Models and Features
All SPAN system receivers are factory configurable for L1/L2 RTK capability and are compatible with an IMU. Each model is capable of multiple positioning modes of operation.
The SPAN features enabled on a receiver are identified in the 10th and 11th characters of the OEM7 model string. For example, if the model string is FFNRNNTBNS1, the characters S1 identify the SPAN features. The 10th character (S in this example) identifies the INS Options. The 11th character (1 in this example) identifies the IMU grade. If the 10th and 11th characters are not present in the model number, SPAN has not been enabled on the receiver.
The model string is viewed using the VERSION log.
The SPAN features can also be viewed using the MODELFEATURES log.
INS Options
For firmware versions earlier than OEM 7.08, the INS Model character indicates which INS features are enabled by the model. See Table: INS Options (previous to OEM 7.08).
For firmware versions OEM 7.08 and later, any INS Model enables all of the INS features. See Table: INS Options (OEM 7.08 and later).
|
INS Model |
Meaning |
Description |
Functionality Inheritance |
|---|---|---|---|
|
S |
SPAN Enabled |
Standard SPAN functionality. This model enables most SPAN functionality. |
S |
|
P |
Enhanced Profiles |
Allows the use of enhanced INS profiles for certain applications. For example, dead reckoning performance is controlled using the LAND Profile and Heave filter output is controlled using the MARINE Profile. For information about INS Profiles, see INS Profiles. For information about enabling and disabling INS Profiles, see the SETINSPROFILE command. |
S+P |
|
R |
Relative INS |
Allows for two SPAN systems to communicate and produce a relative solution (position, velocity, attitude) between them. This option also inherits the enhanced profile functionality of the P model. For more information, see Relative INS. |
S+P+R |
|
INS Model |
Meaning |
Description |
|---|---|---|
|
S, P or R |
SPAN Enabled |
Standard SPAN functionality. This model enables most SPAN functionality. |
|
Enhanced Profiles |
Allows the use of enhanced INS profiles for certain applications. For example, dead reckoning performance is controlled using the LAND Profile and Heave filter output is controlled using the MARINE Profile. For information about INS Profiles, see INS Profiles. For information about enabling and disabling INS Profiles, see the SETINSPROFILE command. |
|
|
Relative INS |
Allows for two SPAN systems to communicate and produce a relative solution (position, velocity, attitude) between them. This option also inherits the enhanced profile functionality of the P model. For more information, see Relative INS. To operate Relative INS, a Y model is required in the 5th character of the OEM7 model string (e.g. FFNRYNTBNS1). |
IMU Grade
The IMU grade indicates which classes of IMUs are supported by the model. The IMU grade is specified as a number between 1 and 3 to indicate the IMU grade available to the model.
So, for example, to use an IMU-ISA-100C, an IMU grade of 3 is required. A larger number also allows use of any IMU in a lower grade. So the S3 model required for the IMU-ISA-100C would also allow the use of any IMU in grades 1 and 2.
Table: SPAN-Compatible IMUs shows the IMU grade classification.