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Chapter 2 CPT7 Installation

CPT7 and CPT7700 Installation and Operation User Manual v9

32

Do not install the CPT7 near a heat source, such as vehicle exhaust.

If the CPT7 will be used in areas of extreme high temperatures, be sure to mount the CPT7
on a metal surface such as the NovAtel mount adapter or the metal vehicle chassis. This will
allow heat to leave the CPT7 through contact with the metal surface and allow more
optimized performance.

For the simplest configuration, align the connectors of the CPT7 with the direction of travel of the vehicle and
mount the base facing down (see

Figure 6: Default RBV Configuration

below) This coincides with X-axis

forward and Z-axis down, and the default RBV configuration is valid. Any other mounting requires a rotational
offset to be applied. See

Rotational Offsets

on page 74 for more information.

Figure 6: Default RBV Configuration

The X, Y and Z axis are marked on the CPT7 enclosure.

The default RBV configuration is

SETINSROTATION RBV 180 0 90 3 3 3

.

Also, it is important to measure the distance from the CPT7 to the primary and secondary GNSS antennas (the
Antenna Lever Arms), on the first usage, on the axis defined on the CPT7 enclosure. See also

Mechanical Specifications

on page 161 for dimensional drawings of the CPT7.

Ensure the CPT7 cannot move due to dynamics and that the distance and relative direction between the CPT7
and both antennas is fixed. See

SPAN Configuration for CPT7

The closer the primary antenna is to the CPT7, particularly in the horizontal plane, the more
accurate the position solution.

Also, your measurements entered using the

SETINSTRANSLATION

command must be as

accurate as possible, or at least more accurate than the GNSS positions being used.

For example,

a 10 cm error in recording the antenna offset will result in at least a 10 cm error in the
output. Millimetre accuracy is preferred.

The offset from the CPT7 to the antennas, and/or a user point device, must remain constant
especially for RTK or DGNSS data. Ensure the CPT7, antenna and user point device are bolted in
one position perhaps by using a custom bracket.

2.10.1 Securing the CPT7

The CPT7 can be secured directly to the mounting surface or can be secured using the CPT7 Adapter Plate
(01020112).

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Содержание CPT7

Страница 1: ...CPT7 and CPT7700 Installation and Operation User Manual CPT7 and CPT7700 Installation and Operation User Manual v9 May 2021 ...

Страница 2: ...rn policies Proprietary Notice ALIGN GLIDE Inertial Explorer NovAtel OEM7 RTK ASSIST SPAN STEADYLINE TerraStar VEXXIS and Waypoint are trademarks of NovAtel Inc entities within the Hexagon Autonomy Positioning division their affiliated entities and or their licensors All other trademarks are properties of their respective owners 2021 NovAtel Inc All rights reserved NovAtel is part of Hexagon NovAt...

Страница 3: ...lation Overview 29 2 9 Mounting the GNSS Antenna 31 2 9 1 Antenna LNA Power 31 2 10 Mount the CPT7 31 2 10 1 Securing the CPT7 32 2 10 2 Secure the CPT7 Using the Adapter Plate 33 2 11 Connect the CPT7 to Data Communication Equipment 36 2 11 1 Serial Ports 36 2 11 2 USB Ports 37 2 11 3 Ethernet Port 37 2 11 4 CAN Bus Port 37 2 12 Connect I O Signals to the CPT7 38 2 13 Connect Power to the CPT7 38...

Страница 4: ... 3 9 3 Procedures to Transfer Time 56 3 10 Interference Toolkit 60 3 10 1 Monitoring GNSS Signals 60 3 10 2 Disable Enable Detection 62 3 10 3 Monitoring Signals Using a Command Line 62 3 10 4 Monitoring Signals Using NovAtel Application Suite 63 3 10 5 Remove Interference Signals 63 3 10 6 Interference Toolkit Commands and Logs 64 3 11 Logging and Retrieving Data Overview 65 3 11 1 Pass Through L...

Страница 5: ...I Connected to a CPT7 93 4 5 5 DMI Command Compatibility 95 4 5 6 DMI Troubleshooting 96 4 6 Synchronizing External Equipment 96 4 6 1 Configuring an Input Strobe 96 4 7 Adding Timed Sensor Triggers 97 4 7 1 Configuring the Hardware 97 4 7 2 Configuring the Software 98 4 7 3 Using Timed Event Pulses 98 4 7 4 Recording Incoming Sensor Events 98 4 8 Azimuth Sources on a SPAN System 98 4 8 1 Course O...

Страница 6: ...3 8 2 3 Example of Modifying the CAN Bus Parameters 123 8 2 4 Example of Detecting an Address Claim Failure and Reconfiguring 123 8 2 5 Address Claim Procedure 123 8 3 NMEA2000 Logging 124 8 3 1 Example of NMEA2000 Log Configuration 124 8 4 Corrections Over CAN 125 8 4 1 Example for Receiving Corrections from Any Source 125 8 4 2 Example for Transmitting Corrections to 0x1C Node 125 8 5 NovAtel Me...

Страница 7: ...ion Suite 144 11 6 Updating the Firmware Using Setup Monitor Web 145 11 7 Updating Using SoftLoad Commands 145 11 7 1 SoftLoad Commands and Logs 146 11 7 2 Working With S Records 146 11 7 3 Sending Firmware Data 147 11 7 4 SoftLoad Update Method 148 11 7 5 SoftLoad Errors 150 11 8 Upgrading Using an Auth Code 151 11 8 1 Entering an Auth Code Using NovAtel Application Suite 151 11 8 2 Entering an A...

Страница 8: ...nstallation and Operation User Manual v9 8 APPENDIX B Differences Between CPT7 and Legacy CPT7 APPENDIX C Accessories and Replacement Parts APPENDIX D Frequently Asked Questions APPENDIX E Importance of Antenna Selection ...

Страница 9: ... Figure 16 Transfer COARSE Time from Fine Clock to Cold Clock Receiver 57 Figure 17 Transfer FINE Time from Fine Clock to Cold Clock Receiver 58 Figure 18 Transfer FINE Time from Fine Clock to Warm Clock Receiver 59 Figure 19 1 PPS Alignment 59 Figure 20 Local Level Frame ENU 71 Figure 21 IMU Body Frame Marking 71 Figure 22 Vehicle Frame 72 Figure 23 IMU to Antenna Translation Offset 73 Figure 24 ...

Страница 10: ... in the Receiver Status Word 129 Figure 42 Location of Receiver Error Word 130 Figure 43 Reading the Bits in the Receiver Error Word 130 Figure 44 Status Code Arrays 131 Figure 45 WinLoad s Open Window 143 Figure 46 Open File in WinLoad 143 Figure 47 COM Port Setup 144 Figure 48 CPT7 Dimensions 162 Figure 49 CPT7700 Dimensions 163 Figure 50 CPT7 CPT7700 Center of Navigation 164 Figure 51 Fischer C...

Страница 11: ... Triggers 97 Table 17 Logs with Azimuth Data 99 Table 18 Logs used with Variable Lever Arm 104 Table 19 Commands used with Variable Lever Arm 104 Table 20 Default NAME 122 Table 21 Troubleshooting Based on Symptoms 132 Table 22 Resolving a Receiver Error Word 133 Table 23 Resolving an Error in the Receiver Status Word 135 Table 24 Resolving an Error in the AUX1 Status Word 136 Table 25 CPT7 Physic...

Страница 12: ...O2 Cable Pinout 174 Table 41 IO2 Connector 175 Table 42 Physical Specifications 176 Table 43 Power Requirements 176 Table 44 Signals Tracked 176 Table 45 RF Input 177 Table 46 COM Port Communication 178 Table 47 I O Strobes 178 Table 48 Features 178 Table 49 OEM7 Receivers 179 Table 50 GNSS Antennas 180 Table 51 CPT7 Cables 181 Table 52 GNSS Antenna Cables 181 Table 53 CPT7 Mounting Accessories 18...

Страница 13: ...y to correct the interference by one or more of the following measures l Reorient or relocate the receiving antenna l Increase the separation between the equipment and the receiver l Connect the equipment to an outlet on a circuit different from that to which the receiver is connected l Consult the dealer or an experienced radio TV technician for help To maintain compliance with the limits of a Cl...

Страница 14: ...l See novatel com products novatel compliance novatel environmental compliance for more information RoHS CPT7 GNSS receivers are in conformity with Directive 2011 65 EU of the European Parliament and of the Council of 8 June 2011 on the restriction of the use of certain hazardous substances in electrical and electronic equipment CPT7 International Approval Eurasian Economic Community Armenia Belar...

Страница 15: ...ooting Logs on the next page l Tracking and Interference Troubleshooting Logs on the next page l SPAN Troubleshooting Logs on page 17 l RTK Troubleshooting Logs on page 17 l PPP Troubleshooting Logs on page 18 l ALIGN Troubleshooting Logs on page 18 2 Send the data file to NovAtel Customer Support support novatel hexagon com 3 You can also issue a FRESET command to the receiver to clear any unknow...

Страница 16: ...NCE LOG RXCONFIGA ONCE LOG CHANCONFIGLISTB ONCE LOG PASSTHROUGHA ONNEW LOG RXSTATUSB ONCHANGED LOG CLOCKSTEERINGB ONCHANGED LOG RAWEPHEMB ONNEW LOG GLORAWEPHEMB ONNEW LOG GALINAVRAWEPHEMERISB ONNEW LOG BDSEPHEMERISB ONNEW LOG QZSSEPHEMERISB ONNEW LOG NAVICEPHEMERISB ONNEW LOG RAWALMB ONNEW LOG GLORAWALMB ONNEW LOG GALALMANACB ONNEW LOG BDSALMANACB ONNEW LOG QZSSALMANACB ONNEW LOG NAVICALMANACB ONN...

Страница 17: ...GED LOG INSPVAXB ONTIME 1 LOG INSCONFIGA ONCHANGED LOG BESTGNSSPOSB ONTIME 1 RTK Troubleshooting Logs LOG RXSTATUSB ONCHANGED LOG RAWEPHEMB ONNEW LOG GLORAWEPHEMB ONNEW LOG QZSSRAWEPHEMB ONNEW LOG BDSRAWNAVSUBFRAMEB ONNEW LOG GALFNAVRAWEPHEMERISB ONNEW LOG GALINAVRAWEPHEMERISB ONNEW LOG RANGEB ONTIME 1 0 LOG BESTPOSB ONTIME 1 0 LOG RXCONFIGB ONCE LOG VERSIONB ONCE LOG TRACKSTATB ONTIME 1 0 LOG RTK...

Страница 18: ...TARINFOB ONCHANGED LOG TERRASTARSTATUSB ONCHANGED LOG PSRPOSB ONTIME 1 0 LOG ALMANACB ONNEW LOG IONUTCB ONNEW LOG GLORAWALMB ONNEW LOG GLOCLOCKB ONNEW LOG LBANDBEAMTABLEB ONCHANGED ALIGN Troubleshooting Logs LOG RXSTATUSB ONCHANGED LOG RAWEPHEMB ONNEW LOG GLORAWEPHEMB ONNEW LOG BESTPOSB ONTIME 1 LOG RANGEB ONTIME 1 LOG RXCONFIGA ONCE LOG VERSIONA ONCE LOG LOGLISTA ONCE LOG PORTSTATSA ONTIME 10 LOG...

Страница 19: ... INS and ALIGN system l CPT7700 The CPT7700 combines an OEM7700 GNSS receiver and a high performance Honeywell HG4930 IMU in a single enclosure to provide an easy to deploy SPAN GNSS INS system In addition to the GNSS signals tracked by the CPT7 the CPT7700 also tracks Galileo E6 BeiDou B3I and QZSS L6 In this document the term CPT7 is used to represent both the CPT7 and CPT7700 When a section app...

Страница 20: ... to Differences Between CPT7 and Legacy CPT7 on page 176 for a comparison between the current and legacy CPT7 Figure 1 CPT7 Receiver Figure 2 CPT7700 Receiver CPT7 technical specifications are provided in CPT7 Technical Specifications on page 153 1 1 CPT7 Connectors The CPT7 has several connectors for connecting the receiver to other components in the GNSS system ...

Страница 21: ...SS antenna CPT7 only IO1 16 pin circular connector l Power l COM2 RS 422 l EVENT_IN 1 l EVENT_OUT 1 l EVENT_IN 3 l EVENT_OUT 3 PPS IO2 16 pin circular connector l Power l COM1 RS 232 l USB l Ethernet l CAN bus l Wheel Sensor DMI input l EVENT_IN 2 l EVENT_OUT 2 Table 1 CPT7 Connectors 1 2 CPT7 LEDs The CPT7 has four LEDs to indicate receiver status The status LEDs are not available on legacy CPT7s...

Страница 22: ...es the INS status of the receiver LOG Indicates the status of logging to the receiver internal memory Table 2 CPT7 and CPT7700 Status Indicators State Description Green solid Operational mode Yellow solid In the process of booting Red solid Error for example invalid receiver AUTH code Receiver firmware or Web User Interface update in progress Table 3 PWR Power LED State Description Green solid PPP...

Страница 23: ...ntation Red solid Error Table 5 INS LED Refer to Table 11 Inertial Solution Status on page 82 for more information about the INS solution states LED State Description Off The CPT7 is connected to a computer as a mounted device See Access CPT7 Internal Memory with a Computer on page 67 Green solid Internal logging stopped memory available Green slow blink Logging to internal memory memory available...

Страница 24: ...osition and attitude but initial values for these parameters must be provided from an external source Once these parameters are known an INS is capable of providing an autonomous solution with no external inputs However because of errors in the IMU measurements that accumulate over time an inertial only solution degrades with time unless external updates such as position velocity or attitude are s...

Страница 25: ...g conventions are used in this manual Information that supplements or clarifies text A caution that actions operation or configuration may lead to incorrect or improper use of the hardware A warning that actions operation or configuration may result in regulatory noncompliance safety issues or equipment damage ...

Страница 26: ...e connector at the CPT7 end Two antenna cables are needed to use the integrated ALIGN heading feature CPT7 only l Four 6 size screws for mounting l A computer with a serial COM USB or Ethernet port The following equipment may also be needed depending on the system configuration l Shielded Ethernet cable Use a serial COM or USB connection to communicate with the receiver first This provides the abi...

Страница 27: ...9 or 01020690 CPT7 I O2 Cable on page 174 Provides connection to l External power supply l COM1 serial port RS 232 l USB port l Ethernet port l Wheel Sensor DMI input l Event In 2 l Event Out 2 Table 7 CPT7 Cables 2 5 Selecting a GNSS Antenna NovAtel offers a variety of GNSS antennas including single dual and triple frequency triple band and wide band reference antennas refer to our web site novat...

Страница 28: ...and 60723178 are not recommended for permanent outdoor use For more information about antenna cabling including using cables longer than 30 m and in line amplifiers refer to APN 077 RF Equipment Selection and Installation available from novatel com support support materials application notes NovAtel recommends using high quality coaxial cables because an impedance mismatch is possible when using l...

Страница 29: ... features enabled Power can be connected to either the IO1 or IO2 port Do not connect a power supply to both ports 2 8 CPT7 Installation Overview A CPT7 system consists of a CPT7 a GNSS antenna power and a communication link if your application requires real time differential operation The following diagrams show typical CPT7 installations Figure 4 Typical Installation of a CPT7 System ...

Страница 30: ...ext page for details 2 Mount the CPT7 See Mount the CPT7 on the next page for details 3 Connect the primary GNSS antenna to the RF1 port Connect the secondary GNSS antenna to the RF2 port CPT7 only Use an SMA torque wrench to tighten the connection to 0 9 Nꞏm 8 in lbs maximum The CPT7 supplies 5 VDC 200 mA maximum to the antenna LNA through the center conductor of the antenna cable See Antenna LNA...

Страница 31: ...the primary and secondary antennas as far apart as possible A minimum separation distance of 1 metre is recommended For more detailed information about GNSS antenna installation refer to APN 077 RF Equipment Selection and Installation at novatel com support support materials application notes 2 9 1 Antenna LNA Power NovAtel antennas and coaxial cables meet receiver RF input gain requirements NovAt...

Страница 32: ...easure the distance from the CPT7 to the primary and secondary GNSS antennas the Antenna Lever Arms on the first usage on the axis defined on the CPT7 enclosure See also CPT7 Mechanical Specifications on page 161 for dimensional drawings of the CPT7 Ensure the CPT7 cannot move due to dynamics and that the distance and relative direction between the CPT7 and both antennas is fixed See SPAN Configur...

Страница 33: ...112 allows the CPT7 to be installed using the mounting hole spacing designed for the SPAN CPT or SPAN IGM A1 S1 To secure a CPT7 using the Adapter Plate 1 Place the CPT7 on the Adapter Plate and align the mounting holes on the CPT7 with the threaded holes in the Adapter Plate 2 Secure the CPT7 to the Adapter Plate using the four screws 6 32 included with the mounting plate 3 Secure the Adapter Pla...

Страница 34: ...Chapter 2 CPT7 Installation CPT7 and CPT7700 Installation and Operation User Manual v9 34 Figure 7 CPT7 Adapter Plate ...

Страница 35: ... 8 Offset from the CPT7 to the SPAN CPT Dimensions are in mm The axis marking on the CPT7 indicates the orientation of the X Y and Z axis only It does not indicate the center of navigation For the location of the center of navigation refer to Figure 50 CPT7 CPT7700 Center of Navigation on page 164 ...

Страница 36: ...ade using the CPT7 I O1 cable or CPT7 I O2 cable For information about these two cables see CPT7 I O1 Cable on page 172 and CPT7 I O2 Cable on page 174 These sections also have the connector pin out and connector recommendations for making a custom cable 2 11 1 Serial Ports The CPT7 has two serial ports COM1 and COM2 COM1 uses RS 232 protocol and is available on the IO2 port COM2 uses RS 422 proto...

Страница 37: ...s computers and data loggers The Ethernet port supports IPv4 Internet layer TCP IP transport ping and connection from a Telnet client Users can conduct remote debugging accept MRTCA modified RTCA data and download firmware OEM7 receivers are also equipped with NTRIP Version 2 0 Networked Transport of RTCM via Internet Protocol client and server capability To connect to the Ethernet port 1 Connect ...

Страница 38: ...age 174 These sections also have the connector pin out and connector recommendations for making a custom cable 2 13 Connect Power to the CPT7 Power can be connected to either the IO1 or IO2 port Do not connect a power supply to both ports To connect power to the CPT7 1 Connect the CPT7 IO 1 Cable CPT7 I O2 Cable or a custom made interface cable to the CPT7 See CPT7 I O1 Cable on page 172 or CPT7 I...

Страница 39: ...or equivalent Table 8 Fuse Holder Recommendations The fuse and holder are made by Cooper Bussmann available from Digikey 2 13 2 Vehicle Installation If the receiver is installed in a vehicle it is recommended that a dedicated battery be provided for the receiver that is isolated from the engine starter battery When a vehicle engine is started the voltage on the starter battery can dip below the CP...

Страница 40: ...ar 22 05 57 24 OEM7FPGA OMV070001RN0000 DEFAULT_CONFIG SC7CR0802AN0002 2018 Mar 22 05 57 29 PACKAGE SC7PR0802AN0002 2018 Mar 22 05 57 48 IMUCARD HG4930_AN04 2 Check that the Time Status is FINESTEERING which represents that time is fine set and being steered 3 Check the Receiver Status word 02004020 in this example If the lowest bit bit 0 is set the receiver has errors For information about the ot...

Страница 41: ...essary hardware Also see Figure 13 Basic Differential Setup on page 46 for a base rover example 3 1 Communications with the Receiver Communication is established with the receiver using a data terminal or computer connected to the receiver by a variety of methods l USB Communications on the next page l Serial Port Communications on the next page l Ethernet Communications on page 43 l ICOM Communic...

Страница 42: ...rts over a single USB 2 0 connection The three virtual serial ports are available to existing Windows or Linux applications which use COM ports to communicate for example NovAtel Application Suite The NovAtel USB drivers assign COM port numbers sequentially following any existing ports on the computer For example if a computer has COM1 and COM2 ports the NovAtel USB drivers assign COM3 to USB1 COM...

Страница 43: ...led instructions Receiver Type Port Supported Configuration Command CPT7 COM1 COM2 SERIALCONFIG Table 9 Serial Ports Supported Change the COM Port Settings To change the settings on a COM port use the SERIALCONFIG command For example l To change the data rate of COM2 to 115200 enter SERIALCONFIG COM2 115200 l To change the data rate of COM1 to 57600 and enable even parity enter SERIALCONFIG COM1 5...

Страница 44: ... takes precedence over the SAVECONFIG command configuration 3 1 4 ICOM Communications ICOM ports are virtual ports used for Ethernet connections The transport application layer of the ICOM ports can be configured to use Transmission Control Protocol TCP for internet IP or User Datagram Protocol UDP a slower and less reliable IP protocol Refer to DNSCONFIG command for Ethernet DNS configuration If ...

Страница 45: ...and waiting for command input The screen may display other port names for other port types 1 Output from receiver self tests may take some time On startup the receiver is set to log the RXSTATUSEVENTA log ONNEW on all ports See RXSTATUSEVENT Log on page 128 for more details 2 If NovAtel Application Suite is unable to locate the receiver use a different COM port to communicate with the receiver Whe...

Страница 46: ...ct a GNSS antenna 2 Connect a fused power supply user supplied 2 Connect a fused power supply user supplied 3 Connect a radio device to COM2 user supplied 3 Connect a radio device to COM2 user supplied 4 Connect a storage device to COM1 user supplied 4 Connect a computer to COM1 for setup and monitoring user supplied To receive corrections a data link between the base station and the rover station...

Страница 47: ...and and THISANTENNAPCO command or the BASEANTENNAPCV command and BASEANTENNAPCO command Refer to the OEM7 Commands and Logs Reference Manual for command details 3 3 2 Base Station Configuration At the base station enter the following commands serialconfig port baud parity databits stopbits handshaking break interfacemode port rx_type tx_type responses fix position latitude longitude height enter y...

Страница 48: ...or more information refer to the FIX command INTERFACEMODE command SAVECONFIG command and SERIALCONFIG command in the OEM7 Commands and Logs Reference Manual 3 3 3 Rover Station Configuration At the rover station enter the following commands serialconfig port baud parity databits stopbits handshaking break interfacemode port rx_type tx_type responses saveconfig optional The following sections are ...

Страница 49: ...x position 51 11358042 114 04358013 1059 4105 log com2 rtcm1004b ontime 2 1 Interface mode must be set to NOVATEL for the receiver to issue logs with an A or B suffix 2 Using the receiver in NOVATEL mode consumes more CPU bandwidth than using the native differential messages as shown in Base Station Configuration on page 47 3 To find information on how to send multiple commands and log requests fr...

Страница 50: ...3 4 2 PDP and GLIDE Configurations Pseudorange Delta Phase PDP and GLIDE position filters can be used for single frequency single point WAAS or DGNSS positioning Refer to the PDPFILTER command and PDPMODE command in the OEM7 Commands and Logs Reference Manual To reset the PDP or GLIDE filter pdpfilter reset To enable the PDP filter pdpfilter enable Ensure the PDPFILTER command is used before the P...

Страница 51: ... both RTK and GLIDE If this receiver has a fixed RTK position and experiences a loss of correction data causing the loss of the RTK solution it will immediately apply the offset between the two position modes and uses the GLIDE position stability to maintain the previous trajectory Over time the GLIDE or non RTK position will experience some drift Once the RTK position is achieved again the receiv...

Страница 52: ...about TerraStar services visit novatel com products gps gnss correction services terrastar correction services To obtain a subscription contact your local NovAtel sales representative The NovAtel product serial number PSN is needed to obtain a subscription To obtain the receiver serial number enter the following command log version once VERSION USB1 0 74 0 FINESTEERING 2045 336197 080 02028020 368...

Страница 53: ...er is locked to the data format To monitor the PPP convergence request the PPPPOS log log ppppos ontime 1 COM1 PPPPOS COM1 0 76 0 FINESTEERING 1886 418465 000 00000020 ec34 13386 SOL_ COMPUTED PPP_CONVERGING 51 11679035745 114 03886212905 1064 9475 16 9000 WGS84 0 7097 0 6867 1 2333 TSTR 25 000 0 000 18 17 17 17 00 00 00 33 COM1 Automatic Multi Constellation Multi Frequency When using TerraStar se...

Страница 54: ... RTK dependent operations can continue through RTK correction outages as long as 20 minutes RTK ASSIST uses correction data provided by TerraStar To obtain these corrections an L Band capable receiver is required and L Band tracking must be enabled using the ASSIGNLBANDBEAM command RTK ASSIST also requires a subscription to the RTK ASSIST service To obtain a subscription contact your local NovAtel...

Страница 55: ...ion message at a 50 Hz rate contains GPS satellite data including the ephemeris clock corrections and constellation status This navigation message is encoded on both the C A and P Y codes The navigation message is transmitted via individual subframes and each subframe is 300 bits in length With the 50 Hz data bit rate there is a new subframe transmitted every six seconds 3 9 2 Time Definitions The...

Страница 56: ...n connecting two receivers to transfer time disable responses on the COM port used to connect the receivers by issuing the following command on both receivers interfacemode comX novatel novatel off Where comX is the port used on the receiver Transfer COARSE Time 10 ms from a Fine Clock to a Cold Clock GPS Receiver 1 Connect a COM USB or Ethernet port from the fine clock receiver to the cold clock ...

Страница 57: ... Clock Receiver on the next page Configure both ports to the same baud rate and handshaking configurations 2 Issue the following command to the fine clock receiver log com2 timesyncb ontime 1 3 Connect the 1PPS signal of the fine clock receiver to the Mark 1 input Event1 of the cold clock receiver 4 Issue the following command to the cold clock receiver adjust1pps markwithtime When the cold clock ...

Страница 58: ...18 Transfer FINE Time from Fine Clock to Warm Clock Receiver on the next page 2 Issue the following command to the warm clock receiver adjust1pps mark The phase of the warm clock receiver clock is adjusted by the fractional measurement of the fine clock receiver s 1 PPS mark input event In other words it synchronizes the warm clock receiver s 1 PPS to the incoming 1 PPS of the fine clock receiver ...

Страница 59: ...r Operation CPT7 and CPT7700 Installation and Operation User Manual v9 59 Figure 18 Transfer FINE Time from Fine Clock to Warm Clock Receiver If Receiver 2 is not in coarsetime the input is ignored Figure 19 1 PPS Alignment ...

Страница 60: ...y default interference detection is enabled Detection can be disabled enabled as needed See Disable Enable Detection on page 62 for instructions Detected interference can be viewed and different tracking modes with possible additional filters can be applied to mitigate the interference using NovAtel Application Suite Detected interference details can also be logged and analyzed using the command l...

Страница 61: ... obtained using the cascaded RF gain before the receiver plus LNA noise figure NF including LNA gain in antenna in line amplifier gain if applicable RF cable or distribution loss prior to receiver input connector A typical GNSS active antenna with reasonable quality has a noise figure of 2dB RFINPUTGAIN Cascaded Gain before receiver LNA NF For example if system cumulative gain measured before rece...

Страница 62: ...changed ITDETECTSTATUSA USB2 0 74 0 FINESTEERING 1982 430605 267 0200c000 7fdb 32768 3 L1 STATISTICANALYSIS 0 718 29 167 0 126 12 797 00000000 00000000 00000000 L2 SPECTRUMANALYSIS 1249 961 71 191 56 769 132 907 00000000 00000000 00000000 L2 SPECTRUMANALYSIS 1289 512 1 978 75 967 138 493 00000000 00000000 00000000 5e83b175 In the above example there are three interference signals detected l Out of...

Страница 63: ...or connection to the OEM7 receiver Click Tools and select Interference Toolkit The Interference Toolkit window opens The following example shows a typical signal Placing the cursor over any place in the signal band will display additional information regarding that location in the signal band For information about using the Interference Toolkit in NovAtel Application Suite refer to docs novatel co...

Страница 64: ... the upper and lower end of the GNSS signal band starting at the requested cut off frequency This type of filter is good for reducing single or multiple interference signals at the edges of the signal band When a bandpass filter is applied to this signal the upper and lower ends of the signal band are filtered out to reduce the signal power of the interference signal To configure a bandpass filter...

Страница 65: ...the SEND command allows the receiver to perform bidirectional communications with other devices such as a modem terminal or another receiver There are several pass through logs available on OEM7 receivers for logging through serial ports Refer to the PASSCOM logs in the OEM7 Commands and Logs Reference Manual for details 3 11 2 Saving Logs to a File To save log data log requests are sent to the FI...

Страница 66: ...over an extended time period the maximum size and duration for a log file can be configured using the FILEROTATECONFIG command If the file duration is set the log file is closed after the specified duration and a new log file is created If the file size is set the log file is closed after the file reaches the specified size and a new log file is created New log files are created and closed until t...

Страница 67: ...lowing command to stop data collection and close the log file FILECONFIG CLOSE The LOG LED changes to a solid color to indicate that the CPT7 is no longer logging to internal memory 3 11 4 Access CPT7 Internal Memory with a Computer The CPT7 has 16 GB of internal Flash memory This memory is formatted as FAT32 with a cluster size of 16 kB To allow a computer to access the internal memory connect th...

Страница 68: ...PT7 When using computer based disk recovery utilities ensure the internal memory remains formatted as FAT32 with a cluster size of 16 kB after the repair Use the CPT7 interface to reformat the internal memory This results in a complete loss of data on the internal memory 1 Issue a FILEMEDIACONFIG INTERNAL_FLASH command 2 Check the FILESYSTEMSTATUS log log filesystemstatusa onchanged 3 Wait until t...

Страница 69: ...mation The following sections contain information on additional features of the OEM7 receivers l Strobes below 3 12 1 Strobes The CPT7 has three EVENT inputs and three EVENT outputs that provide status and synchronization signals These signals are also referred to as strobes For detailed information about CPT7 strobes see CPT7 Strobe Specifications on page 169 By default the EVENT3_OUT signal is c...

Страница 70: ... at novatel com products waypoint software for details Ensure the Control Panel Power Settings on your computer are not set to go into Hibernate or Standby modes Data will be lost if one of these modes occurs during a logging session 4 1 Definition of Reference Frames Within SPAN The reference frames that are most frequently used throughout the SPAN documentation are the following l The Local Leve...

Страница 71: ...rame axes are marked on the CPT7 Refer to CPT7 Mechanical Specifications on page 161 for illustrations of the IMU Body frame axes The axis marking on the CPT7 indicates the orientation of the X Y and Z axis only It does not indicate the center of navigation For the location of the center of navigation refer to Figure 50 CPT7 CPT7700 Center of Navigation on page 164 The origin of this frame is not ...

Страница 72: ...useful position or reference frame By default SPAN position and velocity output is given at the center of navigation of the IMU To output position and velocity at a different location specify a user offset translation using the SETINSTRANSLATION command By default SPAN attitude output is the rotation from the Local Level frame to the Vehicle frame If attitude output is desired relative to another ...

Страница 73: ...an also be entered relative to the Vehicle frame The X Y and Z axes of the IMU Body frame are typically indicated on the IMU enclosure The X Y and Z axes of the IMU Body frame are also indicated on the mechanical drawings of the IMUs in the CPT7 Mechanical Specifications on page 161 Figure 23 IMU to Antenna Translation Offset below shows an example of the translational offsets from the IMU to a GN...

Страница 74: ...ame In these cases the rotation from the IMU Body Frame to the Vehicle Frame RBV is used to rotate offsets into the default IMU Body frame as required To achieve the best results this means that the RBV rotation must be known very precisely Typically this is achieved through the SPAN RBV Calibration procedure See Body to Vehicle Frame Rotation Calibration Routine on page 89 or Multi Line Body to V...

Страница 75: ...ing to the right hand rule Z Rotation Observe that if a positive 90 degree rotation is performed about the IMU Z axis the rotated IMU X axis becomes collinear with the Vehicle X axis X Rotation Observe that if a negative 90 degree rotation is performed about the new IMU X axis the rotated IMU Y axis is now collinear with the Vehicle Y axis and the rotated IMU Z axis is also collinear with the Vehi...

Страница 76: ...e configuration rather than sending many discreet commands The enhanced profile settings are enabled by the receiver model The enhanced profile adds enhanced profile behavior such as Dead Reckoning for land and Heave for marine A receiver model with an INS Mode of S P R or K is required to enable Enhanced INS Profiles Profile Description Enhanced Profile Settings DEFAULT The default SPAN profile T...

Страница 77: ...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 bette...

Страница 78: ...RANSLATION ANT2 IMU to vehicle frame rotation SETINSROTATION RBV While this is the minimum amount of information required additional information is typically needed for SPAN systems The following commands are commonly used to configure SPAN systems Common User Settings Appropriate Command Notes IMU to output position offset SETINSTRANSLATION USER Default output position is at the IMU center IMU to...

Страница 79: ...down positive X forward l the primary and secondary GNSS antennas are mounted on the roof of the vehicle l the distance measured from the CPT7 to the primary GNSS antenna is 2 metres up Z axis 0 5 metres right Y axis and 1 metre forward X axis the distance measured from the CPT7 to the secondary GNSS antenna is 2 metres up Z axis 0 5 metres left Y axis and 1 metre forward X axis the SETINSTRANSLAT...

Страница 80: ...mple of how to solve for the IMU Body to Vehicle frame rotation refer to Rotational Offsets on page 74 If the rotation between the IMU Body frame and the Vehicle frame is not precisely known enter an approximate rotation to the nearest 45 degrees The precise offset can be estimated by carrying out the Body to Vehicle Frame Rotation Calibration Routine on page 89 SPAN Configuration with NovAtel App...

Страница 81: ...ilt and slight misalignments in installation can cause the IMU Body frame to be slightly out of alignment with the Vehicle frame The misalignment of the IMU Body frame from the Vehicle frame will add a bias to the SPAN solution The following diagrams show examples of a CPT7 installed in a vehicle with misalignment issues Figure 25 Rear View of CPT7 Mounting Plate is not Flat Figure 26 Side View of...

Страница 82: ... default raw IMU data will begin to output as soon as the IMU is connected However an initial position is required to begin the INS alignment process This position is typically set by GNSS The GNSS position will not be used until the FINESTEERING time status is reached This requires a GNSS antenna connected with a clear view of the sky See System Start Up and Alignment Techniques on the next page ...

Страница 83: ...IMU axis aligned with gravity 9 WAITING_ INITIALPOS The INS filter has determined the IMU orientation and is awaiting an initial position estimate to begin the alignment process 10 WAITING_ AZIMUTH The INS filter has determined the IMU orientation received an initial position and completed initial bias estimates Azimuth input from vehicle motion dual antenna or command is required for alignment 11...

Страница 84: ...g the default RBV configuration the X axis of the CPT7 should point in the direction of travel The kinematic alignment begins when the receiver has a good GNSS position fine time is solved the Body to Vehicle frame rotation is known and a GNSS velocity of at least 5 m s 18 km h is observed During kinematic alignment keep the vehicle roll at less then 10 5 m s is the default alignment velocity If a...

Страница 85: ...ONFIG command to be used upon next system boot up Criteria For the INS seed functionality to be enabled the INSSEED ENABLE command must be sent Saving The following criteria must be met for valid alignment data to be saved into receiver NVM l The INS solution status must be converged as indicated by the INS solution convergence flag in the inertial Extended Solution Status l The system velocity is...

Страница 86: ...ing command SAVECONFIG Saving valid INS information 1 Operate the system as normal until the filter completes convergence 2 Bring the system to a complete stop before powering off or resetting Using valid INS information on start up 1 Remain static while initializing 2 Wait for the system to receive a valid position from GNSS 3 If valid alignment data will be injected System Indicators The INSSEED...

Страница 87: ...so be supplied wheel sensor for displacement updates or heading updates Following the alignment the attitude is coarsely defined especially in heading Vehicle dynamics specifically turns stops and starts allow the system to observe the heading error and allows the heading accuracy to converge The amount of dynamics required for filter convergence vary by the alignment quality IMU quality and maneu...

Страница 88: ...n INS operation is 5 Hz If the receiver is not running INS no IMU is attached GNSS logs can be requested at rates up to 20 Hz Logging Restriction Important Notice Logging excessive amounts of high rate data can overload the system When configuring the output for SPAN NovAtel recommends that only one high rate 50 Hz message be configured for output at a time It is possible to log more than one mess...

Страница 89: ...e ONCHANGED trigger 7 Start to move the system Movement of the system is required for the observation of the angular offsets Drive a straight course on level ground remember that most roads have a crown resulting in a constant roll of a few degrees Avoid driving on a surface with a constant non zero slope to prevent biases in the computed angles Vehicle speed must be greater than 5 m s 18 km hr fo...

Страница 90: ...ation routine offers higher calibrated accuracy in roll This is done by running independent calibrations over the same ground path in opposite directions averaging the results cancels out the effect of any terrain induced roll A minimum of two iterations are required Additional iteration pairs can be executed for increased reliability Figure 28 Multi Line IMU Body to Vehicle Calibration The steps ...

Страница 91: ...ation is complete the calibrated offset value can be viewed in either the INSCALSTATUS log or the INSCONFIG log To save a calibrated rotation for subsequent start ups issue the SAVECONFIG command after calibration is complete Each time the IMU is re mounted this calibration should be performed again After the INSCALIBRATE RBV ENABLE command is entered there are no body vehicle rotation parameters ...

Страница 92: ...MI can be connected to the DMI input on the IO2 connector For information about connecting and configuring a DMI to a CPT7 see DMI Connected to a CPT7 on the next page 4 5 3 DMI Requirements The CPT7 is compatible with any wheel sensor meeting the following requirements l Output signal duty cycle is symmetric 40 to 60 l Output signal voltage is RS 422 compliant differential l The wheel sensor is p...

Страница 93: ...Cable CPT7 M12 Connector IO2 Cable Pin Signal Pin on AUX 2 Pin 1 GND Pin 8 Pin 2 UB Input Power External Pin 3 Signal A Pin 14 Pin 4 Signal A Pin 15 Pin 5 Signal B No Connection Pin 6 Signal B Pin 7 Reserved No Connection Pin 8 Table 14 Kistler to NovAtel Wheel Sensor Cable Connections This modification is for the Kistler WPT 8 pin M12 plug cable number 14865 The WPT requires power to operate whic...

Страница 94: ...raveled between update intervals 1 Hz This information is used to constrain free inertial drift during times of poor GNSS visibility The filter also contains a state for modeling the circumference of the wheel as it may change due to hardware changes or environmental conditions Information about how the DMI updates are being used is available in the INSUPDATESTATUS log Connect the DMI to a CPT7 Th...

Страница 95: ...bleshooting on the next page For more information see the DMICONFIG command RAWDMI log and INSUPDATESTATUS log in the OEM7 Commands and Logs Reference Manual 4 5 5 DMI Command Compatibility With the introduction of the new streamlined command and log set for DMI use legacy commands and logs have been deprecated Firmware 7 06 xx and earlier Type Firmware 7 07 00 and later Type WHEELVELOCITY1 Comman...

Страница 96: ... cases note the following l Cable shields should be tied to the connector shells and the metallized backshells housings should be in contact with the connector shells as well l A differential pairs should be on twisted pairs in the cables DMI input is not supported on legacy CPT7s 4 6 Synchronizing External Equipment A SPAN system allows you to synchronize with external equipment All SPAN enabled ...

Страница 97: ...ands and Logs Reference Manual 4 7 Adding Timed Sensor Triggers Use the EVENT IN and EVENT OUT connections to attach up to three sensor devices to an OEM7 receiver and then trigger the sensors based upon GPS time In this context a sensor is any external device The sensor reference in the receiver is an object consisting of an Event_In and Event_Out pair of system strobes all linked by a sensor ide...

Страница 98: ... event This is optional and useful if a sensor provides a measurement TOV pulse The produced log is a TAGGEDxMARKPVA where the x is the Event_In line associated with that sensor via the SETUPSENSOR command For example if the SETUPSENSOR command specifies SENSOR1 to use MARK1 in as the input event then a TAGGEDMARK1PVA log will be produced when any pulses on that line are observed In this case the ...

Страница 99: ... specific subset of logs that output this azimuth See Table 17 Logs with Azimuth Data below Log Log Format Azimuth Source BESTGNSSVEL NovAtel Course Over Ground From the best GNSS only solution BESTVEL NovAtel Course Over Ground From the best system solution which could be either GNSS or INS GPHDT NMEA ALIGN GPVTG NMEA Course Over Ground From the best system solution which could be either GNSS or ...

Страница 100: ...ogs RANGE BESTPOS RTKPOS PSRPOS and so on while in INS operation is 5 Hz If the receiver is not running INS no IMU is attached GNSS logs can be requested at rates up to 20 Hz 4 10 Variable Lever Arm The variable lever arm concept arose to support applications in which the IMU is no longer rigidly fixed to the vehicle but rather on a gimballed mount This creates an issue where the input lever arm o...

Страница 101: ...me used to define the desired reference for attitude output for the MARKxPVA logs typically matching a gimbal mounted sensor om Figure 31 Sample Configuration on the next page and Figure 32 Operating Gimbal on page 103 illustrate a basic scenario for the information in the table above Figure 31 Sample Configuration on the next page shows a possible configuration for the mount body frame IMU body f...

Страница 102: ...Chapter 4 SPAN Operation CPT7 and CPT7700 Installation and Operation User Manual v9 102 Figure 31 Sample Configuration ...

Страница 103: ...e Basic I O The variable lever arm functionality is based on the input of the INPUTGIMBALANGLE command This command specifies the right handed rotation angles from the mount body frame m to the gimbal body frame g with the order of rotations Z X Y Entering this command will automatically cause the system to rotate the static lever arm into the latest gimballed frame The update rate of the variable...

Страница 104: ...portant use the GIMBALLEDPVA log Table 18 Logs used with Variable Lever Arm Rotations and Translations For the information provided by the system to be meaningful the following offsets have to be set correctly By default the system assumes that the IMU Body frame gimbal mount and Mount Body frame are coincident If this is not the case then additional commands are necessary to relate all of the dif...

Страница 105: ...de vector between two SPAN systems One is the Master receiver and the other is the Rover receiver Once configured the Master receiver begins transmitting corrections to the Rover receiver Relative information is created and the system begins filling the RELINSPVA log and SYNCRELINSPVA log on the Rover receiver The RELINSPVA log is then transmitted back to the Master receiver for output The data li...

Страница 106: ...IMEOUT 5 For information about the RTKTIMEOUT command refer to the OEM7 Commands and Logs Reference Manual 4 11 1 Configure Relative INS To configure the receivers to begin computing the relative information 1 Setup a link between the receivers that will be used to transfer data for example radios 2 Enable the transfer of relative corrections between receivers using one of the methods below l Send...

Страница 107: ...Chapter 4 SPAN Operation CPT7 and CPT7700 Installation and Operation User Manual v9 107 The master and rover receiver must be using the same datum ...

Страница 108: ...e obstructed by any part of the vehicle As heading accuracy is dependent on baseline length mount the antennas as far apart as possible A minimum separation distance of 1 metre is recommended 3 The lever arms or distance from the CPT7 to the antennas needs to be fixed and accurately measured using the coordinate axes defined on the outside of the CPT7 The baseline between the two antennas does NOT...

Страница 109: ...al Antenna CPT7 and CPT7700 Installation and Operation User Manual v9 109 Figure 34 SPAN CPT7700 Dual Antenna Installation Install a user supplied 2 A slow blow fuse in the positive line of the connection to the power source ...

Страница 110: ...should both be powered on and connected directly between COM 2 of the CPT7700 and COM 2 of the second rover receiver through either a null modem cable or an appropriate radio connection Before configuring a CPT7 ALIGN system the CPT7 must be powered on COM2 is the default COM port for a connection between the CPT7700 and rover receiver for ALIGN If the default COM ports are changed using the INSAL...

Страница 111: ...he syntax of the above commands As with all ALIGN capable products the GNSS baseline solution is available from the GPHDT log and HEADING2 log For INS heading use the INSATT log or INSPVA log The SPAN system can be configured for different alignment routines depending on the motion conditions experienced during the alignment period For example in marine applications the dynamics required for a kin...

Страница 112: ...eiver ALIGNMENTMODE UNAIDED 5 3 3 Automatic Alignment Mode Automatic Alignment default Automatic Alignment Mode Selection is the default setting for a SPAN enabled receiver This mode is designed to allow alignment of the system as quickly as possible using either an aided transfer alignment Aided Transfer Alignment ALIGN Injected Azimuth above a kinematic alignment Kinematic Alignment on page 84 o...

Страница 113: ... using SAVEETHERNETDATA command Refer to the OEM7 Commands and Logs Reference Manual 6 1 Required Hardware The following hardware is required to set up an Ethernet interface to an OEM7 receiver l a user supplied computer with an available Ethernet serial or USB port l a GNSS antenna l an Ethernet capable OEM7 receiver l an RS 232 null modem cable or USB cable l one or two CAT5 Ethernet cables l a ...

Страница 114: ...nds in this procedure to the receiver For information about using NovAtel Application Suite refer to docs novatel com Tools 3 Enable the Ethernet port on the receiver by entering ETHCONFIG ETHA AUTO AUTO AUTO AUTO 4 Assign the TCP IP port number used for the connection by entering ICOMCONFIG ICOM1 TCP 2000 5 Assign the receiver IP address subnet mask and default gateway by entering IPCONFIG ETHA S...

Страница 115: ...Subnet mask and Default gateway for the Ethernet port on the computer Ensure the Ethernet settings used for the computer are compatible with the Ethernet settings on the OEM7 receiver For example the following settings are compatible with the OEM7 receiver settings used in Static IP Address Configuration Receiver on the previous page IP address 192 168 74 11 Subnet mask 255 255 255 0 Gateway 192 1...

Страница 116: ...t a computer to the OEM7 receiver using a null modem serial cable or USB cable model dependent 2 Establish a connection to the receiver using either NovAtel Application Suite or another terminal program This connection is used to send the commands in this procedure to the receiver For information about using NovAtel Application Suite refer to docs novatel com Tools 3 Enable the Ethernet port by en...

Страница 117: ...t your computer to both OEM7 receivers using null modem serial cables or USB cables 2 Establish a connection to the receiver using either NovAtel Application Suite or another terminal program This connection is used to send the commands in this procedure to the receivers For information about using NovAtel Application Suite refer to docs novatel com Tools 3 Connect the power cables to both of the ...

Страница 118: ... ONTIME 1 optional SAVECONFIG Use the BESTPOS log to confirm that the OEM7 rover is in RTK mode 6 5 Large Ethernet Port Data Throughput For high data rate Ethernet logging using TCP IP disable Windows Delayed Ack Algorithm DAA for complete data logging If you do not disable DAA there will be data gaps due to the Windows Ethernet buffer If done incorrectly changing the Windows Registry may impair t...

Страница 119: ...asters refer to the following link http www rtcm ntrip org home 7 1 NTRIP Configuration Over Ethernet The following procedure describes how to configure a NovAtel base and a NovAtel rover through a third party NTRIP caster This configuration is recommended for optimal RTK performance 1 Establish a connection to the receiver using either NovAtel Application Suite or another terminal program This co...

Страница 120: ...TK system certain National Marine Electronics Association NMEA strings are required to be sent from the rover back to the RTK network For example if connected to the VRS mount point the rover is required to send its position to the network in a standard NMEA GGA message This is achieved by issuing the following commands LOG NCOMx GPGGA ONTIME 5 until data is received by the caster For more informa...

Страница 121: ...ter Group Messages PGN over the CAN bus l PGN 126992 System Time l PGN 129025 GNSS Position Rapid Update l PGN 129026 COG SOG Rapid Update l PGN 129027 Position Delta High Precision Rapid Update l PGN 129029 GNSS Position l PGN 129551 GNSS Differential Signal The following commands and logs are used for CAN configuration l CANCONFIG command controls the CAN transceiver hardware and places the rece...

Страница 122: ...anged 2 Use the CANCONFIG command to place the receiver on bus 3 Optionally use the J1939STATUS log to monitor CAN status on the receiver 8 2 1 Configuration Notes l The J1939CONFIG and CANCONFIG commands can be entered in any order After the CANCONFIG command is used to place the receiver on the CAN bus J1939CONFIG commands take effect immediately Until then J1939CONFIG can be entered many times ...

Страница 123: ...dresses 4 CANCONFIG CAN1 ON 5 SAVECONFIG J1939STATUS NODE1 DISABLED 0 0xFE J1939STATUS NODE1 CLAIMING 1 address J1939STATUS NODE1 CLAIMED attempt count address 8 2 4 Example of Detecting an Address Claim Failure and Reconfiguring 1 LOG J1939STATUS ONCHANGED 2 J1939CONFIG NODE1 CAN1 addresses 3 CANCONFIG CAN1 ON J1939STATUS NODE1 DISABLED 0 0xFE J1939STATUS NODE1 CLAIMING 1 address J1939STATUS NODE...

Страница 124: ...IG command clears the commanded address the Address Claim procedure will be executed again based on parameters specified in the J1939CONFIG command 8 3 NMEA2000 Logging OEM7 receivers support both a subset of the standard NMEA2000 PGNs as well as NovAtel proprietary PGNs All NMEA2000 logs are configured using the LOG command where the COM port is a CAN port CCOM The CCOM port must be associated wi...

Страница 125: ...figuration NMEA2000 logs coexist with correction messages both incoming and outgoing 8 4 1 Example for Receiving Corrections from Any Source 1 CCOMCONFIG CCOM2 NODE1 J1939 61184 6 0xFF 2 INTERFACEMODE CCOM2 AUTO NONE OFF 8 4 2 Example for Transmitting Corrections to 0x1C Node 1 CCOMCONFIG CCOM2 NODE1 J1939 61184 6 0x1c 2 INTERFACEMODE CCOM2 NONE RTCMV3 OFF 8 5 NovAtel Messages Over CAN Standard No...

Страница 126: ...ancements in functionality and flexibility several new commands and logs have been added Also the SETCANNAME command has been removed and the CANCONFIG command has been modified The following sections describes how to configure CAN on OEM7 receivers to operate like OEM6 receivers 8 6 1 Configuration on OEM6 On OEM6 receivers the SETCANNAME command with minimal parameters could be used to configure...

Страница 127: ...aim procedure with default values is initiated with the CANCONFIG ON command The J1939CONFIG command can be used to modify the default address claim parameters including the ManufacturingCode set to 603 in the SETCANNAME example above now defaults to 305 in the new J1939CONFIG but it s not necessary ...

Страница 128: ...T logs can be generated when a receiver status bit is set or cleared with the STATUSCONFIG SET and STATUSCONFIG CLEAR commands Bits in the receiver status word can also be promoted to act like error bits with the STATUSCONFIG PRIORITY command 9 1 Receiver Status Word The receiver status word indicates the current status of the receiver This word is found in the header of all logs and in the RXSTAT...

Страница 129: ...icates a problem see Examining the RXSTATUS Log on page 133 9 3 2 Error Word The error field contains a 32 bit word Each bit in the word is used to indicate an error condition Error conditions may result in damage to the hardware or erroneous data so the receiver is put into an error state If any bit in the error word is set the receiver broadcasts the RXSTATUSEVENT log on all ports unless the use...

Страница 130: ...US Log on page 133 9 3 3 Status Code Arrays There are currently 5 status code arrays l receiver status word l auxiliary 1 status l auxiliary 2 status l auxiliary 3 status l auxiliary 4 status Each status code array consists of four 32 bit words the status word a priority mask a set mask and a clear mask The status word is similar to the error word with each of the 32 bits indicating a condition Th...

Страница 131: ... an error state Setting a bit in the auxiliary priority mask results in the corresponding bit in the receiver status code to be set if any masked auxiliary bit is set Bit 31 of the receiver status word indicates the condition of all masked bits in the auxiliary 1 status word Likewise bit 30 of the receiver status word corresponds to the auxiliary 2 status word and bit 29 to the auxiliary 3 status ...

Страница 132: ...ements for the CPT7 on page 28 The receiver cannot establish communication Check the serial cables and ports Replace if faulty See CAN Bus on page 121 Refer also to the SERIALCONFIG command The receiver is not tracking satellites Ensure that the antenna has an unobstructed view of the sky from horizon to horizon Check the RXSTATUS error states See Examining the RXSTATUS Log on the next page If the...

Страница 133: ...eceiver is being affected by interference See Interference Toolkit on page 60 Move the GNSS antenna away from the source of the interference signal If the interference mitigation feature is enabled on the receiver configure a filter within the Interference Toolkit to filter out the interference signal The receiver s Automatic Gain Control AGC is not working properly See the jamming symptom in this...

Страница 134: ...error conditions are captured using the RXSTATUS log 10 Possible hardware or environmental condition If you cannot resolve the problem contact Customer Support on page 15 11 Possible hardware or environmental condition If you cannot resolve the problem contact Customer Support on page 15 Also check the Auxiliary 2 Status word to determine which PLL is in error 12 14 Reserved 15 Issue a FRESET comm...

Страница 135: ...ich RF channels are jammed 16 17 Reserved 18 When the receiver has tracked GNSS satellites long enough for a valid almanac to be received this bit will be set to 0 19 None This bit only indicates if the receiver has calculated a position 20 None This bit is a status bit indicating if the receiver s position has been manually fixed and does not represent a problem Refer also to the FIX command 21 N...

Страница 136: ...efer also to the FRESET command For information about the commands and logs in this section refer to the OEM7 Commands and Logs Reference Manual 10 2 Examining the AUX1 Status Word Table 24 Resolving an Error in the AUX1 Status Word below provides actions to take when your receiver has an error flag in the AUX1 status word Bit Set Action to Resolve 0 2 Jammer detected 3 None This bit indicates tha...

Страница 137: ...ds can be sent and logs received 10 3 1 Indicators of an Error State The indications that the receiver is in an error state such as a Temperature Status error are l Logs that have a solution status will show INSUFFICIENT_OBS as the Solution Status l The RXSTATUSEVENT log is output on all communication ports This log will indicate an error condition in the Receiver Error word of the log l All logs ...

Страница 138: ...RING 1990 326146 020 0a104020 2ae1 14434 00000000 5 0a104020 00000000 00030000 00030000 Receiver Status 00062000 00001008 00000000 00000000 00000000 00000000 80000000 00000000 80000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 For information about reading the Receiver Status word refer to Status Word on page 129 2 If Bit 1 is 0 the temperature is okay Continue monitoring but ...

Страница 139: ...e Mode exists to allow users to take steps to recover the receiver after such an error occurs Potential recovery steps are described in Recovery Steps below Safe Mode is indicated by an error bit in the RXSTATUS log 10 4 1 Reset Loop Detection In order to determine when the Safe Mode error should be triggered OEM7 receivers have the ability to detect when an unexpected reset has occurred during th...

Страница 140: ...rades A local NovAtel dealer can provide all the information needed to upgrade or update a receiver Refer to novatel com contactus sales offices for contact information or contact sales nov ap hexagon com or support novatel hexagon com directly 11 1 1 Firmware Updates Firmware updates are firmware releases that include fixes and enhancements to the receiver functionality Firmware updates are relea...

Страница 141: ...page 145 Auth codes work with any signed firmware image Therefore if a receiver has an auth code for the old version of firmware that same auth code will work for the new version of firmware provided both images are digitally signed by NovAtel Signed firmware images are distributed in shex files The new download package includes a signed firmware file type that uses an extension designated as shex...

Страница 142: ...owto txt Instructions on how to use the WinLoad utility whatsnew rtf Information on the changes made in the firmware since the last revision x x shex Firmware version upgrade file where x x defines the product name and release e g OM7MR0200RN0000 shex NovAtel Software License Agreement rtf License agreement for the firmware NovAtel has an online video tutorial that explains firmware updating at no...

Страница 143: ...CPT7700 Installation and Operation User Manual v9 143 Figure 45 WinLoad s Open Window When a file is selected the filename appears in the main WinLoad display area and in the title bar Figure 46 Open File in WinLoad below Figure 46 Open File in WinLoad ...

Страница 144: ...orization Code window appears enter the auth code and click OK See Authorization Code on page 141 for further information about the Authorization Code 6 The receiver finishes the download and then resets The process is complete when Done appears in the main display area 7 Close WinLoad If loading a firmware that is currently installed on an OEM7 receiver i e reloading the same version of firmware ...

Страница 145: ...er using an Ethernet connection To update the firmware on the receiver 1 Obtain the new firmware file See Downloading Firmware Files on page 141 for information about obtaining the latest version of receiver firmware Copy the firmware file to the device s local drive before uploading 2 Connect the receiver to a computer using an Ethernet connection 3 Open a web browser and enter the IP address ass...

Страница 146: ...hen working with a shex file SOFTLOADFILE Load a firmware image that has been loaded onto the internal storage of the receiver Log Description SOFTLOADSTATUS Provides status updates for the ongoing SoftLoad process Each command and log can be used in abbreviated ASCII ASCII or binary format with the exception of SOFTLOADDATA which should only be used in binary format File Types Firmware data is st...

Страница 147: ...ds into a binary SOFTLOADDATA command Packaging data parsed from multiple S3 records into a binary SOFTLOADDATA command can result in improved firmware update times as each S3 record contains only a small number of bytes of firmware data A single SOFTLOADDATA command can package up to 4096 bytes of firmware data from multiple S3 records whereas a single SOFTLOADSREC command contains a maximum of 2...

Страница 148: ... to the receiver when updating using a shex file The response for each command must be processed before sending the next command so as to determine if the command was accepted or rejected and to wait for the receiver to complete the operation Responses to SoftLoad commands are guaranteed to be output from the receiver within a specific time which varies by command Refer to specific SoftLoad comman...

Страница 149: ...iver within 300 seconds from the time the SOFTLOADCOMMIT command was received by the receiver 7 Send the auth code for the newly downloaded image using the AUTH command This is only required if there is not already a signature auth code on the receiver as signature auth codes are maintained through a SoftLoad update See Authorization Code on page 141 for details on Auth Codes AUTH ADD_DOWNLOAD AUT...

Страница 150: ... in the SOFTLOADSTATUS log Any status enum value greater than the ERROR status indicates an error has occurred during the SoftLoad update In the event of an error the SoftLoad update should be restarted by issuing a SOFTLOADRESET command or normal operation can be restored by resetting the receiver In rare cases after a SoftLoad error the boot code may not be able to determine which is the latest ...

Страница 151: ... the new Auth Code in the Apply New Auth Code box 7 Click the Apply button to save the changes to the receiver The receiver will restart when a new Auth Code is applied 11 8 2 Entering an Auth Code Using Setup Monitor Web 1 Obtain the new auth code from NovAtel Sales or your local NovAtel dealer 2 Use a Wi Fi capable device such as a laptop tablet or smart phone to connect to the receiver s Wi Fi ...

Страница 152: ... is a command that enables model upgrades and auth code is the upgrade authorization code expressed as follows XXXXXX XXXXXX XXXXXX XXXXXX XXXXXX MODEL EXPDATE where l Each X character is a case insensitive ASCII character l The MODEL string is a maximum of 15 characters long and represents the model enabled by the auth code l The EXPDATE string is the auth code s expiry date in YYMMDD format Exam...

Страница 153: ...T7 l CPT7 Performance Specifications on the next page l CPT7700 Performance Specifications on page 157 l CPT7 IMU Performance Specifications on page 160 l CPT7 Mechanical Specifications on page 161 l CPT7 Electrical and Environmental Specifications on page 165 l CPT7 Data Communication Specifications on page 168 l CPT7 Strobe Specifications on page 169 l CPT7 Connectors on page 170 l CPT7 I O1 Cab...

Страница 154: ... Up to 5 channels6 Table 26 CPT7 Receiver Performance 1Typical values All position and velocity RMS values are based on Horizontal position accuracy Performance specifications are subject to GNSS system characteristics Signal in Space SIS operational degradation ionospheric and tropospheric conditions satellite geometry baseline length multipath effects and the presence of intentional or unintenti...

Страница 155: ...st Fix Hot 20 s Almanac and recent ephemeris saved and approximate position and time entered Cold 39 s No almanac or ephemeris and no approximate position or time Signal Reacquisition 0 5 s L1 typical 1 0 s L2 and L5 typical Data Rates Measurements up to 20 Hz Position up to 20 Hz INS Solution up to 200 Hz IMU Raw Data Rate1 100 Hz or 400 Hz Time Accuracy2 20 ns RMS Velocity Accuracy 0 03 m s RMS ...

Страница 156: ... mm GLONASS L1 C A 8 cm 1 0 mm L2 P 8 cm 1 0 mm L2 C A 8 cm 1 0 mm Galileo E1 3 cm 0 5 mm E5a 3 cm 0 75 mm E5b 3 cm 0 75 mm E5 AltBOC 3 cm 0 75 mm BeiDou B1I 4 cm 0 5 mm B1C 3 cm 0 5 mm B2I 4 cm 0 5 mm B2a 3 cm 0 5 mm B2b1 3 cm 0 5 mm Velocity Limit2 515 m s 1Under good CN0 conditions e g 44 dBHz 2Export licensing restricts operation to a maximum of 515 metres per second message output impacted ab...

Страница 157: ...meris saved and approximate position and time entered Cold 39 s No almanac or ephemeris and no approximate position or time Table 27 CPT7700 Receiver Performance 1Typical values All position and velocity RMS values are based on Horizontal position accuracy Performance specifications are subject to GNSS system characteristics Signal in Space SIS operational degradation ionospheric and tropospheric ...

Страница 158: ...20 ns RMS Velocity Accuracy 0 03 m s RMS Measurement Precision Code Carrier GPS L1 C A 4 cm 0 5 mm L2 P Y 8 cm 1 0 mm L2C 8 cm 0 5 mm L5 3 cm 0 5 mm GLONASS L1 C A 8 cm 1 0 mm L2 P 8 cm 1 0 mm L2 C A 8 cm 1 0 mm Galileo E1 3 cm 0 5 mm E5a 3 cm 0 75 mm E5b 3 cm 0 75 mm E5 AltBoc 3 cm 0 75 mm E6 3 cm 0 75 mm BeiDou B1I 4 cm 0 5 mm B1C 3 cm 0 5 mm B2I 4 cm 0 5 mm B2a 3 cm 0 5 mm B2b2 3 cm 0 5 mm B3I ...

Страница 159: ...nical Specifications CPT7 and CPT7700 Installation and Operation User Manual v9 159 Velocity Limit1 515 m s 1Export licensing restricts operation to a maximum of 515 metres per second message output impacted above 500 m s ...

Страница 160: ...eration User Manual v9 160 A 3 CPT7 IMU Performance Specifications Gyroscope Performance Technology MEMS Input Rate Full Performance Range 325 second Full Operating Range 400 second Accelerometer Performance Technology MEMS Accelerometer Range 20 g Table 28 CPT7 IMU Performance ...

Страница 161: ...and Operation User Manual v9 161 A 4 CPT7 Mechanical Specifications l Figure 48 CPT7 Dimensions on the next page l Figure 49 CPT7700 Dimensions on page 163 l Figure 50 CPT7 CPT7700 Center of Navigation on page 164 In the following diagrams the dimensions are in millimetres ...

Страница 162: ...APPENDIX A CPT7 Technical Specifications CPT7 and CPT7700 Installation and Operation User Manual v9 162 Figure 48 CPT7 Dimensions ...

Страница 163: ...APPENDIX A CPT7 Technical Specifications CPT7 and CPT7700 Installation and Operation User Manual v9 163 Figure 49 CPT7700 Dimensions ...

Страница 164: ... Manual v9 164 Figure 50 CPT7 CPT7700 Center of Navigation The axis marking on the CPT7 indicates the orientation of the X Y and Z axis only It does not indicate the center of navigation For the location of the center of navigation refer to Figure 50 CPT7 CPT7700 Center of Navigation above ...

Страница 165: ... Operating MIL STD 810H Method 516 8 Procedure 1 40 g 11 ms terminal sawtooth Acceleration MIL STD 810H Method 513 8 Procedure II G Loading 15 g Table 29 CPT7 Environmental Specifications Voltage 9 to 36 VDC Power Consumption 9 W typical all constellations all frequencies plus L Band These are typical values using serial ports without interference mitigation These values can change with the number...

Страница 166: ...z 1227 60 MHz 1176 45 MHz GLONASS L1 GLONASS L2 GLONASS L3 1593 1610 MHz 1237 1254 MHz 1202 025 MHz Galileo E1 Galileo E5a Galileo E5b Galileo E5 1575 42 MHz 1176 45 MHz 1207 14 MHz 1191 795 MHz BeiDou B1I BeiDou B1C BeiDou B2I BeiDou B2a BeiDou B2b 1561 098 MHz 1575 42 MHz 1207 14 MHz 1176 45 MHz 1207 14 MHz L Band 1525 to 1560 MHz LNA Power 5 0 VDC 5 0 mA to 200 mA supplied by receiver through c...

Страница 167: ...al v9 167 Parameter Symbol Conditions Minimum Typical Maximum Receiver Differential Threshold Voltage VTH 7 V VCM 12 V1 200 mV 125 mV 50 mV Receiver Input Hysteresis ΔVTH VA VB 0 V 15 mV There is a 100Ω termination resistor across the DMI_A and DMI_A inputs 1VCM is the common mode input voltage ...

Страница 168: ...format RS 422 Data rates 2400 4800 9600 default 19200 38400 57600 115200 230400 or 460800 bit s Signals supported COM2_Tx COM2_Tx COM2_Rx COM2_Rx CPT7 port IO1 Connector on Cable DB9 female on CPT7 I O1 Cable CAN Bus Electrical Format ISO 11898 2 Data rates 1 Mbps maximum CAN Bus throughput is determined by slowest device on the bus CPT7 port IO2 USB Electrical format Conforms to USB 2 0 Data rate...

Страница 169: ...ogs and ONMARK trigger Polarity is configurable using the EVENTINCONTROL command EVENT_IN2 IO2 EVENT_IN3 IO1 EVENT_OUT1 IO1 Output Active low Programmable variable frequency outputs ranging from 0 Hz to 50 MHz refer to the EVENTOUTCONTROL command Note By default EVENT_OUT3 is configured as a Pulse Per Second PPS EVENT_OUT2 IO2 EVENT_OUT3 IO1 Table 34 CPT7 Strobes Description Strobe Sym Min V Max V...

Страница 170: ...input 2 COM2_RX COM2 receive data negative One half of the RS 422 receive differential pair 3 Reserved Reserved 4 Reserved Reserved 5 EVENT_OUT3 EVENT3 Mark3 output 6 COM2_TX COM2 transmit data negative One half of the RS 422 transmit differential pair 7 COM2_TX COM2 transmit data positive One half of the RS 422 transmit differential pair 8 COM2_RX COM2 receive data positive One half of the RS 422...

Страница 171: ..._D One half of the USB differential pair 5 DMI_A Signal A from the Distance Measurement Instrument 6 ETH_TD Ethernet transmit data negative One half of the Ethernet receive data differential pair 7 ETH_TD Ethernet transmit data positive One half of the Ethernet transmit data differential pair 8 ETH_RD Ethernet receive data negative One half of the Ethernet transmit data differential pair 9 EVENT_O...

Страница 172: ...s to all of the signals available on the IO1 connector of the CPT7 Figure 52 CPT7 I O1 Cable P1 16 Pin Circular Signal Name J2 COM 2 DB9 Female J3 AUX 1 DB15 Female E1 Leads 1 EVENT_IN3 7 2 COM2 RX 7 3 Reserved 4 Reserved 5 EVENT_OUT3 3 6 COM2 TX 8 7 COM2 TX 2 8 COM2 RX 3 9 EVENT OUT1 10 10 EVENT IN1 4 11 Reserved 12 Reserved Table 38 CPT7 I O1 Cable Pinout ...

Страница 173: ...d 14 Reserved 15 GND 5 8 VRTN 16 VIN VIN A 9 1 Custom Cable Recommendations To create a custom cable for the IO1 port a specific connector is required on the CPT7 end of the cable See the following table for information about this connector Connector Description Commercial Part Number NovAtel Part Number IO1 Fischer Core 16 pin cable mounted plug SS 104 A086 140 21223365 Table 39 I O1 Connector ...

Страница 174: ...ble provides access to all of the signals available on the IO2 connector on the CPT7 Figure 53 CPT7 I O2 Cable P1 16 Pin Circular Signal Name P2 USB Type A Male J2 COM 1 DB9 Female J3 AUX 2 DB15 Female J4 Ethernet RJ45 Female Leads 1 DMI_A 14 2 ETH_RX_H 3 3 CAN_H 1 4 USB 3 5 DMI_A 15 6 ETH_TX_L 2 7 ETH_TX_H 1 Table 40 CPT7 I O2 Cable Pinout ...

Страница 175: ... 9 10 EVENT_IN2 6 11 CAN_L 2 12 USB 2 13 COM1_RXD 3 14 COM1_TXD 2 15 GND 4 5 8 VRTN 16 VIN VIN A 10 1 Custom Cable Recommendations To create a custom cable for the IO2 port a specific connector is required on the CPT7 end of the cable See the following table for information about this connector Connector Description Commercial Part Number NovAtel Part Number IO2 Fischer Core 16 pin cable mounted p...

Страница 176: ... legacy CPT7 Legacy CPT7 CPT7 CPT7700 Legacy CPT7 CPT7 CPT7700 Dimensions 90 x 76 x 60 mm 90 x 76 x 60 mm 90 x 76 x 60 mm Weight 500 g 500 g 500 g Status LEDs 4 4 Table 42 Physical Specifications Legacy CPT7 CPT7 CPT7700 Input Voltage 9 to 32 VDC 9 to 36 VDC 9 to 36 VDC Power Consumption 7 W 9 W 9 W Table 43 Power Requirements Legacy CPT7 CPT7 CPT7700 GPS L1 C A Y Y Y L1C Y Y Y L2C Y Y Y L2P Y Y Y...

Страница 177: ...Y Y L2 C A Y Y Y L2P Y Y Y L3 Y Y Y L5 Y Y Y Galileo E1 Y Y Y E5a Y Y Y E5b Y Y Y E5 AltBOC Y Y Y E6 Y BeiDou B1I Y Y Y B1C Y Y Y B2I Y Y Y B2a Y Y Y B2b Y Y Y B3I Y QZSS L1 C A Y Y Y L1C Y Y Y L2C Y Y Y L5 Y Y Y L6 Y NavIC L5 Y Y Y SBAS L1 Y Y Y L5 Y Y Y Legacy CPT7 CPT7 CPT7700 GNSS Antenna Connector Primary SMA SMA SMA Secondary SMA SMA Table 45 RF Input ...

Страница 178: ...1 Data Rate 2400 4800 9600 default 19200 38400 57600 115200 or 230400 bit s 2400 4800 9600 default 19200 38400 57600 115200 230400 or 460800 bit s Table 46 COM Port Communication Legacy CPT7 CPT7 CPT7700 Event In 2 3 3 Event Out 2 3 3 Wheel Sensor 1 1 Table 47 I O Strobes Legacy CPT7 CPT7 CPT7700 INS solution 200 Hz 200 Hz 200 Hz IMU raw data rate 100 Hz 100 Hz or 400 Hz 100 Hz or 400 Hz Onboard M...

Страница 179: ... receiver with EG320N IMU Wi Fi and built in data storage PwrPak7D E1 Single enclosure SPAN GNSS INS receiver with dual antenna inputs EG320N IMU Wi Fi and built in data storage PwrPak7 E2 Single enclosure SPAN GNSS INS receiver with EG370N IMU Wi Fi and built in data storage PwrPak7D E2 Single enclosure SPAN GNSS INS receiver with dual antenna inputs EG370N IMU Wi Fi and built in data storage Pwr...

Страница 180: ...1 L2 BeiDou B1 and Galileo E1 GNSS 802L GPS L1 L2 GLONASS L1 L2 BeiDou B1 Galileo E1 and L Band GNSS 804 GPS L1 L2 GLONASS L1 L2 BeiDou B1 B2b and Galileo E1 E5b GNSS 804L GPS L1 L2 GLONASS L1 L2 BeiDou B1 B2b Galileo E1 E5b and L Band GNSS 850 GPS L1 L2 L5 GLONASS L1 L2 L3 BeiDou B1 B2a B2b B3 Galileo E1 E5a E5b E6 and L Band Compact Antennas 2G15A XTB 1 2 6 circular form factor GPS L1 3G15A XT 1...

Страница 181: ...her Core Series cable mounted plug For use on cables made for the CPT7 IO1 connector Fischer part number SS 104 A086 140 21223366 Fischer Core Series cable mounted plug For use on cables made for the CPT7 IO2 connector Fischer part number SS 104 A086 240 Table 51 CPT7 Cables NovAtel Part Part Description GPS C006 5 metres TNC to TNC cable GPS C016 15 metres TNC to TNC cable GPS C032 30 metres TNC ...

Страница 182: ...NS solution These logs can be logged at any rate up to the rate of the IMU data 100 or 400 Hz The solution can also be triggered by the mark input signal by requesting the MARKxPVA logs 4 Can I still access the GNSS only solution while running SPAN The GNSS only solution used when running the OEM7 receiver without the IMU is still available when running SPAN Logs such as the PSRPOS log and RTKPOS ...

Страница 183: ...w element gain might be compensated by an increased low noise amplifier gain However the signal to noise ratio or C No is still degraded 4 Antenna beamwidth and gain roll off Gain roll off is a factor of beamwidth and specifies how much the gain changes over the elevation angle of the antenna From the antenna s point of view the satellites rise from the horizon towards zenith and fall back to the ...

Страница 184: ...ter error translates to a 10 15 error in reported position For RTK survey applications geodetic grade antennas offer superior PCO PCV performance 6 The application An antenna has to meet the performance environmental mechanical and operational requirements of the intended application For example GNSS antennas used for aviation applications should ideally be TSO FAA certified and be rugged enough t...

Страница 185: ...APPENDIX E Importance of Antenna Selection CPT7 and CPT7700 Installation and Operation User Manual v9 185 ...

Страница 186: ...CPT7 and CPT7700 Installation and Operation User Manual v9 186 ...

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