Novatel NEXAGON CPT7, User Manual

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CPT7 and CPT7700 Installation and Operation User Manual v12 5
4.2.1 Translational Offsets 74
4.2.2 Rotational Offsets 75
4.3 Software Configuration 77
4.3.1 GNSS Configuration 77
4.3.2 INS Profiles 77
4.3.3 Configure the CPT7 IMU Data Rate 78
4.3.4 SPAN Configuration for CPT7 79
4.3.5 Importance of RBV Calibration 81
4.4 Real-Time Operation 83
4.4.1 System Start-Up and Alignment Techniques 84
4.4.2 INS Seed / Fast INS Initialization 86
4.4.3 Navigation Mode 88
4.4.4 Data Collection 88
4.4.5 Recommended Messages to be Logged for SPAN Data Collection 89
4.4.6 Body to Vehicle Frame Rotation Calibration Routine 91
4.4.7 Multi-Line Body to Vehicle Frame Rotation Calibration Routine 91
4.5 Distance Measurement Instrument 93
4.5.1 DMI Communication 94
4.5.2 DMI Connection 94
4.5.3 DMI Requirements 94
4.5.4 DMI Connected to a CPT7 95
4.5.5 DMI Command Compatibility 97
4.5.6 DMI Troubleshooting 98
4.6 Synchronizing External Equipment 98
4.6.1 Configuring an Input Strobe 98
4.7 Adding Timed Sensor Triggers 99
4.7.1 Configuring the Hardware 99
4.7.2 Configuring the Software 100
4.7.3 Using Timed Event Pulses 100
4.7.4 Recording Incoming Sensor Events 100
4.8 Azimuth Sources on a SPAN System 100
4.8.1 Course Over Ground 100
4.8.2 Inertial Azimuth 101
4.8.3 ALIGN Azimuth 101
4.9 Data Collection for Post Processing 101
4.10 Variable Lever Arm 102
4.10.1 Reference Frame Description 102
4.10.2 How to Use Variable Lever Arm 105
4.11 Relative INS 106
4.11.1 Configure Relative INS 107
Chapter 5 CPT7 with Dual Antenna
5.1 Installation 109
5.2 Configuring Dual Antenna ALIGN with SPAN 111
5.3 Configuring SPAN Alignment Method 112
5.3.1 Aided Transfer Alignment – ALIGN Injected Azimuth 113
5.3.2 Unaided Alignment 113