Firmware SPAN
®
Relative INS
RELATIVE POSITION, VELOCITY
AND ATTITUDE SOLUTION
RELATIVE SOLUTION FOR BOTH MASTER AND ROVER
NovAtel’s Relative INS technology generates a position, velocity and full attitude
vector between two moving SPAN systems. As a result, the relative 3D velocity and
the 3D orientation oset between two vehicles can be determined.
FLEXIBLE CONFIGURATIONS
On SPAN systems, the position is calculated based on the location of the Inertial
Measurement Unit (IMU), however the IMU is not always located at the point of
interest for the application. Relative INS allows you to define the point of reference on
the IMU, antenna or any other fixed location on the vehicle, such as the landing skid of
a Unmanned Aerial Vehicle (UAV) or the output chute of a combine harvester.
The Relative INS solution is available at high data rates for use in high dynamic
applications such as airborne platforms. The solution can also be used at lower
data rates for low dynamic applications or applications with a lower speed data link
between the SPAN systems.
AVAILABLE ON ALL SPAN SYSTEMS
The quality of the IMU drives the relative velocity and attitude performance. Relative
INS is available on all SPAN systems allowing you to choose the system that best
meets the performance/price needs of your application.
Relative INS Error
1
Northing/Roll Easting/Pitch Up/Heading
Position 0.009 m 0.009 m 0.010 m
Velocity 0.011 m/s 0.011 m/s 0.011 m/s
Attitude 36”/0.01 degrees 36”/0.01 degrees 2’ 0”/0.033 degrees
+
Precise relative position, velocity
and attitude vector between two
SPAN systems
+
Flexibility in choosing either master
or rover as the point of interest for
the Relative INS solution
+
Available on all SPAN systems to
meet the requirements for a wide
variety of applications in terms of
size, performance and price
+
A robust solution in short GNSS
outages
If you require more information about
Firmware, visit www.gnss.ca
BENEFITS AND FEATURES
1. Error values were determined using tactical grade IMUs (LN200 and HG1700) and minimal eccentric oset.
Using lower grade IMUs or longer eccentric osets may increase error values.
RELATIVE INS USE CASES
The following use cases show examples of Relative INS systems.
Once configured, the master system begins transmitting corrections
to the rover system. The precise relative RTK position is determined
on both systems and the precise RTK vector is calculated. The
master system uses the precise RTK vectors to calculate the relative
oset vector.
Use Case: Landing a UAV on a Ship
Precise RTK Vector 3D position dierence between the point of reference on
the Master (marine vessel) and the point of reference on
the Rover (UAV).
Relative Oset Vector 3D position dierence between the point of interest on
the Rover (landing skid) and the point of interest on the
Master (center of the landing pad).
Use Case: Aligning a Truck with the Output Chute of a Combine
Precise RTK Vector 3D position dierence between the point of reference
on the Master (combine harvester) and the point of
reference on the Rover (truck).
Relative Oset Vector 3D position dierence between the point of interest on
the Rover (center of truck box) and the point of interest
on the Master (output chute of combine).
Use Case: Collision Avoidance
Precise RTK Vector 3D position dierence between the point of reference
on the Master (truck 1) and the point of reference on the
Rover (truck 2).
Relative Oset Vector 3D position dierence between the point of interest
on the Rover (outside edge of truck 1) and the point of
interest on the Master (outside edge chute of truck 2).
For the most recent details of this product,
visit www.gnss.ca
gnss.ca
sales@gnss.ca
1-855-OEM-GNSS (U.S. and Canada) or 778-430-5999
China 0086-21-68882300
Europe 1-855-636-4677
SE Asia and Australia 1-855-636-46771
Version 2 Specifications subject to change without notice.
©2015 NovAtel Inc. All rights reserved.
NovAtel and SPAN are registered trademarks of NovAtel Inc.
D19383 November 2015
Printed in Canada.
SPAN
®
Relative INS
Rover
Master
Precise RTK
Vector
Relative Offset
Vector
Point of Reference
Point of Reference
Point of Interest
Point of Interest
Rover
Master
Precise RTK Vector
Relative Offset
Vector
Point of Reference
Point of Reference
Point of Interest
Point of Interest
Rover
Master
Precise RTK Vector
Relative Offset Vector
Point of Reference
Point of Reference
Point of Interest
Point of Interest
1
2