEMV release will include PAC as the default technique. The OEMV receivers will offer superior multipath elimination close to the antenna and in high multipath environments.

Support for systems integrators

The ProPak-V3 can power external peripherals such as a UHF radio or an IMU. A single cable from the receiver to an Inertial Measurement Unit (IMU), creates an enhanced system that delivers 100 Hz position and attitude measurements and robust performance. Supported by NovAtel’s SPAN™ technology, it is unaffected by short outages or reduced satellite coverage. In addition, the ProPak-V3 supports an Application Programming Interface (API).

* SPAN™ technology support is limited to GPS only and specific range of IMUs. Contact NovAtel Sales for details.

When space is a factor in application development, NovAtel’s single-enclosure SPAN-CPT™ GPS/INS system is an ideal solution. SPAN-CPT integrates NovAtel’s OEMV® GPS precision receiver technology with fiber optic gyro and MEMS accelerometer inertial components from KVH Industries in a single compact unit. The tight-coupling of the GPS and INS technologies within SPAN-CPT optimizes the raw GPS and IMU data, delivering a superior position, velocity and attitude solution.

Comprised entirely of commercial components, SPAN-CPT has no special export restrictions. This minimizes the operational complexities for customers whose products cross international boundaries.

Receiver + IMU Systems

Configure the system that meets your needs by choosing a receiver and IMU to form a complete SPAN system.

Receiver/IMU	IMU-CPT	UIMU-H58	UIMU-H62	IMU-FSAS	UIMU-LN200	UIMU-LCI
OEMV
Propak-V3
SPAN-SE
SPAN-MPPC