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SPAN Operation Chapter 3
SPAN-IGM User Manual Rev 2 37
3.5 Variable Lever Arm
The variable lever arm concept arose to support applications in which the IMU is no longer rigidly fixed to
the vehicle, but rather on a gimballed mount. This creates an issue where the lever arm offset to the
GNSS antenna is no longer fixed, because the IMU can rotate on its mount, while the antenna remains
fixed.
The use of the variable lever arm functionality requires that the device to which the IMU is attached be
able to send its gimbal rotation angles back to SPAN. These angles are used to re-calculate the lever arm
at the rate that they are received. SPAN will also be able to output a gimballed solution at the rate the
gimbal angles are received.
See the SPAN on OEM6 Firmware Reference Manual (OM-20000144) for more information.