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

APN-060 Rev 1 Configuring the SPAN-SE for HYPACK Integration page 2 of 22

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

NovAtel Application Note

APN-060 Rev 1 Configuring the SPAN-SE for HYPACK Integration page 3 of 22

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

NovAtel Application Note

APN-060 Rev 1 Configuring the SPAN-SE for HYPACK Integration page 4 of 22

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.

NovAtel Application Note

APN-060 Rev 1 Configuring the SPAN-SE for HYPACK Integration page 5 of 22

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

NovAtel Application Note

APN-060 Rev 1 Configuring the SPAN-SE for HYPACK Integration page 6 of 22

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.

NovAtel Application Note

APN-060 Rev 1 Configuring the SPAN-SE for HYPACK Integration page 7 of 22

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

NovAtel Application Note

APN-060 Rev 1 Configuring the SPAN-SE for HYPACK Integration page 8 of 22

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

NovAtel Application Note

APN-060 Rev 1 Configuring the SPAN-SE for HYPACK Integration page 9 of 22

4 Establishing Communications in HYPACK

4.1 HYPACK Hardware

1. Add the NovAtel SPAN-SE system (novatel.dll) to the device list. Ensure that you have

downloaded all the latest updates from the HYPACK website to have access to the

NovAtel device. Current releases from HYPACK can be found at the following link:

http://support.hypack.com/support/index.php?/Knowledgebase/List/Index/24/downl

oads.

NovAtel Application Note

APN-060 Rev 1 Configuring the SPAN-SE for HYPACK Integration page 10 of 22

2. Timing and solution status settings can be adjusted by clicking on Setup…

NovAtel Application Note

APN-060 Rev 1 Configuring the SPAN-SE for HYPACK Integration page 11 of 22

3. Establish communication to the receiver using the Connect menu in HYPACK Hardware.

The COM port selected refers to the computer COM port to which the receiver is

connected.

NovAtel Application Note

APN-060 Rev 1 Configuring the SPAN-SE for HYPACK Integration page 12 of 22

3. Test HYPACK communications with the SPAN system. Values in the Device Test

window will be updating reasonably if the system is working correctly.

4. Close and save your HYPACK Hardware.

4.2 HYSWEEP Hardware

1. Add the NovAtel SPAN system to the list of installed hardware.

NovAtel Application Note

APN-060 Rev 1 Configuring the SPAN-SE for HYPACK Integration page 13 of 22

2. Set the Network Connection settings. The ICOM1, ICOM2, ICOM3, and ICOM4 port

numbers on the SPAN-SE are defaulted to 3000, 3001, 3002, and 3003 respectively. Port

numbers can be configured using the ICOMCONFIG command (see Appendix A: SPAN

Commands and Logs).

NovAtel Application Note

APN-060 Rev 1 Configuring the SPAN-SE for HYPACK Integration page 14 of 22

3. Complete a Network Test to ensure the receiver is recognized. The default configuration

of the Ethernet ports is for TCP operation (recommended). To configure the Ethernet ports

for UDP operation, see the ICOMCONFIG command in Appendix A: SPAN Commands

and Logs.

4. Exit HYSWEEP Hardware and save changes to HYSWEEP.ini.

5. The configuration process is complete. Position, attitude and heave information are now

available from the SPAN system in HYPACK Survey and HYPWEEP Survey.

5 Enabling PPS Output on the SPAN-SE

The PPS output is available on any of the four EVENT-OUT lines located on the yellow I/O

cable. Send the following commands to the receiver to enable the PPS output on

EVENT-OUT 1:

EVENTOUTCONTROL MARK1 ENABLE

SAVECONFIG

NovAtel Application Note

APN-060 Rev 1 Configuring the SPAN-SE for HYPACK Integration page 15 of 22

A. SPAN Commands and Logs

A.1 SETIMUTYPE Command

The SETIMUTYPE command is used to specify the type of IMU connected to the receiver. The

IMU type can be saved using the SAVECONFIG command.

Message ID: 569

Abbreviated ASCII Syntax:

SETIMUTYPE switch

Abbreviated ASCII Examples:

SETIMUTYPE IMU_KVH_COTS

Field

Type

ASCII

Value

Binary

Value

Data Description Format

Binary

Bytes

Binary

Offset

1 Log

Header

- - This field contains the command name or

the message header depending on whether

the command is abbreviated ASCII, ASCII

or binary, respectively

- H 0

2 Switch

See Table 2: IMU

Type

IMU Type Enum 4 H

Table 2: IMU Type

Binary ASCII Description

0 IMU_UNKNOWN Unknown IMU type (default)

1 IMU_HG1700_AG11 Honeywell HG1700 AG11/AG58

2-3 Reserved

4 IMU_HG1700_AG17 Honeywell HG1700 AG17/AG62

5 IMU_HG1900_CA29 Honeywell HG1900 CA29

6, 7 Reserved

8 IMU_LN200 Litton LN-200 (200 Hz model)

9 IMU_LN200_400HZ Litton LN-200 (400 Hz model)

10 Reserved

11 IMU_HG1700_AG58 Honeywell HG1700 AG58

12 IMU_HG1700_AG62 Honeywell HG1700 AG62

13 IMU_IMAR_FSAS iMAR iIMU-FSAS

14-15 Reserved

16 IMU_KVH_COTS IMU-CPT

17, 18 Reserved

IMU_LITEF_LCI1

NG Litef LCI 1 IMU

20 IMU_HG1930_AA99 Honeywell HG1930 AA99

NovAtel Application Note

APN-060 Rev 1 Configuring the SPAN-SE for HYPACK Integration page 16 of 22

A.2 SETIMUTOANTOFFSET Command

It is recommended that you mount the IMU as close as possible to the GNSS antenna, particularly

in the horizontal plane. This command is used to enter the offset between the IMU and the GNSS

antenna. The measurement should be done as accurately as possible, preferably to within

millimetres especially for RTK operation. The x, y and z fields represent the vector from the IMU

to the antenna phase center in the IMU enclosure frame. The a, b and c fields allow you to enter

any possible errors in your measurements. If you think that your ‘x’ offset measurement is out by

a centimetre for example, enter 0.01 in the ‘a’ field. The X (pitch), Y (roll) and Z (azimuth)

directions of the inertial frame are clearly marked on the IMU. This command must be entered

before or during the INS alignment mode (not after) or the INS will reset and require alignment

again.

Message ID: 383

Abbreviated ASCII Syntax:

SETIMUTOANTOFFSET x y z [a] [b] [c]

Abbreviated ASCII Example:

SETIMUTOANTOFFSET 0.54 0.32 1.20 0.03 0.03 0.05

Field

Type

ASCII

Value

Binary

Value

Description

Binary

Format

Binary

Bytes

Binary

Offset

1 header - - This field contains the command name or

the message header depending on

whether the command is abbreviated

ASCII, ASCII or binary, respectively

- H 0

2 x ±100 x offset (m) Double 8 H

3 y ±100 y offset (m) Double 8 H+8

4 z ±100 z offset (m) Double 8 H+16

5 a 0 to +10 Uncertainty in x (m). Default is 10% of the

x offset to a minimum of 0.01 m

Double 8 H+24

6 b 0 to +10 Uncertainty in y (m). Default is 10% of the

x offset to a minimum of 0.01 m

Double 8 H+32

7 c 0 to +10 Uncertainty in z (m). Default is 10% of the

x offset to a minimum of 0.01 m

Double 8 H+40

NovAtel Application Note

APN-060 Rev 1 Configuring the SPAN-SE for HYPACK Integration page 17 of 22

A.3 SETIMUTOANTOFFSET2 Command

Set the lever arm for the GPS2 antenna. Preferably, the GPS1 antenna will be set up behind the

IMU forward axis and the GPS2 antenna will be set up ahead of the IMU forward axis. Entering

both lever arms will automatically compute the angular offset between the ALIGN antennas and

the IMU axes.

The format of this command is identical to the SETIMUTOANTOFFSET command.

Message ID: 1205

Abbreviated ASCII Syntax:

SETIMUTOANTOFFSET2 x y z [a] [b] [c]

Abbreviated ASCII Example:

SETIMUTOANTOFFSET2 0.54 0.32 1.20 0.03 0.03 0.05

Field

Type

ASCII

Value

Binary

Value

Description

Binary

Format

Binary

Bytes

Binary

Offset

1 header - - This field contains the command name or

the message header depending on

whether the command is abbreviated

ASCII, ASCII or binary, respectively

- H 0

2 x ±100 x offset (m) Double 8 H

3 y ±100 y offset (m) Double 8 H+8

4 z ±100 z offset (m) Double 8 H+16

5 a 0 to +10 Uncertainty in x (m). Default is 10% of the

x offset to a minimum of 0.01 m

Double 8 H+24

6 b 0 to +10 Uncertainty in y (m). Default is 10% of the

x offset to a minimum of 0.01 m

Double 8 H+32

7 c 0 to +10 Uncertainty in z (m). Default is 10% of the

x offset to a minimum of 0.01 m

Double 8 H+40

NovAtel Application Note

APN-060 Rev 1 Configuring the SPAN-SE for HYPACK Integration page 18 of 22

A.4 ICOMCONFIG Command

The SPAN-SE has a 10/100 RJ-45 Ethernet port, which has a MAC address hard coded into flash

and user-configurable IP information. Each port can be used for both TCP and UDP traffic but

not simultaneously. You must configure the system for either UDP or TCP communication. The

default is TCP.

You can also use this command to program a destination or peer IP. When using UDP, the

destination or peer IP allows SPAN to start sending data to the remote peer without waiting to

receive data first (by sending something first, SPAN then gains knowledge of the remote IP).

This command is saved using the SAVECONFIG command.

To configure only the ICOM transport protocol, use the ICOMCONFIG command with a port

name and its one non-optional parameter.

Message ID: 1248

Abbreviated ASCII Syntax:

ICOMCONFIG Port IPProtocol [ULPort][IPAddress][Interface]

Factory Default:

ICOMCONFIG ICOM1 TCP :3000

ICOMCONFIG ICOM2 TCP :3001

ICOMCONFIG ICOM2 TCP :3002

ICOMCONFIG ICOM3 TCP :3003

Abbreviated ASCII Examples:

ICOMCONFIG ICOM2 TCP 3001 192.168.1.25

Note:

The SPAN-SE does not currently use the ULPort parameter. A dummy value (e.g., 0) must be

entered but is ignored by the firmware. Default TCP port numbers persist for each ICOM port.

Field

Type

ASCII

Value

Binary

Value

Data Description Format

Binary

Bytes

Binary

Offset

1 header - - This field contains the command name

or the message header depending on

whether the command is abbreviated

ASCII, ASCII or binary, respectively

- H 0

2 Port

See Table 2: IMU

Type

Name of the port

(default = THISPORT)

Enum 4 H

3 IP

Protocol

DISABLE

Not Used Enum 4 H+4

TCP

Transport Control Protocol

(default)

UDP 2 User Datagram Protocol Enum 4 H+8

4 ULPort Not used Enum 4 H+12

5 IPAddress Peer IP Address Enum 4 H+16

NovAtel Application Note

APN-060 Rev 1 Configuring the SPAN-SE for HYPACK Integration page 19 of 22

Field

Type

ASCII

Value

Binary

Value

Data Description Format

Binary

Bytes

Binary

Offset

6 Interface ALL 1 The Ethernet adaptor to use. SPAN-SE

can currently only use ETHA

Enum 4 H+20

EHTA

(default)

ETHB 3

NovAtel Application Note

APN-060 Rev 1 Configuring the SPAN-SE for HYPACK Integration page 20 of 22

A.5 IPCONFIG Command

Use this command to configure Internet Protocol (IP) information

Message ID: 1243

Abbreviated ASCII Syntax:

IPCONFIG Interface Mode IP Mask Gateway

Factory Default:

IPCONFIG ETHA STATIC

Abbreviated ASCII Examples:

IPCONFIG ETHA STATIC 10.1.100.25 255.255.255.0 10.1.100.1

Field

Type

ASCII

Value

Binary

Value

Data Description Format

Binary

Bytes

Binary

Offset

1 Header - - This field contains the command name or

the message header depending on

whether the command is abbreviated

ASCII, ASCII or binary, respectively

- H 0

2 Interface

Physical interface. SPANSE can currently

only use ETHA

Ulong 4 H

3 Mode DHCP 1 Automatic IP address assignment Ulong 4 H+4

STATIC 2 Manual IP address assignment

4 IP IP Address

Enum

4 H+8

5 Mask Subnet mask

Enum

4 H+12

6 Gateway IP Gateway

Enum

4 H+16

NovAtel Application Note

APN-060 Rev 1 Configuring the SPAN-SE for HYPACK Integration page 21 of 22

A.6 IPSTATUS Log

Use this log to display settings for all Ethernet ports. If DHCP is used to configure IP addresses,

this command displays automatically obtained dynamic addresses.

Message ID: 1289

Log Type: Asynch

Recommended Input:

LOG IPSTATUS

ASCII Example:

#IPSTATUSA,USB1,0,98.0,FINESTEERING,1635,320781.983,00000001

,0000,394;1,ETHA,192.168.0.10,255.255.255.0,192.168.0.1*2854

b03a

Field # Field Type Data Description Format

Binary

Bytes

Binary

Offset

Log

Header

Log header

- H 0

2 Interface Always ETHA

Enum 4 H

3 IPAddress Ethernet IP Address Ulong 4 H+4

4 NetMask Network Mask

Ulong

4 H+8

5 Gateway Network Gateway Ulong 4 H+12

6 xxxx 32-bit CRC (ASCII, Binary and Short Binary only) Hex 4 H+16

7 [CR][LF] Sentence terminator (ASCII only) - - -

NovAtel Application Note

APN-060 Rev 1 Configuring the SPAN-SE for HYPACK Integration page 22 of 22

A.7 EVENTOUTCONTROL Command

This command controls up to three Event-Out output triggers.

Note: The EVENTOUTCONTROL MARK1 ENABLE POSITIVE 10000000 240000000 command will

generate a 4 Hz signal. The signal is held high for 10 ms during each cycle and the leading

edge of the high signal is aligned to the 1PPS.

Message ID: 613

Abbreviated ASCII Syntax:

EVENTOUTCONTROL mark switch [polarity] [active period] [non-

active period]

Abbreviated ASCII Examples:

EVENTOUTCONTROL MARK3 ENABLE

Field # Field Type

ASCII

Value

Binary

Value

Description

Binary

Format

Binary

Bytes

Binary

Offset

1 Header - - This field contains the command

name or the message header

depending on whether the

command is abbreviated ASCII,

ASCII or binary, respectively

- H 0

2 mark MARK1 0

Choose which Event-Out mark to

use

Enum 4 H

MARK2 1

MARK3 2

3 switch DISABLE 0 Disables Event output Enum 4 H+4

ENABLE 1

4 polarity NEGATIVE 0 Negative polarity (default)

Enum

4 H+8

POSITIVE 1 Positive polarity

5 active

period

default: 500 000 000

minimum: 25

maximum: 999 999 975

Active period of the Event Out

signal in nanoseconds.

Ulong

4 H+12

6 not-active

period

default: 500 000 000

minimum: 25

maximum: 999 999 975

Not-active period of the Event Out

signal in nanoseconds.

Ulong

4 H+16