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    Drivers Manual

    NovAtel SPAN (BESTGPSPOS Format) - 18

    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 (question)  Yes Input / Output Input  Executable DrvQPSTerminated.exe NOVATEL_INSPVA PPS
    DrvQPSTerminatedUDP.exe NOVATEL_INSPVA PPS
    DrvQPSTerminatedTCP.exe NOVATEL_INSPVA PPS  
    Related Systems

    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.

    #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 
    #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 
    #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.