培训课件spanfsas注意事项

航天一院某所SPAN（PP6FSAS）培训资料

第六章注意事项北京七维航测科技股份有限公司股票代码：430088IE中力臂和旋转角度InertialExplorerBodytoIMURotationStartwiththevehicleaxes(Yforward,Xright,Zup).RotatearoundthevehicleZaxisuntilthevehicleYaxisisintheplanethattheIMUYaxiswouldsweepoutifrotatedaboutitsXaxis(thisisyourZinputangle).Zangle________NowrotatearoundthevehicleXaxisuntiltheYaxesmatch(thisisyourXinputangle).Xangle________NowrotatearoundthevehicleYaxisuntilboththeXandZaxesmatch(thisisyourYinputangle).Yangle________LeverArmOffset:X:ThemeasuredlateraldistanceinthevehiclebodyframefromtheIMUtotheGNSSantenna.Y:ThemeasureddistancealongthelongitudinalaxisofthevehiclefromtheIMUtotheGNSSantenna.Z:ThemeasuredheightchangefromtheIMUtotheGNSSantenna.SPAN-SESD卡和DL-V3CF卡DL-V3CFcards：

TheDLseriesreceiverssupportSanDiskcardwithFAT/FAT16format.Thisformatlimitsthememorysizeto2GBmax.OnlyType1cardsareallowedbecausethereceiverscannothandlethethicknessoftheTypeIIcards.ItispossiblethatotherbrandsmediawillworkwithDLseriesreceiver,ifthechiptimingsofcompactflashcardarecompatiblewithSanDisk.WearecurrentlysupplyingcompactflashcardsfromDelkinDevices(IndustrialGradeandExtendedTemperature)withourDL-V3receivers.Hereisthelinktotheirwebsite:PleasenotethatthecardcanbereadbyWindows,howeverfilesonthecardshouldnotbedeletedwhendoingthis.Filescanbecopiedover,butproblemsoccurwhenWindowsdeletesafileonthecardandthereceivertriestoreadthecardagain.ThisiscausedbyWindowscreatingarecyclebinonthecard,whichtheDLseriesreceiverhasproblemswith.Whenthisoccurs,pleasereformatthecompactflashcardusingreceiverbyissuingtheDISKFORMATcommand.Ifit'snotpossibletoexecuteDISKFORMATontheDLseriesreceiver,hereishowtoformattheCFdiskusingWindows.Pleaseusea'CardReader'thatisconnectedtoaWindows95/98/NT4/2000based(notMEorXP)computer.IntheWindowsExplorer,selectthenewlyadded'RemovableDisk'andformattheCFdiskFAT/FAT16.SPAN-SEsupportsthefollowingwithrespecttoSDcards:SDspeedgrade2-SDHCspeedgrade4,6ItDOESNOTsupport:SDXCorSDHCUHS-I注意：设备安装存储卡后再上电GNSS实时速度测量Therearetwotypesofvelocityoutputsfromourreceiver:Dopplercomputedvelocityanddifferencedcarrierphasebasedvelocity.TheBESTVELlogisbasedonlogicinsidethereceiverdecidingwhichisbest.DopplervelocityiscomputedusinginstantaneousDopplerfrequencymeasurementtoestimatevelocity.Itisphaserate;thereforeitcontainsthevelocityinformation.InstantaneousDopplermeasurementcontains0.0secondoflatency;hencethereisnotimeintervalusedinthisvelocitycomputation.ThelatencyintheDopplervelocityoutputisbasedonananalysisofthetrackingloopstodeterminethelaginherentintheDoppleroutput.Thelatencyof0.15forinstantaneousvelocityisforthetrackingloopstodetectandreportachangeinvelocity.Thelatencyvalueisnotrelatedtotherateoflogoutputuserrequested.Differencedphasebasedvelocityshowslowlatencysolutionsinceitiscomputedfromthelatestlocalobservationsandextrapolatedbasestationobservations.ItusescodeorcarriermeasurementsandestimatevelocityusingKalmanfilter.Thissuppliesavalidvelocitywiththelowestlatencypossibleattheexpenseofsomeaccuracy.Thelatencyvalueisrelatedtotherateoflogoutputuserrequested.加速度和角速度解析TheRAWIMUdataisinvelocityincrements(m/s)fortheaccelerometers,andinangularincrementsforthegyros(rads).Itistheincrementalchangeoverthesamplingtimeinterval.Sofortheaccelerometers,theaccelerationisthevelocityincrementgivenintherawimulog(inm/s)dividedbythedeltatimeinseconds.a=dvel/dt=(m/s)/s=m/s^2Omega=dangle/dt=(rads)/sHereisaRAWIMUSAlogobtainedusingtheiIMARimu:%RAWIMUSA,1500,202729.304;1500,202729.304063700,00000000,31695,617,378,1536,15615,-7680*fc8f8ff8Theaccelerometeroutputisvelocityincrementsorchangeinvelocity(m/s)sincethelastmeasurement.Theperiodbetweenmeasurementsis0.005sTheunitsoftheaccelerometerdataischangeinvelocityinm/sper0.005ssampleperiod.Youcanthinkofitas(m/s/0.005s).AccelerometerdatacanalwaysbeverifiedbylookingfordataintheUPaxis(Zaxisinthiscase).WhentheIMUisstationarytheaccelerationmeasurementontheUPaxisshouldgiveavalueapproximatelyequaltogravity.Inthisexample:Acceleration=(ChangeinVelocity*scalefactor)/0.005=[31695*(0.05*2^-15)]/0.005=9.67m/s^2基准站配置GROUPCLEARGROUPADDPOWERUPGROUPLOGADDPOWERUPFILERAWEPHEMBONCHANGEDGROUPLOGADDPOWERUPFILERANGECMPBONTIME0.05GROUPLOGADDPOWERUPFILEBESTPOSBONTIME0.05GROUPLOGADDPOWERUPFILEMARKTIMEBONNEWGROUPLOGADDPOWERUPFILEALMANACBONCHANGEDGROUPLOGADDPOWERUPFILEIONUTCBONCHANGEDGROUPUSESTARTPOW