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38 SPAN-IGM User Manual Rev 2
Chapter 4 SPAN-IGM Dual Antenna
NovAtel's ALIGN
®
heading technology generates distance and bearing information between a “master”
and one or more “rover” receivers. This information can be used by SPAN to update the inertial error
estimates and improve attitude accuracy. This is particularly useful in applications with reduced motion.
SPAN-IGM Dual Antenna provides the hardware necessary to run an ALIGN baseline with a second
receiver.
With SPAN-IGM, the ALIGN GNSS baseline can be used to assist the initial alignment of the SPAN
solution. In addition, the ALIGN baseline solution will aid the heading solution from the receiver if the
heading drifts due to slow or constant dynamics.
ALIGN is capable of a 10 Hz heading output rate when integrated with the OEM6 receiver.
4.1 Installation
The hardware for SPAN-IGM Dual Antenna is installed in a manner similar to other SPAN systems. Some
points to consider during your installation are:
1. Install the SPAN-IGM and the two antennas in the vehicle such that the relative distance between
them is fixed.
2. The antennas should be mounted where the view of the satellites will not be obstructed by any part of
the vehicle. As heading accuracy is dependent on baseline length, mount the antennas as far apart
as possible. A minimum separation distance of 1 metre is recommended.
3. The lever arms, or distance from the SPAN-IGM to the antennas, needs to be fixed and accurately
measured using the coordinate axes defined on the outside of the SPAN-IGM. The baseline between
the two antennas does NOT need to be aligned with the vehicle axes or with the axes of the
SPAN-IGM.
4. Install the secondary OEM6 receiver.
5. Both the SPAN-IGM and the rover receiver need to be powered and connected to each other via
serial ports before sending any configuration commands. It does not matter which receiver is
powered on first, or how long they are both powered before sending any commands.
Figure 8, SPAN-IGM - Dual Antenna Installation on page 39 shows dual antenna configuration using a
SPAN-IGM and FlexPak6.
A FlexPak6 receiver can be mounted directly on top of the SPAN-IGM using the SPAN-IGM
Bracket Kit (01019091).
When a FlexPak6 receiver is mounted directly on top of a SPAN-IGM (stack up
configuration), connect the SPAN-IGM to the FlexPak6 using the SPAN-IGM ALIGN
interface cable (01019089). This cable provides the required communication connections
and powers the SPAN-IGM.
To mount the SPAN-IGM and FlexPak6 in a stack up configuration you need the SPAN-IGM
Bracket Kit (01019091).
SPAN-IGM Dual Antenna operation requires the dedicated use of a serial port on each
receiver for communication between receivers.
Use the USB port to connect the receiver to the computer used to send commands and
receive logs.