Novatel SPAN CPT7 Bedienungsanleitung

OM-20000179 v3A January 2019

SPAN CPT7

Installation and Operation

User Manual

SPAN CPT7 Installation and Operation User Manual v3A 2

SPAN CPT7 Installation and Operation User Manual

Publication Number: OM-20000179

Revision Level: v3A

Revision Date: January 2019

Firmware Version: 7.05 / OM7MR0500RN0000, SC7PR0304RN0000

Warranty

NovAtel Inc. warrants that its GNSS products are free from defects in materials and work-

manship, subject to the conditions set forth on our web site: www.nova-

tel.com/products/warranty/ and for the following time periods:

OEM7®Receivers One (1) Year

GNSS Antenna Series One (1) Year

Cables and Accessories Ninety (90) Days

Software Warranty One (1) Year

Return instructions

To return products, refer to the instructions found at: www.novatel.com/warranty-return.

Proprietary Notice

Information in this document is subject to change without notice and does not represent a com-

mitment on the part of NovAtel Inc. The software described in this document is furnished under

a licence agreement or non-disclosure agreement. The software may be used or copied only in

accordance with the terms of the agreement. It is against the law to copy the software on any

medium except as specifically allowed in the license or non-disclosure agreement.

No part of this manual may be reproduced or transmitted in any form or by any means, elec-

tronic or mechanical, including photocopying and recording, for any purpose without the express

written permission of a duly authorized representative of NovAtel Inc.

The information contained within this manual is believed to be true and correct at the time of

publication.

NovAtel, ALIGN, GLIDE, GrafNav/GrafNet, Inertial Explorer, NovAtel CORRECT, OEM7, PwrPak7,

RELAY, SPAN, STEADYLINE, VEXXIS and Waypoint are registered trademarks of NovAtel Inc.

NovAtel Connect, OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, SMART7, RELAY7

and RTK ASSIST are trademarks of NovAtel Inc.

All other brand names are trademarks of their respective holders.

national copyright laws.

SPAN CPT7 Installation and Operation User Manual v3A 3

Table of Contents

Figures

Tables

SPAN CPT7 Notices

Customer Support

Chapter 1 SPAN CPT7 Overview

1.1 Fundamentals of GNSS+INS 20

Chapter 2 SPAN CPT7 Installation

2.1 Additional Equipment Required 21

2.2 Optional Accessories 21

2.3 SPAN CPT7 Cables 21

2.4 Selecting a GNSS Antenna 22

2.5 Choosing a Coaxial Cable 23

2.6 Power Supply Requirements for the SPAN CPT7 23

2.7 SPAN CPT7 Installation Overview 24

2.8 Mounting the GNSS Antenna 26

2.8.1 Antenna LNA Power 26

2.9 Mount the SPAN CPT7 26

2.9.1 Securing the SPAN CPT7 27

2.9.2 Secure the SPAN CPT7 Using the Adapter Plate 27

2.10 Connect the SPAN CPT7 to Data Communication Equipment 31

2.10.1 Serial Ports 31

2.10.2 USB Ports 32

2.10.3 Ethernet Port 32

2.10.4 CAN Bus Port 32

2.11 Connect I/O Signals to the SPAN CPT7 33

2.12 Connect Power to the SPAN CPT7 33

2.12.1 Fuse for the Power Supply 34

2.12.2 Vehicle Installation 34

2.13 Check that the SPAN CPT7 is Operating 35

Chapter 3 OEM7 Receiver Operation

3.1 Communications with the Receiver 36

3.1.1 USB Communications 37

3.1.2 Serial Port Communications 37

3.1.3 Ethernet Communications 39

3.1.4 ICOM Communications 39

3.1.5 CAN Bus Communications 40

3.2 Getting Started 40

3.2.1 Communicating with the Receiver 40

3.3 Transmitting and Receiving Corrections 41

3.3.1 Defining Antenna and Base Antenna 43

3.3.2 Base Station Configuration 43

3.3.3 Rover Station Configuration 44

3.3.4 Configuration Notes 44

3.4 GLIDE 45

3.4.1 Dual-Frequency GLIDE 45

SPAN CPT7 Installation and Operation User Manual v3A 4

3.4.2 PDP and GLIDE Configurations 46

3.5 STEADYLINE 46

3.5.1 Maintain 46

3.5.2 Transition 47

3.5.3 Prefer Accuracy 47

3.5.4 UAL 48

3.6 Enabling SBAS Positioning 49

3.7 Enabling NovAtel CORRECT with PPP 49

3.7.1 TerraStar Subscriptions 50

3.7.2 Veripos Subscriptions 51

3.8 RTK ASSIST 51

3.9 Transferring Time Between Receivers 52

3.9.1 GPS to Receiver Time Synchronization 52

3.9.2 Time Definitions 52

3.9.3 Procedures to Transfer Time 53

3.10 Interference Toolkit 57

3.10.1 Monitoring GNSS Signals 57

3.10.2 Disable/Enable Detection 59

3.10.3 Monitoring Signals Using a Command Line 59

3.10.4 Monitoring Signals Using NovAtel Connect 60

3.10.5 Remove Interference Signals 61

3.11 Logging and Retrieving Data Overview 64

3.11.1 Pass-Through Logging 64

3.11.2 Saving Logs to a File 64

3.12 Additional Features and Information 65

3.12.1 Strobes 65

Chapter 4 SPAN Operation

4.1 Definition of Reference Frames Within SPAN 66

4.1.1 The Local-Level Frame (ENU) 66

4.1.2 The IMU Body Frame 67

4.1.3 The Vehicle Frame 68

4.1.4 The User Output Frame 68

4.2 SPAN Translations and Rotations 68

4.2.1 Translational Offsets 69

4.2.2 Rotational Offsets 70

4.3 Software Configuration 72

4.3.1 GNSS Configuration 72

4.3.2 INS Profiles 72

4.3.3 SPAN Configuration for SPAN CPT7 74

4.4 Real-Time Operation 77

4.4.1 System Start-Up and Alignment Techniques 78

4.4.2 INSSeed / Fast INS Initialization 80

4.4.3 Navigation Mode 82

4.4.4 Data Collection 82

4.4.5 Body to Vehicle Frame Rotation Calibration Routine 84

4.4.6 Multi-Line Body to Vehicle Frame Rotation Calibration Routine 85

4.5 Synchronizing External Equipment 87

4.5.1 Configuring an Input Strobe 87

4.6 Adding Timed Sensor Triggers 88

4.6.1 Configuring the Hardware 88

4.6.2 Configuring the Software 89

4.6.3 Using Timed Event Pulses 89

4.6.4 Recording Incoming Sensor Events 89

SPAN CPT7 Installation and Operation User Manual v3A 5

4.7 Azimuth Sources on a SPAN System 89

4.7.1 Course Over Ground 90

4.7.2 Inertial Azimuth 90

4.7.3 ALIGN Azimuth 90

4.8 Data Collection for Post Processing 91

4.9 Variable Lever Arm 92

4.9.1 Reference Frame Description 92

4.9.2 How to Use Variable Lever Arm 94

4.10 Relative INS 96

4.10.1 Configure Relative INS 97

Chapter 5 SPAN with Dual Antenna

5.1 Configuring ALIGN with SPAN 99

5.1.1 Configuring SPAN with ALIGN 100

5.1.2 Alignment on a Moving Vessel - Aided Transfer Alignment 100

5.1.3 Alignment on a Stationary Vehicle - Aided Static Alignment 100

5.1.4 Unaided Alignment 101

5.1.5 Automatic Alignment Mode - Automatic Alignment (default) 101

5.2 SPAN ALIGN Attitude Updates 101

Chapter 6 Ethernet Configuration

6.1 Required Hardware 102

6.2 Static IP Address Configuration 102

6.2.1 Static IP Address Configuration—Receiver 103

6.2.2 Static IP Address Configuration—Windows 7 104

6.2.3 Confirming Ethernet Setup 105

6.3 Dynamic IP Address Configuration 105

6.4 Base/Rover Configuration through Ethernet Connectivity 106

6.5 Large Ethernet Port Data Throughput 108

6.6 NTRIP Configuration 108

Chapter 7 CAN Bus

7.1 Default Configuration 112

7.2 Configuring the CAN Bus 112

7.2.1 Configuration Notes 112

7.2.2 Example of Enabling the CAN Bus 113

7.2.3 Example of Modifying the CAN Bus Parameters 113

7.2.4 Example of Detecting an Address Claim Failure and Reconfiguring 113

7.2.5 Address Claim Procedure 114

7.3 NMEA2000 Logging 114

7.3.1 Example of NMEA2000 Log Configuration 115

7.3.2 Example of Custom PGN Configuration 115

7.4 Corrections Over CAN 115

7.4.1 Example for Receiving Corrections from Any Source 116

7.4.2 Example for Transmitting Corrections to 0x1C Node 116

7.5 NovAtel Messages Over CAN 116

7.6 Configuring OEM7 Receivers to Use OEM6 CAN Settings 116

7.6.1 Configuration on OEM6 117

7.6.2 Configuration on OEM7 117

Chapter 8 Built-In Status Tests

8.1 Receiver Status Word 118

8.2 RXSTATUSEVENT Log 118

SPAN CPT7 Installation and Operation User Manual v3A 6

8.3 RXSTATUS Log 119

8.3.1 Status Word 119

8.3.2 Error Word 119

8.3.3 Status Code Arrays 120

8.3.4 Receiver Status Code 121

8.3.5 Auxiliary Status Codes 121

8.3.6 Set and Clear Mask for all Status Code Arrays 121

Chapter 9 Troubleshooting

9.1 Examining the RXSTATUS Log 123

9.2 Examining the AUX1 Status Word 126

9.3 High Temperature Environments 127

9.3.1 Indicators of an Error State 127

9.3.2 Recovering from a Temperature Status Error 128

9.3.3 Mitigating High Receiver Temperature 128

9.3.4 Monitoring the Receiver Temperature 128

9.4 Safe Mode 129

9.4.1 Reset Loop Detection 129

9.4.2 Recovery Steps 129

Chapter 10 NovAtel Firmware and Software

10.1 Firmware Updates and Model Upgrades 131

10.1.1 Firmware Updates 131

10.1.2 Model Upgrades 131

10.2 Authorization Code 132

10.3 Transferring Firmware Files 133

10.3.1 Format of Firmware Files 133

10.4 Updating or Upgrading Using the WinLoad Utility 133

10.4.1 Using the WinLoad Utility 133

10.5 Updating the Firmware Using NovAtel Connect 135

10.6 Updating the Firmware Using NovAtel Web UI 136

10.7 Updating Using SoftLoad Commands 137

10.7.1 SoftLoad Commands and Logs 137

10.7.2 Working With S-Records 137

10.7.3 Sending Firmware Data 138

10.7.4 SoftLoad Update Method 139

10.7.5 SoftLoad Errors 142

10.8 Upgrading Using an Auth-Code 142

10.8.1 Entering an Auth-Code Using NovAtel Connect 142

10.8.2 Entering an Auth-Code Using NovAtel Web UI 142

10.8.3 Entering an Auth-Code Using the Command Line 143

APPENDIX A SPAN CPT7 Technical Specifications

A.1 SPAN CPT7 Performance Specifications 145

A.2 SPAN CPT7 Mechanical Specifications 148

A.3 SPAN CPT7 Electrical and Environmental Specifications 151

A.4 SPAN CPT7 Data Communication Specifications 153

A.5 SPAN CPT7 Strobe Specifications 154

A.6 SPAN CPT7 Connectors 155

A.7 SPAN CPT7 I/O1 Cable 157

A.7.1 Custom Cable Recommendations 158

A.8 SPAN CPT7 I/O2 Cable 159

A.8.1 Custom Cable Recommendations 160

SPAN CPT7 Installation and Operation User Manual v3A 7

APPENDIX B Accessories and Replacement Parts

APPENDIX C Frequently Asked Questions

APPENDIX D Importance of Antenna Selection

SPAN CPT7 Installation and Operation User Manual v3A 8

Figures

Figure 1: SPAN CPT7 Receiver 19

Figure 2: Typical Installation of a SPAN CPT7 System 25

Figure 3: SPAN CPT7 Adapter Plate 29

Figure 4: Offset from the SPAN CPT7 to the SPAN-CPT 30

Figure 5: Offset from the SPAN CPT7 to the SPAN-IGM-S1 31

Figure 6: Fuse for PwrPak7 Power Supply 34

Figure 7: Dedicated Battery for the SPAN CPT7 35

Figure 8: Basic SPAN CPT7 Connection Interfaces (example) 36

Figure 9: Basic Differential Setup 42

Figure 10: Positioning Change Without STEADYLINE 46

Figure 11: STEADYLINE Maintain 47

Figure 12: STEADYLINE Transition 47

Figure 13: STEADYLINE Prefer Accuracy 47

Figure 14: STEADYLINE UAL- Warning Limit Example 48

Figure 15: STEADYLINE UAL - Out of Bounds Example 49

Figure 16: Transfer COARSE Time from Fine Clock to Cold Clock Receiver 54

Figure 17: Transfer FINE Time from Fine Clock to Cold Clock Receiver 55

Figure 18: Transfer FINE Time from Fine Clock to Warm Clock Receiver 56

Figure 19: 1 PPS Alignment 56

Figure 20: Local-Level Frame (ENU) 67

Figure 21: IMU Body Frame Marking 67

Figure 22: Vehicle Frame 68

Figure 23: IMU to Antenna Translation Offset 69

Figure 24: Multi-Line IMU Body to Vehicle Calibration 86

Figure 25: Sample Configuration 93

Figure 26: Operating Gimbal 94

Figure 27: Relative INS Example 97

Figure 28: Cross-Over Ethernet Cable Configuration—OEM7 Receiver 103

Figure 29: Dynamic IP Address Configuration through a DHCP Server—OEM7 Receiver 105

Figure 30: Base/Rover Ethernet Setup—OEM7 Receiver 107

Figure 31: NTRIP System 109

Figure 32: Location of Receiver Status Word 119

Figure 33: Reading the Bits in the Receiver Status Word 119

Figure 34: Location of Receiver Error Word 120

Figure 35: Reading the Bits in the Receiver Error Word 120

Figure 36: Status Code Arrays 121

Figure 37: WinLoad’s Open Window 134

Figure 38: Open File in WinLoad 134

Figures

SPAN CPT7 Installation and Operation User Manual v3A 9

Figure 39: COM Port Setup 135

Figure 40: SPAN CPT7 Dimensions 149

Figure 41: SPAN CPT7 Center of Navigation 150

Figure 42: Fischer Core 16 Pin Connector 155

Figure 43: SPAN CPT7 I/O1 Cable 157

Figure 44: SPAN CPT7 I/O2 Cable 159

Figure 45: Plot of Good and Poor Antenna Phase Center Variation over Elevation Angle 0-

90° 165

SPAN CPT7 Installation and Operation User Manual v3A 10

Tables

Table 1: SPAN CPT7 Cables 22

Table 2: Fuse/Holder Recommendations 12 V System 34

Table 3: Serial Ports Supported 38

Table 4: OEM7 INS Profiles 73

Table 5: Inertial Solution Status 77

Table 6: NVM Seed Indication 82

Table 7: Solution Parameters 82

Table 8: Valid Event Inputs and Outputs for Timed Sensor Triggers 89

Table 9: Logs with Azimuth Data 90

Table 10: Logs used with Variable Lever Arm 95

Table 11: Commands used with Variable Lever Arm 95

Table 12: Default NAME 112

Table 13: Troubleshooting Based on Symptoms 122

Table 14: Resolving a Receiver Error Word 124

Table 15: Resolving an Error in the Receiver Status Word 125

Table 16: Resolving an Error in the AUX1 Status Word 126

Table 17: SPAN CPT7 Physical Description 144

Table 18: SPAN CPT7 Receiver Performance 145

Table 19: SPAN CPT7 IMU Performance 147

Table 20: SPAN CPT7 Environmental Specifications 151

Table 21: SPAN CPT7 Power Requirements 151

Table 22: SPAN CPT7 RF Input/LNA Power Output 151

Table 23: Data Communications Interfaces 153

Table 24: SPAN CPT7 Strobes Description 154

Table 25: SPAN CPT7 Strobe Electrical Specifications 154

Table 26: IO1 Pin Out 155

Table 27: IO2 Pin Out 156

Table 28: SPAN CPT7 I/O1 Cable Pinout 157

Table 29: I/O1 Connector 158

Table 30: SPAN CPT7 I/O2 Cable Pinout 159

Table 31: IO2 Connector 160

Table 32: GNSS Antennas 161

Table 33: SPAN CPT7 Cables 161

Table 34: GNSS Antenna Cables 162

Table 35: SPAN CPT7 Mounting Accessories 162

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