NovAtel Inc.  1120 – 68th Avenue N.E. Calgary, AB, Canada T2E 8S5

Tel: (403) 295-4500

 Fax: (403) 295-4501  Internet: www.novatel.com

Email: support@novatel.com

Configuring the SPAN-SE for HYPACK

Integration

Application Note

NovAtel Application Note

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Configuring the SPAN-SE for HYPACK Integration

Table of contents

1 Overview ......................................................................................................................3

2 Required Hardware ......................................................................................................3

3 SPAN-SE Configuration ...............................................................................................4

3.1 System Alignment Procedure .................................................................................4

3.2 SPAN-SE Ethernet Connection ..............................................................................5

3.3 Setting up the SPAN-SE Logging Profile ...............................................................7

4 Establishing Communications in HYPACK ...................................................................9

4.1 HYPACK Hardware ................................................................................................9

4.2 HYSWEEP Hardware ........................................................................................... 12

5 Enabling PPS Output on the SPAN-SE ...................................................................... 14

A. SPAN Commands and Logs ....................................................................................... 15

A.1 SETIMUTYPE Command ..................................................................................... 15

A.2 SETIMUTOANTOFFSET Command .................................................................... 16

A.3 SETIMUTOANTOFFSET2 Command .................................................................. 17

A.4 ICOMCONFIG Command .................................................................................... 18

A.5 IPCONFIG Command .......................................................................................... 20

A.6 IPSTATUS Log ..................................................................................................... 21

A.7 EVENTOUTCONTROL Command ....................................................................... 22

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1 Overview

This application note describes how to configure and communicate with a NovAtel SPAN-SE

receiver for use with HYPACK software. The processes for setting up a logging profile to

interface with HYPACK and using the NovAtel SPAN-SE drivers in HYPACK and HYSWEEP

for real-time data collection will be described.

2 Required Hardware

The following hardware is required to setup a SPAN-SE receiver to interface with HYPACK

2013 software:

• User supplied computer with an available Ethernet, serial and/or USB port

• SPAN-SE receiver with a Heave model (including cables)

• NovAtel IMU (Inertial Measurement Unit) with cables

• Power supply

• All or one of the following for communications:

- USB cable

- USB-to-serial adaptor

- CAT5 Ethernet cable

- RS-232 straight through cable

• Two (2) GNSS antennas

• Two (2) standard 5 metre 50 ohm TNC-to-TNC antenna cables

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3 SPAN-SE Configuration

3.1 System Alignment Procedure

1. Make all necessary power and IMU cable connections. Ensure that the DB9 connector on

the IMU cable is securely connected to the IMU port on the yellow I/O cable. If using an

IMU-CPT, pin 35 on the IMU cable must be connected to EVENT-IN 4 of the yellow I/O

cable.

2. Power the unit and connect to your SPAN-SE via USB, Ethernet, or serial port (COM1 is

recommended) with either NovAtel Connect or another terminal program such as

Windows HyperTerminal. For more information on receiver communication, refer to our

online video tutorial Communicating with the Receiver found at

http://www.novatel.com/support/knowledge-and-learning/video-tutorials-and-tech-

presentations/.

3. Issue the SETIMUTYPE command to specify the type of IMU being used (see Appendix

A: SPAN Commands and Logs).

SETIMUTYPE IMU_KVH_COTS

4. Enter the lever arm from the IMU to the primary antenna (the primary antenna is

connected to the connector labeled GPS 1) using the SETIMUTOANTOFFSET command

(see Appendix A: SPAN Commands and Logs).

SETIMUTOANTOFFSET 0.54 0.32 1.20 0.03 0.03 0.05

5. Enter the lever arm from the IMU to the secondary antenna (the secondary antenna is

connected to the connector labeled GPS 2) using the SETIMUTOANTOFFSET2

command (see Appendix A: SPAN Commands and Logs).

SETIMUTOANTOFFSET2 0.54 0.32 1.20 0.03 0.03 0.05

The alignment occurs after the receiver establishes communication with the IMU and

computes a fixed integer, verified heading solution. The INS Status field changes to

INS_ALIGNMENT_COMPLETE and will then reach INS_SOLUTION_GOOD after

some vehicle dynamics.

Note: The receiver will echo with an <OK acknowledgement for each command

entered.

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3.2 SPAN-SE Ethernet Connection

The SPAN-SE receiver has a unique Media Access Control (MAC) address, hard coded into

flash, and user-configurable IP information. There are four ports available for Ethernet: Ports

3000, 3001, 3002 and 3003. These ports are used to access ICOM1, ICOM2, ICOM3 and ICOM4

respectively. Each port can be used for either Transmission Control Protocol (TCP) or User

Datagram Protocol (UDP) traffic, but not simultaneously.

The SPAN-SE uses a static IP address. There is no Dynamic Host Configuration Protocol

(DHCP) support on the SPAN-SE.

An FTP port is available for transfer of data files from the data logging SD Card.

The receiver is shipped with the following default configuration:

• Default IP: 192.168.0.10

• Default mask: 255.255.255.0

• Default Gateway: 192.168.0.1

The MAC address is available to through the MAC log

3.2.1 Configuring for TCP or UDP Operation

Each SPAN-SE Ethernet port can be configured for either TCP or UDP. The default

configuration of the Ethernet ports is for TCP operation. To configure the Ethernet ports for UDP

operation, see the ICOMCONFIG command in Appendix A: SPAN Commands and Logs.

3.2.2 Configuring the Ethernet Connection Settings

Use the IPCONFIG command, see Appendix A: SPAN Commands and Logs, to set the static IP

address, the subnet mask and the gateway. An example of the IPCONFIG command is:

IPCONFIG ETHA STATIC 10.1.100.25 255.255.255.0 10.1.100.1

3.2.3 Configuring Log Requests Destined for the Ethernet Port

The COM port identifier for the Ethernet port is ICOM1 in ASCII or 23 in binary. A sample log

request for the Ethernet port is:

LOG ICOM1 RANGECMPB ONTIME 1

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3.2.4 Connecting to the Ethernet Port

If the port is configured in TCP mode, only one connection to the receiver is allowed at a time.

Data automatically streams to the IP address that connects to the port.

Because UDP is a connectionless protocol, multiple end-points could communicate with the port

at one time from multiple IP addresses. Data streams to the last IP address to communicate with

the receiver.

For details on the FTP functionality of the Ethernet port, see the SPAN-SE User Manual.

To connect the SPAN-SE directly to the computer’s Ethernet port (not through a network), follow

these steps:

1. Connect the computer’s Ethernet port to the SPAN-SE Ethernet port using a shielded

Ethernet cross-over cable.

2. Set the static IP address on the computer to the following settings in the Local Area

Connection Properties dialog box:

Note: The last octet of the IP address can be any number from 1 to 255 inclusive except for

10, which is the last value in the SPAN-SE default IP address. In the above example, we

have used 9 for the last octet.

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3.3 Setting up the SPAN-SE Logging Profile

The SPAN-SE receiver has four COM ports, a USB port and four Ethernet ports available for

logging and data collection.

Table 1: COM Port Identifiers

Binary ASCII Description

1 COM1 COM Port 1 (yellow I/O cable)

2 COM2 COM Port 2 (yellow I/O cable)

3 COM3 COM Port 3 (green I/O cable)

13 USB1 USB Device

19 COM4 COM Port 4 (green I/O cable)

23 ICOM1 10/100 Ethernet 1

24 ICOM2 10/100 Ethernet 2

25 ICOM3 10/100 Ethernet 3

29 ICOM4 10/100 Ethernet 4

3.3.1 HYPACK LOGS

Send the following commands to set up a logging profile for HYPACK Survey. Logging can be

done on any of the available ports. See Table 1: COM Port Identifiers. COM1 will be used to

illustrate the logging commands

. A SAVECONFIG command is issued at the end of each

logging profile to save all settings and logs to the receiver’s NVM.

COM COM1 115200

LOG COM1 BESTPOSA ONTIME 1

LOG COM1 INSPVAA ONTIME 0.05

LOG COM1 TIMEA ONTIME 1

LOG COM1 HEAVEA ONNEW

SAVECONFIG

Always connect to a different port than you are logging to. For example, connect on USB to send

commands to log on COM1.

When using NovAtel Connect software, close all graphical windows before issuing a SAVECONFIG

command

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3.3.2 HYSWEEP LOGS

Send the following commands to set up a logging profile for HYSWEEP Survey. Logging must

be done on a network port (see Table 1: COM Port Identifiers). The IPCONFIG command is

used to set the IP address used on the SPAN-SE (see Appendix A: SPAN Commands and Logs).

ICOM1 will be used to illustrate the logging commands.

IPCONFIG ETHA STATIC <IP> <MASK> <GATEWAY>

LOG ICOM1 HEAVEA ONNEW

LOG ICOM1 INSPVAA ONTIME 0.05

SAVECONFIG

Note: Logging rates are user configurable with the exception of the HEAVEA log. This

message is available at approximately 10 Hz and must be logged with the ONNEW

trigger.

The periods available when you use the ONTIME trigger are 0.005 (200Hz), 0.01

(100Hz), 0.02 (50 Hz), 0.05, 0.1, 0.2, 0.25, 0.5, 1, 2, 3, 5, 10, 15, 20, 30 or 60 seconds.

BESTPOSA logs are available at <1, 1 and 5 Hz only.

When using NovAtel Connect software, close all graphical windows before issuing a SAVECONFIG

command