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APN-076 Rev C
SPAN® Data Logging for
Inertial Explorer®
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Overview
This document provides an overview of the OEM6 and OEM7 SPAN® logs used for post-processing in
Inertial Explorer® (IE) 8.70. A list of required logs outlines the minimum logging requirements needed for
post-processing. Additional logs are recommended for increased ease of use, specific applications, and
troubleshooting purposes. Example lists of commands and logs are provided at the end of the document,
which can be used as templates for basic data collections.
Data Logging
Log Types & Headers
There are multiple logging formats which can be used to record NovAtel receiver data. Table 1 provides a
summary of these formats and select examples. It is recommended to log data records in binary format,
as the NovAtel/OEM decoder in IE supports only binary logs. After data conversion, all decoded logs will
be displayed in the conversion summary. Further details on data types and log formats can be found in
the OEM User Manuals.
Table 1: Logging Different Formatting Types
Log Type
Symbol
Example Log
Data Type
ASCII
-
INSPVA
Binary
B
INSPVAB
Log Format
Short Header
S
INSPVAS
Extended
X
INSPVAX
Compressed
CMP
RANGECMP
Example: RAWIMUSXB
Extended version [X] of a Binary Log [B] with a Short header [S]
Logging Triggers & Frequency
The choice of logging triggers depends on the log itself, and how the data is used in post-processing. Each
log trigger outputs the current message immediately after it has been called.
ONCE: Outputs the current message only once.
ONCHANGED: The log is output only when the values in the message change.
ONNEW: The log will be output every time the log is updated. This ensures that internally triggered logs
are also output.
ONTIME <#>: The log will continually be requested and output every <#> seconds during data collection.
The choice between ONNEW and ONCHANGED is dependent on the type of data collection and user
preferences. The ONNEW trigger can result in larger files with duplicate logs that are ignored by IE’s
converter. The ONCHANGED trigger is preferable to avoid duplicates and minimize file size. However, if
the ONCHANGED log request is made before the logging file is opened the log will not be triggered until a
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value has changed. This may cause issues in short surveys, as slow changing logs (such as RAWEPHEMB)
may not be logged during the data collection period. For this reason, ONNEW is suggested for short
surveys.
If using ONCE, the user must ensure that the logging file has been opened before the log call. If not, the
information will not be saved anywhere in the file, as the log will not be called again.
While in INS operation, the highest rate that GNSS logs should be requested is 5 Hz (0.2 seconds). GNSS
logs include, but are not limited to, RANGECMPB, BESTPOSB, BESTGNSSPOSB, RTKPOSB and PSRPOSB.
The recommended rate for all GNSS logs is 1 Hz for GNSS and INS Integration.
SPAN Logs
The following list outlines the logs required and recommended for post processing in IE. For differential
processing, a subset of these logs must be logged at the base. The ‘Required for’ note describes how IE
uses the data provided in the log. Suitable ‘Alternative’ logs are also listed, which can be selected based
on user preference. The ‘Used for’ note describes how IE uses the data provided in the log. Not all logs
will be used in IE post-processing, but can be ‘Helpful for’ troubleshooting purposes and record keeping.
Finally, ‘Requirement’ notes outline prerequisite steps needed for the successful output of the log.
Platform Compatibility:
OEM6 & OEM7 OEM6 ONLY OEM7 ONLY
Log on Receiver Type:
R: ROVER M: MASTER
Required Logs
These logs are required to collect the raw data necessary for post-processing.
LOG RANGECMPB ONTIME 1 R M
Satellite range information. Channel measurements for the currently
tracked satellites.
Required for: GPB file creation and GNSS data processing; source of GNSS
raw data.
Alternatives: RANGEB, RANGECMP2B
LOG RAWEPHEMB ONNEW
R M
GPS raw ephemeris information.
Required for: Computing GPS satellite coordinates and elevation.
LOG GLOEPHEMERISB ONNEW R M
GLONASS raw ephemeris information.
Required for: Computing GLONASS satellite coordinates and elevation.
Alternatives: GLORAWEPHEMERISB
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LOG RAWIMUSXB ONNEW R
Raw gyroscope and accelerometer measurements, including an IMU status
indicator.
Required for: IMR file creation and INS data processing; provides
sequential changes in velocity and rotation.
Directions: Must log ONNEW. Use the extended header to include the
name of the IMU. This helps to ensure correct conversion in Waypoint
products.
Alternatives: RAWIMUB, RAWIMUSB, RAWIMUXB
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Recommended Logs
The following logs are not required for post-processing, but provide information that aids in project setup,
data analysis, and troubleshooting. A number of logs specified below are used for extracting real-time
trajectories to a Waypoint readable format. Instructions on how to generate these files are provided in
Appendix A: Full Project Example.
LOG VERSIONB ONCE
R M
Version information for all system components.
Used for: Keeping record of the system components of the data
collection.
LOG RXCONFIGB ONCE
R M
Receiver configuration.
List of all current command settings.
Helpful for: Support and troubleshooting.
Note: Log after the configuration commands are sent.
LOG RXSTATUSB ONCE
R M
Receiver Status.
List of GNSS receiver system status (health) parameters.
Helpful for:
Support and troubleshooting; Can identify error
conditions affecting performance.
LOG THISANTENNATYPEB
ONCE
R M
The antenna type of the receiver in use.
Used for: Setting the antenna profile.
Requirement: User must first set the antenna profile through the
THISANTENNATYPE command.
LOG INSPVAXB ONTIME 1
R
INS position, velocity and attitude in the SPAN computation frame
and their estimated errors.
Used for: Extracting real-time trajectory to a Waypoint readable
format.
Note: If high rate INSPVA logs are needed, but bandwidth is a
concern, use INSPVASB and INSCOVSB as alternatives.
LOG BESTPOSB ONTIME 1
R
Best available combined GNSS and INS solution output at the GNSS
phase center.
Used for: Extracting real-time trajectory to a Waypoint readable
format, and decoding position estimated by the receiver to the
GPB file.
LOG BESTGNSSPOSB ONTIME 1
R
Best available GNSS solution computed without INS.
Used for: Extracting real-time trajectory to a Waypoint readable
format.
LOG TIMEB ONTIME 1 R M
Time related information such as receiver clock offset, and UTC
time and offset.
Used for: Decoding receiver clock shift to GPB file.
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LOG SETIMUORIENTATIONB
ONCHANGED
R
Orientation of the IMU frame in the SPAN computation frame.
Specifies the IMU axis aligned with gravity.
Used for: IMU alignment settings.
Requirement:
User must first set values through the
SETIMUORIENTATION command.
LOG IMUTOANTOFFSETSB
ONCHANGED
R
Lever arm offset from the IMU to the GNSS antenna.
Used for: IMU alignment settings.
Requirement:
User must first set values through the
IMUTOANTOFFSETS command.
LOG VEHICLEBODYROTAT
IONB
ONCHANGED
R
Rotation from the Vehicle frame to the SPAN frame.
Used for: IMU alignment settings.
Requirement:
User must first set values through the
VEHICLEBODYROTATION command.
LOG INSCONFIGB ONCHANGED
R
All IMU configuration parameters required for post-processing or
system analysis.
Used for: IMU alignment settings.
Requirement: User must first set values using variations of the
SETINSTRANSLATION and SETINSROTATION commands.
For the commands specific to
your system setup, see SPAN
documentation.
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Supplementary Logs: Common Applications
This section outlines the logs required for integration of application-specific data in Inertial Explorer.
Please note that this list contains only the logs required in IE, and does not encompass all logs and
commands required for the proper set up and real time tracking of these systems. Further information
on application-specific setup can be found in the OEM User Manuals.
Constellations
The following Ephemeris logs can be decoded in IE. RAWEPHEMB and GLOEPHEMERISB are considered as
Required Logs, but are listed here for completion.
LOG RAWEPHEMB ONNEW
R M
GPS ephemeris information
LOG GLOEPHEMERISB ONNEW
R M
GLONASS ephemeris information
LOG BDSEPHEMERISB ONNEW
R M
BeiDou ephemeris information
LOG GALEPHEMERISB ONNEW
R M
Galileo ephemeris information *
LOG QZSSEPHEMERISB ONNEW
R M
QZSS ephemeris parameters
* The log GALEPHEMERIS is being deprecated and will eventually be replaced by GALINVAEPHEMERIS and
GALFNAVEPHEMERIS. As these two new logs are not yet supported by IE, the continued use of
GALEPHEMERIS is recommended.
Dual Antenna (ALIGN Solution)
LOG HEADINGB ONNEW
R
Angle from true north of the base ALIGN antenna to the rover
ALIGN antenna (positive clockwise direction).
Used for: HMR file creation.
Requirement: User must first set the two lever arm values using
SETIMUTOANTOFFSET, SETIMUTOANTOFFSET2.
LOG HEADING2B ONNEW
R
Angle from true north of the base ALIGN antenna to the rover
ALIGN antenna (positive clockwise direction).
Used for: HMR file creation.
Requirement: User must first set the two lever arm values using
SETINSTRANSLATION ANT1, SETINSTRANSLATION ANT2.
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Wheel Sensor (Distance Measurement Instrument - DMI)
LOG TIMEDWHEELDATAB
ONNEW
R
Time stamped wheel sensor data.
Used for: Ticks per revolution in the DMR file.
LOG SETWHEELPARAMETERSB
ONCHANGED
R
Wheel sensor parameters
Used for: Sensor parameters in the DMR file header.
Requirement:
User must first set the number of ticks per
revolution, wheel circumference, and the resolution of the wheel
sensor in the SETWHEELPARAMETERS command.
Note: These DMI parameters can also be set in the Global Options
window of the Convert Raw GNSS data to GPB utility.
Miscellaneous
LOG MARKTIMEB ONNEW R
Time of mark input event.
Used for: Measure the time when events are occurring in
other devices.
Note: Other mark input event logs include MARK2TIMEB,
MARK3TIMEB, and MARK4TIMEB.
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Appendix A: Full Project Example
This section provides an example of how a well-planned list of logs and commands will allow for an
efficient work flow in Inertial Explorer. The following SPAN data collection uses GPS and GLONASS
constellations, a dual antenna system, and set up with the default IMU orientation (standard Y forward, Z
up, X right). The equivalent OEM6 and OEM7 logs and commands used in this data collection are listed
below to provide a summary example. The figures on the following pages demonstrate how the
information from these logs is used in IE to convert and generate files, and auto-fill set up parameters for
the project.
Logs and Commands
OEM6
OEM7
CONNECTIMU COM2 IMU_ADIS16488
SETIMUTOANTOFFSET -0.976 -1.661 1.551
0.03 0.03 0.03
SETIMUTOANTOFFSET2 -1.021 0.890 1.567
0.03 0.03 0.03
VEHICLEBODYROTATION 0 0 0
SETIMUORIENTATION 5
THISANTENNATYPE NOV702
LOG VERSIONB ONCE
LOG RXCONFIGB ONCE
LOG RXSTATUS ONCE
LOG THISANTENNATYPEB ONCE
LOG HEADINGB ONNEW
LOG VEHICLEBODYROTATIONB ONCHANGED
LOG SETIMUORIENTATIONB ONCHANGED
LOG IMUTOANTOFFSETSB ONCHANGED
LOG RANGECMPB ONTIME 1
LOG RAWEPHEMB ONNEW
LOG GLOEPHEMERISB ONNEW
LOG RAWIMUSXB ONNEW
LOG TIMEB ONTIME 1
LOG BESTPOSB ONTIME 1
LOG BESTGNSSPOSB ONTIME 1
LOG INSPVAXB ONTIME 1
LOG INSUPDATEB ONCHANGED
CONNECTIMU COM2 IMU_ADIS16488
SETINSTRANSLATION ANT1 -0.976 -1.661 1
.55
0.03 0.03 0.03
SETINSTRANSLATION ANT2 -1.021 0.890
1.567
0.03 0.03 0.03
SETINSROTATION RBV 0 0 0
THISANTENNATYPE NOV702
LOG VERSIONB ONCE
LOG RXCONFIGB ONCE
LOG RXSTATUS ONCE
LOG THISANTENNATYPEB ONCE
LOG HEADING2B ONNEW
LOG INSCONFIGB ONCHANGED
LOG RANGECMPB ONTIME 1
LOG RAWEPHEMB ONNEW
LOG GLOEPHEMERISB ONNEW
LOG RAWIMUSXB ONNEW
LOG TIMEB ONTIME 1
LOG BESTPOSB ONTIME 1
LOG BESTGNSSPOSB ONTIME 1
LOG INSPVAXB ONTIME 1
LOG INSUPDATEB ONCHANGED
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Data Conversion
Data conversion can be done with Convert Raw GNSS data to GPB Utility. Use the “Get Folder” button to
browse to the folder containing the raw GNSS data, and then use the “Auto Add All” feature to add all raw
GNSS data, including NovAtel data, for conversion.
A number of logs, specified in the Recommended Logs list, are used to generate real time trajectory files
during data conversion. After the raw data file is added, click either the Global Options or Options button,
and check off Create trajectory files for supported records. After the data has been converted, the
trajectory files can be loaded and viewed in IE, to compare against the post-processed solutions.
Figure 2: GNSS Raw Data Converter Utility - Generate real time trajectory files during data conversion
Figure 1: GNSS Raw Data Converter Utility – Auto-detect the NovAtel OEM7 / SPAN Receiver Type
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Data Files
Depending on the type of data logged, a number of file types will be generated and saved in the same
directory as the original raw data file. As shown in Figure 3, the data used in this example generated the
*.epp, *.gpb, *.hmr, *.imr, *.sta and real time trajectory files (*.fp and *.ft). Table 2 lists all of the files
which can be produced upon data conversion; not all data sets will contain the relevant data to produce
all of these files. When the GPB file is loaded into the project as a Rover or Master, the other file types are
also added.
Figure 3: Files generated after raw data conversion of this example data set.
Table 2: All possible file types generated from data conversion
File Type
Type of Data
DMR
DMI data
EPP
GNSS ephemeris records
FP, FT
Real-time trajectory files
GPB
Raw GNSS data
HMR
Heading data
IMR
IMU data
MMR
Mount data
STA
Camera marks, antenna profile, station names
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Auto-Fill Set Up Parameters
With this data logged, converted, and added to the project, users can then auto-fill a variety of parameters
in the Processing Settings. Figure 4, Figure 5, and Figure 6 show the parameters filled using the logs
recorded in the example data collection.
Figure 4: When adding a remote or base station file, the Antenna Profile will be auto-filled using information
from the THISANTENNATYPEB log, read in from the STA file.
Figure 5: The Lever Arm and IMU rotation will be auto-filled from the IMR file.
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Figure 6: Heading parameters are auto-filled from the HMR file. The Gimbal Mount and Distance Measuring
Instrument values are auto-filled when MMR and DMI files, respectively, are added to the project.
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Additional Information
OEM User Manuals
Further details on the logs and commands outlined in this document can be found in the NovAtel OEM
User Manuals.
OEM6:
SPAN on OEM6 Firmware Reference Manual:
https://www.novatel.com/assets/Documents/Manuals/OM-20000144UM.pdf
OEM6 Family Firmware Reference Manual:
https://www.novatel.com/assets/Documents/Manuals/om-20000129.pdf
OEM7:
Documentation Portal:
http://docs.novatel.com/OEM7/Content/Home.htm
Waypoint Product Manuals:
Detailed instructions on using Inertial Explorer 8.70 can be found in the Waypoint User Manuals:
GNSS Features:
GrafNav / GrafNet / GrafNav Static User Manual:
https://www.novatel.com/assets/Documents/Waypoint/Downloads/GrafNav-GrafNet-User-Manual-
870.pdf
IMU Features:
Inertial Explorer User Manual:
https://www.novatel.com/assets/Documents/Waypoint/Downloads/Inertial-Explorer-User-Manual-
870.pdf
Support:
To search for more information or submit a support case, please visit NovAtel’s support page:
http://www.novatel.com/support/
