Chapter 4 SPAN Operation
CPT7 and CPT7700 Installation and Operation User Manual v12
78
Profile
Description
Enhanced Profile Settings
RAIL
INS profile for railway applications
Enables intelligent vehicle dynamics
modeling for rail vehicles (Dead
Reckoning)
Enable course over ground attitude
updates
Enable direction detection on
kinematic alignment routine
AGRICULTURE
INS profile for agriculture applications
Enables direction detection on
kinematic alignment routine
Enables course over ground attitude
updates
Enables intelligent vehicle dynamics
modeling for agricultural vehicles
(Dead Reckoning)
Use
To use an INS Profile, send the
SETINSPROFILE
command at startup (or save to NVM) to activate the mode.
For example:
SETINSPROFILE LAND
The type of profile activated, basic or enhanced, is determined by the SPAN model.
The currently selected profile option is available in the
INSCONFIG
log.
RBV Calibration
For the profiles to provide the greatest benefit, the rotation offset of the IMU body to the vehicle frame (RBV)
should be known as accurately as possible. Since constraints happen at the vehicle level, any error in the
offset will translate into worse performance. These parameters are estimated in the background when the
system is fully converged, however it is always better to have this measured as precisely as possible before
mission critical data is collected.
The INSCALIBRATE RBV functionality can be used to estimate and save these offsets to NVM in a controlled
manner.
4.3.3 Configure the CPT7 IMU Data Rate
By default, the CPT7 and CPT7700 are configured for a 100 Hz raw IMU data rate.
To change the IMU data rate to 400Hz:
1. Ensure the CPT7 has a Model with the SPAN IMU Grade option 2 or 3.
If the CPT7 does not have IMU Grade option 2 or 3, contact NovAtel Support or Sales for information
about upgrading. See
on page 141 for details.
2. Issue the following command.(and saveconfig if desired):
CONNECTIMU COM3 HG4930_AN04_400HZ
