GNSS Receiver Firmware Options

API ALIGN GLIDE NTRIP RAIM Precision Time Protocol STEADYLINE Heave Relative INS Land Vehicle Profile Rail Profile Marine Profile

Land Vehicle Profile

NovAtel’s intelligent vehicle dynamics modeling and our patented Antenna Phase Windup technology come together in NovAtel’s SPAN Land Vehicle firmware to provide accurate position, velocity and attitude.

Features

Continuous position, velocity and attitude output through extended GNSS outage
Enhanced navigation performance in low dynamic applications
SPAN intelligent vehicle dynamics modeling
Patented Antenna Phase Windup technology
Available for all SPAN supported IMUs

The below table depicts the average SPAN Land Vehicle performance at 1 hour of complete GNSS outage during typical driving conditions at an average speed of 65 km/hr. Position errors are represented in percent Error Over Distance Traveled (EDT).

IMU Grade	Average EDT (%) Over 1 Hr	Average EDT (%) Over 1 Hr	Azimuth Error (deg) 1 σ Std. Dev.	Azimuth Error (deg) 1 σ Std. Dev.
	Land Profile	Land Profile with DMI	Land Profile	Land Profile with DMI
Entry Level - S1	0.28%	0.15%	1.76	1.59
Mid-Range - S2	0.10%	0.05%	0.18	0.17
High Performance - S3	0.08%	0.05%	0.12	0.10

The below image depicts the error over distance traveled over 1 hour of complete GNSS outage.

Error over distance traveled varies with test-route trajectory and dynamics. See the following paper for more details: "NovAtel's SPAN Land Vehicle Performance Analysis - May 2017".