NovAtel SPAN (INSPVA Format) (Roll-Pitch) - 03

Description

Interface Type

Driver supports both serial as well as network (UDP and TCP) communication.
For the network driver please select the driver name that starts with "Network (UDP)- NovAtel..." or "Network (TCP)- NovAtel..."

Configuring the device

In order to enable the correct messages, create a connection to the device on the used interface (f.i. with I/O tester). Each message type needs to be individually activated. The following example enables #INSPVA, #INSCOV and #TIME messages and saves the configuration. (Unwanted message types may be omitted):

unlogall
log inspvaa ontime 0.04
log inscova ontime 0.04
log timea ontime 1
saveconfig

Driver to decode a position (latitude, longitude and height), heading and attitude (roll and pitch, no heave) from a NovAtel SPAN-CPT GPS/INS receiver, outputting the so-called INSPVA log format.
Further, the INS status, three velocity direction fields and the SD values for position, heading and attiitude (roll and pitch, no heave) can be decoded as generic observations.

Driver Information

Driver	NovAtel SPAN	Interface Type	Serial or Network	Driver Class Type	Terminated
UTC Driver	Yes	Input / Output	Input	Executable	DrvQPSTerminated.exe NOVATEL_INSPVA PPS DrvQPSTerminatedUDP.exe NOVATEL_INSPVA PPS DrvQPSTerminatedTCP.exe NOVATEL_INSPVA PPS
Related Systems	Network (TCP) - NovAtel SPAN (INSPVA Format) (Status and Velocity) - 23 Miscellaneous System Network (UDP) - NovAtel SPAN (INSPVA Format) (Status and Velocity) - 23 Miscellaneous System NovAtel SPAN (BESTGPSPOS Format) - 18 Time Synchronization System NovAtel SPAN (INSPVA - HEAVEA Format) - 18 Time Synchronization System NovAtel SPAN (INSPVA Format) - 18 Time Synchronization System NovAtel SPAN (INSPVA Format) (Heading) - 05 Gyro Compass NovAtel SPAN (INSPVA Format) (Roll-Pitch) - 03 Pitch Roll Heave Sensor NovAtel SPAN (INSPVA Format) (Status and Velocity) - 23 Miscellaneous System NovAtel SPAN (INSPVA Format) (With UTC) - 12 Positioning Navigation System
Related Pages	NovAtel SPAN (INSPVA - HEAVEA Format) (With UTC) - 12 NovAtel SPAN (INSPVA - HEAVEA Format) (Heading) - 05

Decoding Notes

The GPS time fields from the header are decoded, converted to UTC, and used for time-stamping in case your template setup supports Time Synchronization. Therefore it is important to set the correct UTC to GPS correction in your template setup (16 sec. as of July 2012).

The CRC32-bit checksum is by default decoded and used to check the data integrity. If the checksum fails, no data will be decoded, unless you use command-line parameter 'NOCS' (advanced user only!).

The INS Status text (data field # 12) is decoded as number as defined in the Inertial Solution Status Table of the NovAtel manual:

Inertial Solution Status

Text	Value	Description
INS_INACTIVE	0	IMU logs are present, but the alignment routine has not started; INS is inactive.
INS_ALIGNING	1	INS is in alignment mode. When in this status, the user can move to initiate the kinematic alignment or send a SETINITAZIMUTH command. This status also shows if the IMU status is not valid. The IMU status is given in the RAWIMU and RAWIMUS logs.
INS_SOLUTION_NOT_GOOD	2	The INS solution is still being computed but the azimuth solution uncertainty has exceed 2 degrees. The solution is still valid but you should monitor the solution uncertainty in the INSCOV log. You may encounter this state during times when the GPS, used to aid the INS, is absent.
INS_SOLUTION_GOOD	3	The INS filter is in navigation mode and the INS solution is good.
INS_BAD_GPS_AGREEMENT	6	The INS filter is in navigation mode, and the GPS solution is suspected to be in error. This may be due to multipath or limited satellite visibility. The inertial filter has rejected the GPS position and is waiting for the solution quality to improve.
INS_ALIGNMENT_COMPLETE	7	The INS filter is in navigation mode, but not enough vehicle dynamics have been experienced for the system to be within specifications.

Text	Value	Description
INS_INACTIVE	0	IMU logs are present, but the alignment routine has not started; INS is inactive.
INS_ALIGNING	1	INS is in alignment mode. When in this status, the user can move to initiate the kinematic alignment or send a SETINITAZIMUTH command. This status also shows if the IMU status is not valid. The IMU status is given in the RAWIMU and RAWIMUS logs.
INS_SOLUTION_NOT_GOOD	2	The INS solution is still being computed but the azimuth solution uncertainty has exceed 2 degrees. The solution is still valid but you should monitor the solution uncertainty in the INSCOV log. You may encounter this state during times when the GPS, used to aid the INS, is absent.
INS_SOLUTION_GOOD	3	The INS filter is in navigation mode and the INS solution is good.
INS_BAD_GPS_AGREEMENT	6	The INS filter is in navigation mode, and the GPS solution is suspected to be in error. This may be due to multipath or limited satellite visibility. The inertial filter has rejected the GPS position and is waiting for the solution quality to improve.
INS_ALIGNMENT_COMPLETE	7	The INS filter is in navigation mode, but not enough vehicle dynamics have been experienced for the system to be within specifications.

#INSCOVA

Format Description

#INSCOVA , 9 HEADER FIELDS ; 5 DATA FIELDS * CHECKSUM [CR][LF]

A message always starts with prefix #INSCOVA
All fields are comma-separated. The header is separated from the data by semi-colon ';'.
The checksum field is separated by asterix '*'.
The message is terminated by carriage return and linefeed character.

Format Description

#	Field Type	Description	Format	Comment
1-10	Log Header	Prefix + 9 header fields, terminated by ';'		The time-stamp of the message is decoded from this header
1	Week	GPS Week	Ulong	Not used. Value already decoded form the header
2	Seconds	Seconds from week start	Double	Not used. Value already decoded form the header
3	Position Covariance	Position covariance matrix in local level frame (meters squared)	list of 9 Doubles	Decoded as position SD
4	Attitude Covariance	Attitude covariance matrix in local level frame. (degrees squared - rotation around the given axis)	list of 9 Doubles	Decoded as attitude SD
5	Velocity Covariance	Velocity covariance matrix in local level frame. (meters per second squared)	list of 9 Doubles	Not used.
	*xxxxxxxx	32-bit CRC	Hex	Decoded
	[CR][LF]	Terminator (Carriage return, Linefeed)

Format Example

CODE

#INSCOVA,ICOM2,0,93.0,FINESTEERING,1759,303333.000,00000000,0000,470;1759,303332.000000000,0.9514159217384957,0.2426566051783968,0.0559788157811317,0.2426566051783968,1.7519979249112287,-0.3027535437644834,0.0559788157811317,-0.3027535437644834,
2.1841668365196694,0.0003209537759111,-0.0000629073819189,0.0000078413800201,-0.0000629073819189,0.0004156955044751,0.0000354000390746,0.0000078413800201,0.0000354000390746,0.0186711641695660,0.0001351592316136,0.0000003978889804,-0.0000047708173766,
0.0000003978889804,0.0001347477947649,-0.0000013139503898,-0.0000047708173766,-0.0000013139503898,0.0001627579675195*8db48187
#INSCOVA,ICOM2,0,93.0,FINESTEERING,1759,303334.000,00000000,0000,470;1759,303333.000000000,0.9523158818717720,0.2426566545111556,0.0559788218339834,0.2426566545111556,1.7528979873742808,-0.3027535486724926,0.0559788218339834,-0.3027535486724928,
2.1850669966666603,0.0003209375449550,-0.0000628990788237,0.0000078208946540,-0.0000628990788237,0.0004156741777818,0.0000354156379851,0.0000078208946540,0.0000354156379851,0.0186738380748709,0.0001351637891301,0.0000003978728817,-0.0000047705355639,
0.0000003978728817,0.0001347525095535,-0.0000013136154832,-0.0000047705355639,-0.0000013136154832,0.0001627574112599*4deb78f6
#INSCOVA,ICOM2,0,93.0,FINESTEERING,1759,303335.000,00000000,0000,470;1759,303334.000000000,0.9532158600620278,0.2426567081066481,0.0559788290311303,0.2426567081066481,1.7537980748581987,-0.3027535535892016,0.0559788290311303,-0.3027535535892019,
2.1859671731372829,0.0003209209170908,-0.0000628920898767,0.0000078006934660,-0.0000628920898767,0.0004156541032268,0.0000354408924664,0.0000078006934660,0.0000354408924664,0.0186765115475763,0.0001351699040608,0.0000003972635740,-0.0000047697720194,
0.0000003972635740,0.0001347577768813,-0.0000013137018257,-0.0000047697720194,-0.0000013137018257,0.0001627593090991*c0fd1a67
#INSCOVA,ICOM2,0,92.5,FINESTEERING,1759,303336.000,00000000,0000,470;1759,303335.000000000,0.9541158574875908,0.2426567665031987,0.0559788371336304,0.2426567665031987,1.7546981883748964,-0.3027535581050536,0.0559788371336304,-0.3027535581050538,
2.1868673624049499,0.0003209022815362,-0.0000628861486751,0.0000077704560495,-0.0000628861486751,0.0004156332133313,0.0000354834988206,0.0000077704560495,0.0000354834988206,0.0186791900390688,0.0001351717775653,0.0000003965627550,-0.0000047711281266,
0.0000003965627550,0.0001347596326658,-0.0000013124698458,-0.0000047711281266,-0.0000013124698458,0.0001627536876356*07cdccf5
#INSCOVA,ICOM2,0,92.5,FINESTEERING,1759,303337.000,00000000,0000,470;1759,303336.000000000,0.9550158668455431,0.2426568271326385,0.0559788463135037,0.2426568271326385,1.7555983186337727,-0.3027535626118562,0.0559788463135037,-0.3027535626118562,
2.1877675603640103,0.0003208864964954,-0.0000628839316208,0.0000077781907325,-0.0000628839316208,0.0004156203995709,0.0000355286030565,0.0000077781907325,0.0000355286030565,0.0186818468559776,0.0001351685482890,0.0000003954744060,-0.0000047707267884,
0.0000003954744060,0.0001347552222299,-0.0000013106049948,-0.0000047707267884,-0.0000013106049948,0.0001627420866226*12829557
#INSCOVA,ICOM2,0,93.5,FINESTEERING,1759,303338.000,00000000,0000,470;1759,303337.000000000,0.9559158879558113,0.2426568890071794,0.0559788564067072,0.2426568890071794,1.7564984622615237,-0.3027535671087690,0.0559788564067072,-0.3027535671087688,
2.1886677625536448,0.0003208727600363,-0.0000628821525708,0.0000077787976698,-0.0000628821525708,0.0004156098913810,0.0000355705918618,0.0000077787976698,0.0000355705918618,0.0186777249914527,0.0001351707753560,0.0000003937494131,-0.0000047691543079,
0.0000003937494131,0.0001347547670588,-0.0000013102596548,-0.0000047691543079,-0.0000013102596548,0.0001627404046726*72b217de
#INSCOVA,ICOM2,0,93.5,FINESTEERING,1759,303339.000,00000000,0000,470;1759,303338.000000000,0.9568159227618214,0.2426569530504998,0.0559788672771508,0.2426569530504998,1.7573986216770736,-0.3027535711573023,0.0559788672771508,-0.3027535711573020,
2.1895679669774939,0.0003208566410070,-0.0000628798102942,0.0000077766628923,-0.0000628798102942,0.0004155956225476,0.0000356160713554,0.0000077766628923,0.0000356160713554,0.0186803872684065,0.0001351706605939,0.0000003920928584,-0.0000047695203951,
0.0000003920928584,0.0001347526991486,-0.0000013092582737,-0.0000047695203951,-0.0000013092582737,0.0001627347299750*e6a24822#INSPVAA,COM2,0,48.0,FINESTEERING,1519,581349.006,00000000,5615,3632;1519,581349.006454953,29.813590308,-95.668534708,6.143695218,0.005053866,0.006789975,-0.003175977,-2.128522012,5.056931581,346.864745761,INS_SOLUTION_NOT_GOOD*cd125649

#TIMEA

Format Description

#TIMEA , 9 HEADER FIELDS ; 11 DATA FIELDS * CHECKSUM [CR][LF]

A message always starts with prefix #TIMEA
All fields are comma-separated. The header is separated from the data by semi-colon ';'.
The checksum field is separated by asterix '*'.
The message is terminated by carriage return and linefeed character.

Format Description

#	Field Type	Description	Format	Comment
1-10	Log Header	Prefix + 9 header fields, terminated by ';'		The time-stamp of the message is decoded from this header
1	Clock status	Clock model status	Ulong	Not used.
2	Offset	Receiver clock offset in sec from GPS time	Double	Not used.
3	Offset std	Receiver clock offset standard deviation	Double	Not used.
4	UTC offset	Offset of GPS time from UTC time	Double	Not used.
5	UTC year		Ulong
	UTC month		Ulong
	UTC day		Uchar
	UTC hour		Uchar
	UTC minute		Uchar
	UTC millisecond		Ulong
	UTC status		Enum	Decoded and used to verify if the clock values are valid
	*xxxxxxxx	32-bit CRC	Hex	Decoded
	[CR][LF]	Terminator (Carriage return, Linefeed)

Format Example

CODE

#TIMEA,ICOM2,0,92.4,FINESTEERING,1759,475248.100,00000000,0,470;VALID,-1.209978866e-08,0.000000155,-16.00000000000,2013,9,27,12,0,32100,VALID*49984f85
	#TIMEA,ICOM2,0,92.4,FINESTEERING,1759,475248.200,00000000,0,470;VALID,-1.208147799e-08,0.000000155,-16.00000000000,2013,9,27,12,0,32200,VALID*9a8f0726
	#TIMEA,ICOM2,0,92.4,FINESTEERING,1759,475248.300,00000000,0,470;VALID,-1.205369831e-08,0.000000155,-16.00000000000,2013,9,27,12,0,32299,VALID*d0c05ae5
	#TIMEA,ICOM2,0,90.5,FINESTEERING,1759,475248.400,00000000,0,470;VALID,-1.202186887e-08,0.000000155,-16.00000000000,2013,9,27,12,0,32400,VALID*72abb255
	#TIMEA,ICOM2,0,90.5,FINESTEERING,1759,475248.500,00000000,0,470;VALID,-1.199880891e-08,0.000000155,-16.00000000000,2013,9,27,12,0,32500,VALID*1bef0db1
	#TIMEA,ICOM2,0,90.5,FINESTEERING,1759,475248.600,00000000,0,470;VALID,-1.197474162e-08,0.000000155,-16.00000000000,2013,9,27,12,0,32600,VALID*37db15b1

Database Setup

In order to decode Time Synchronization from the TIMEA message, add a Time Synchronization system to your template and select the driver NovAtel SPAN-CPT (#INSPVA Telegram)
In order to decode the position from the INSPVA message, add a Position Navigation System to your template and select the driver "NovAtel SPAN-CPT (#INSPVA Telegram) (With UTC)".
It is important to select for the Horizontal and Vertical datum on the second wizard page 'WGS84' datum.

In order to decode a heading from the INSPVA message (Azimuth field), add a Gyro and Compass System to your template and select the driver "NovAtel SPAN-CPT (INSPVA Telegram) (Heading)".
Select the same I/O parameters as for the defined Position Navigation System above.

In order to decode the attitude from the INSPVA message (no heave!), add a Pitch, Roll and Heave Sensor System to your template and select the driver "NovAtel SPAN-CPT (INSPVA Telegram) (Roll-Pitch)".
Select the same I/O parameters as for the defined Position Navigation System above.

In order to decode separately the INS Status, Velocity and/or SD fields for monitoring these values, add a Miscellaneous System to your template, and select the driver "NovAtel SPAN-CPT (#INSPVA Telegram) (Status Velocity & SD)".
Select the same I/O parameters as for the defined Position Navigation System above.

On the 2nd wizard page, the observations can be added:

INSSTATUS
Add a generic observation. Name it e.g. 'Ins Status', and enter for Slot 1: ' INSSTATUS '.

Velocity
For the Velocity fields, add three more Generic Observations and name these e.g. 'Velocity North', 'Velocity East' and 'Velocity Up'. Enter for the Slot 1 Id's: ' VELO_NORTH ', ' VELO_EAST ' and ' VELO_UP '.

SD
For the SD fields, add six more Generic Observations and name these e.g. 'SD position X', 'SD position Y', 'SD position Z', 'SD roll', 'SD pitch', and 'SD heading'. For the slot ID's use respectively SD_POS_X, SD_POS_Y, SD_POS_Z, SD_ROLL, SD_PITCH and SD_HEADING

It is important that all Slot Id's are entered in capitals.

Online

For a Position Navigation System you can monitor the INS Status as Solution mode in a Position System Display, as RAW DATA Positioning item Solution Mode in a Generic Display, or as Raw Alert 'Solution Mode outside limit' in the Alert Display.

For a heading and/or roll and pitch observation you can monitor this value as Quality indicator in an Observation Physics Display, or as Raw Alert 'Quality indicator outside limit' in the Alert Display.