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Chapter 4 SPAN Operation

SPAN CPT7 Installation and Operation User Manual v3A

90

4.7.1 Course Over Ground

The course over ground azimuth is determined using the position delta between two position
solutions computed by the OEM7 receiver. This is the simplest way to compute an azimuth and is
done using either the GNSS solution or the INS solution. This method does not work when the
vehicle is stationary as any position difference is due to position error and the computed azi-
muth is meaningless.

Course over ground azimuth is of greatest advantage in aerial or marine environments where
the actual direction of travel may not match the forward axis of the aircraft/boat due to winds or
currents. This effect is known as the crab angle. Course over ground azimuth is a great way to
compute the offset if another means of computing the vehicle azimuth is available.

Course over ground azimuths are available in several different velocity logs. See

Table 9: Logs

with Azimuth Data

4.7.2 Inertial Azimuth

The inertial azimuth computed by the SPAN inertial navigation filter. It uses the sensors in the
IMU to compute the azimuth of the IMU (this can be rotated to another reference if desired). For
more information, see the

SETINSROTATION

command in the

OEM7 Commands and Logs

Reference Manual

This azimuth is the one provided in the majority of the INS logs available to a SPAN user. See

Table 9: Logs with Azimuth Data

4.7.3 ALIGN Azimuth

On SPAN systems with dual antennas, an azimuth is available from the dual antenna baseline.
This is the same azimuth that is used as an update to the SPAN solution. It is noisier than the
inertial azimuth and is available at a much lower rate, but will have a stable mean. This azimuth
is computed from the master antenna to the rover antenna based on how the antennas are ori-
ented on the vehicle.

There is a specific subset of logs that output this azimuth. See

Table 9: Logs with Azimuth Data

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

Table 9: Logs with Azimuth Data

«
...
88
89
90
91
92
...
»

Содержание SPAN CPT7

Страница 1: ...OM 20000179 v3A January 2019 SPAN CPT7 Installation and Operation User Manual ...

Страница 2: ... 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 photocop...

Страница 3: ...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...

Страница 4: ... 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...

Страница 5: ...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 th...

Страница 6: ...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 13...

Страница 7: ...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 ...

Страница 8: ...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 Configurati...

Страница 9: ...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 ...

Страница 10: ...ving 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...

Страница 11: ...uip ment does cause harmful interference to radio or television reception which can be determined by turning the equipment off and on the user is encouraged to try 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 differe...

Страница 12: ...ipment needs to be installed in a RESTRICTED ACCESS LOCATION If the SPAN CPT7 is operating in a lower temperature environment where the ambient tem perature is less than 60 C installation in a RESTRICTED ACCESS LOCATION is not required WEEE If you purchased your SPAN CPT7 in Europe please return it to your dealer or supplier at the end of life The objectives of the European Community s environment...

Страница 13: ...ation Evaluation Authorization and Restriction of Chemicals REACH The Candidate List of Substances of Very High Concern SVHC published by the European Chemical Agency ECHA is available at https echa europa eu candidate list table Ethernet Port The Ethernet ports are Safety Extra Low Voltage SELV circuits only and are suitable for connection within a building only Do not connect them to Telecommuni...

Страница 14: ...sible to avoid over voltages caused by lightning but a lightning protection device may be used to shunt a large portion of the transient energy to the building ground reducing the over voltage condition as quickly as possible 3 Primary lightning protection must be provided by the operator customer according to local building codes as part of the extra building installation 4 To ensure safe operati...

Страница 15: ...five feet 1 5 m of the point where it enters the building l Grounded metallic service raceway l Grounded electrical service equipment enclosure l Eight foot grounding rod driven into the ground only if bonded to the central build ing ground by 6 or heavier bonding wire These installation instructions are the minimum requirements for receiver and antenna installations Where applicable follow the el...

Страница 16: ...entions 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 non compliance safety issues or equipment damage ...

Страница 17: ...your computer for 15 minutes RXSTATUSB onchanged RAWEPHEMB onchanged GLORAWEPHEMB onchanged BESTPOSB ontime 1 RANGEB ontime 1 RXCONFIGA once VERSIONA once PORTSTATS ontime 10 For SPAN systems add the following logs to the above list in the file created on your com puter RAWIMUSXB onnew INSUPDATESTATUSB onnew INSPVAXB ontime 1 INSCONFIGA once 2 Send the data file to NovAtel Customer Support support...

Страница 18: ...arch Knowledge Website www novatel com support Log a Case Search Knowledge and View Your Case History login access required Web Portal https novatelsupport force com community login E mail support novatel com Telephone U S and Canada 1 800 NOVATEL 1 800 668 2835 International 1 403 295 4900 ...

Страница 19: ...te accuracy available from GNSS and the continuity of INS through traditionally difficult GNSS conditions NovAtel s SPAN CPT7 is a scalable high precision GNSS INS receiver in a lightweight compact environmentally protective enclosure The SPAN CPT7 provides the following features l Multi frequency Multi constellation l 555 channel operation l Dual antenna inputs for single enclosure ALIGN heading ...

Страница 20: ...s changes in orientation and acceleration the INS determines changes in position 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...

Страница 21: ...nd SPAN CPT7 before using Ethernet When the SPAN CPT7 is installed in a permanent location such as in a building it should be protected by a lightning protection device according to local building codes See Light ning Protection Installation and Grounding Procedure on page 14 2 2 Optional Accessories The following optional accessory is available from NovAtel l SPAN CPT7 I O1 Cable 60723180 l SPAN ...

Страница 22: ...PT7 Cables 2 4 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 www novatel com antennas for details of available antennas All antennas include band pass filtering and an LNA The GNSS antenna chosen depends on the particular application Each model offers exceptional phase...

Страница 23: ...an SMA connector on the receiver side or an SMA to TNC adapter The SMA to TNC cables 60723177 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 avail able from www novatel com assets Documents Bulletins APN 077 RFEquip mentSelec...

Страница 24: ...AN CPT7 including the initial inrush transient The supply must also be current limited to 8 A with an external fuse The amount of power required depends on the number of constellations and signals tracked and the features enabled Power can be connected to either the IO1 or IO2 port Do not connect a power supply to both ports 2 7 SPAN CPT7 Installation Overview A SPAN CPT7 system consists of a SPAN...

Страница 25: ...a on the next page for details 2 Mount the SPAN CPT7 See Mount the SPAN CPT7 on the next page for details 3 Connect the primary GNSS antenna to the RF1 port on the SPAN CPT7 Connect the secondary GNSS antenna to the RF2 port on the SPAN CPT7 The SPAN CPT7 supplies 5 VDC 200 mA maximum to the antenna LNA through the center conductor of the antenna cable See Antenna LNA Power on the next page for mo...

Страница 26: ...mum separation distance of 1 metre is recommended 2 8 1 Antenna LNA Power NovAtel antennas and coaxial cables meet receiver RF input gain requirements NovAtel coaxial cables are designed to introduce no more than 10 dB loss and NovAtel antennas are equipped with built in LNAs that provide 29 dB of gain to the satellite signal received The power to the antenna LNA is provided through the receiver s...

Страница 27: ...t Millimeter accuracy is preferred The offset from the SPAN CPT7 to the antennas and or a user point device must remain constant especially for RTK or DGNSS data Ensure the SPAN CPT7 antenna and user point device are bolted in one position perhaps by using a custom bracket 2 9 1 Securing the SPAN CPT7 The SPAN CPT7 can be secured directly to the mounting surface or can be secured using the SPAN CP...

Страница 28: ... Adapter Plate on the next page for the adapter plate dimensions and mounting hole locations 4 If the SPAN CPT7 is replacing a SPAN CPT or SPAN IGM S1 see Figure 4 Offset from the SPAN CPT7 to the SPAN CPT on page 30 or Figure 5 Offset from the SPAN CPT7 to the SPAN IGM S1 on page 31 for the offset of the center of navigation of the previous system to the center of navigation of the SPAN CPT7 ...

Страница 29: ...Chapter 2 SPAN CPT7 Installation SPAN CPT7 Installation and Operation User Manual v3A 29 Figure 3 SPAN CPT7 Adapter Plate ...

Страница 30: ...ffset from the SPAN CPT7 to the SPAN CPT Dimensions are in mm The axis marking on the SPAN 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 41 SPAN CPT7 Center of Navigation on page 150 ...

Страница 31: ...s port for communication with other CAN bus compatible devices See CAN Bus Port on the next page All data communication connections can be made using the SPAN CPT7 I O1 cable PN 60723180 or SPAN CPT7 I O2 cable PN 60723181 For information about these two cables see SPAN CPT7 I O1 Cable on page 157 and SPAN CPT7 I O2 Cable on page 159 These sections also have the connector pin out and connector rec...

Страница 32: ... Connect the USB connector on the SPAN CPT7 I O2 SPAN cable to a USB port on the com puter or other data communication device 2 10 3 Ethernet Port The SPAN CPT7 has a 10Base T 100Base TX Ethernet on the IO2 connector that can be used for communications with external data communications equipment such as computers and data log gers The Ethernet port supports IPv4 Internet layer TCP IP transport pin...

Страница 33: ...ENT_OUT2 signals connect the SPAN CPT7 I O2 Cable or a cus tom made cable to the IO2 connector The Event signals are available on the DB15 connector of the SPAN CPT7 I O2 cable For information about the SPAN CPT7 I O cables see SPAN CPT7 I O1 Cable on page 157 or SPAN CPT7 I O2 Cable on page 159 These sections also have the connector pin out and con nector recommendations for making a custom cable...

Страница 34: ...llowing are recommended Fuse Holder BK MDA 8 R Fuse or equivalent BK MDL 8 R Fuse or equivalent BK HFA R Fuse or equivalent Table 2 Fuse Holder Recommendations 12 V System The fuse and holder are made by Cooper Bussmann available from Digikey 2 12 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 isolate...

Страница 35: ... 2018 Mar 22 05 57 24 OEM7FPGA OMV070001RN0000 DEFAULT_CONFIG SC7CR0304AN0002 2018 Mar 22 05 57 29 PACKAGE SC7PR0304AN0002 2018 Mar 22 05 57 48 IMUCARD HG4930_AN01 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...

Страница 36: ...7 Connection Interfaces example The figure above does not show all necessary hardware Also see Figure 9 Basic Dif ferential Setup on page 42 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...

Страница 37: ...puter These USB drivers are available on the NovAtel web site at www novatel com novatel connect USB Drivers NovAtel USB drivers for OEM7 receivers are available for Windows 7 Window 8 Windows 10 and Linux The NovAtel USB drivers provide three virtual serial ports over a single USB 2 0 connection The three virtual serial ports are available to existing Windows or Linux applications which use COM p...

Страница 38: ...ATUS log refer to the OEM7 Commands and Logs Reference Manual log at a higher baud rate if possible or change to a medium supporting higher bandwidth Ethernet Although the receiver can operate at data transfer rates as low as 300 bps this is not recommended For example if several data logs are active that is a significant amount of information needs to be transmitted every second but the bit rate ...

Страница 39: ...of RTCM via Internet Protocol client and server capability The Ethernet port must be configured before using Refer to Ethernet Configuration on page 102 for configuration details The Ethernet ports are Safety Extra Low Voltage SELV circuits only and are suitable for connection within a building only Do not connect them to Telephone Network Voltage TNV circuits If intra building connections are req...

Страница 40: ... error condition is detected during the self test the status word changes This self test status word can be viewed in the header of any data output log Refer to Messages in the OEM7 Commands and Logs Reference Manual for header information If a persistent error occurs contact your local NovAtel dealer If the dealer cannot resolve the problem contact NovAtel Customer Support directly using one of t...

Страница 41: ... to the base receiver s COM2 port that sets the position of the base station receiver for differential operation If the command was accepted the receiver responds with OK If a command is entered incorrectly the receiver responds with ERROR Invalid Message ID or a more detailed message Ensure the computer does not sleep or hibernate during a logging session or data will be lost 3 3 Transmitting and...

Страница 42: ... 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 is required The base and rover stations can both be NovAtel receivers however NovAtel receivers will work with some other brands Contact Customer Support for further details refer to Cus...

Страница 43: ...r 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 your own lat long and hgt values log port message trigger period port COM2 refer to Figure 9 ...

Страница 44: ...terfacemode port rx_type tx_type responses saveconfig optional For example if COM2 was connected to the correction source RTK Automated Correction Detection interfacemode com2 auto none off RTCM V3 interfacemode com2 rtcmv3 none off RTCM V3 with GLONASS interfacemode com2 rtcmv3 none off NOVATELX interfacemode com2 NOVATELX none off 3 3 4 Configuration Notes For compatibility with other GNSS recei...

Страница 45: ...e frequency GPS and GPS GLONASS applic ations GLIDE produces a smooth position output tuned for applications where time relative accuracy pass to pass is more important than absolute accuracy Because of this it is well suited for agricultural applications Multipath signals tend to induce time varying biases and increase the measurement noise on the L1 L2 pseudorange measurements Carrier phase meas...

Страница 46: ...YLINE The STEADYLINE functionality helps mitigate the discontinuities that often occur when a GNSS receiver changes positioning modes The effect is especially evident when a receiver transitions from an RTK position mode solution to a lower accuracy fall back solution such as DGPS WAAS GLIDE or even autonomous GLIDE see Figure 10 Positioning Change Without STEADYLINE below Smooth transitions are p...

Страница 47: ...more accurate mode to a less accurate mode e g changing from RTK to GLIDE the receiver uses the Maintain option When the position mode is changing from a less accurate mode to a more accurate mode e g GLIDE to RTK the receiver uses the Transition option For example a receiver is configured to do both RTK and GLIDE If this receiver has a fixed RTK position and experiences a loss of correction data ...

Страница 48: ... can be specified using the UALCONTROL command Refer to the OEM7 Commands and Logs Reference Manual Figure 14 STEADYLINE UAL Warning Limit Example below and Figure 15 STEADYLINE UAL Out of Bounds Example on the next page show examples of STEADYLINE using the UAL mode Figure 14 STEADYLINE UAL Warning Limit Example A Position type is OPERATIONAL Higher accuracy corrections are lost The receiver chan...

Страница 49: ... tracks the SBAS that is oper ating in the region e g WAAS or EGNOS and applies the corrections from the service On a simulator leave the test mode parameter off or specify NONE explicitly For more on SBAS refer to application note APN 051 Positioning Modes of Operation additional Application Notes available at www novatel com support 3 7 Enabling NovAtel CORRECT with PPP L Band equipped receivers...

Страница 50: ... 12602 1 98W 1539902500 1200 974c 00c2 0 316 186 43 842 4 3840 61 920 1088 2 2 138176 79 0 0001 3e43cb7d If receiving an L Band signal from a geostationary satellite the sixth field following the header tracking status word of the LBANDTRACKSTAT log will be 00c2 as shown in the example The latest services and coverage can be obtained from www nova tel com products novatel correct ppp For additiona...

Страница 51: ...62 NovAtel CORRECT with Veripos from www novatel com support search items Application 20Note 3 8 RTK ASSIST RTK ASSIST is a feature that enables centimetre level accuracies to be maintained through extended RTK correction outages With RTK ASSIST RTK dependent operations can continue through RTK correction outages as long as 20 minutes RTK ASSIST uses correction data provided by TerraStar To obtain...

Страница 52: ...a time status field that may show COARSE or FINE among others For a complete list of the time status values and definitions refer to GPS Reference Time Status in the OEM7 Commands and Logs Reference Manual Procedures to Transfer Time on the next page provides details on the time transfer procedure Terms used in the procedure are defined in Time Definitions below Refer also to the ADJUST1PPS comman...

Страница 53: ...osition Service SPS the time accuracy is specified as 20 ns 1 sigma with internal compensation Fine Clock An OEM7 receiver that is tracking satellites and has a FINE or FINESTEERING receiver clock state Cold Clock An OEM7 receiver that needs to have its clock synchronized with the Fine receiver It may have any clock state except FINE or FINESTEERING that includes UNKNOWN Warm Clock An OEM7 receive...

Страница 54: ...iver to COM3 on the cold clock receiver as shown in Figure 17 Transfer FINE Time from Fine Clock to Cold 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 receiv...

Страница 55: ...ransfer 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 It d...

Страница 56: ...gure 19 1 PPS Alignment The examples shown in Figure 16 Transfer COARSE Time from Fine Clock to Cold Clock Receiver on page 54 Figure 17 Transfer FINE Time from Fine Clock to Cold Clock Receiver on the previous page and Figure 18 Transfer FINE Time from Fine Clock to Warm Clock Receiver above are for the transfer of time If a position is needed the receiver must be tracking satellites and must hav...

Страница 57: ...igate the inter ference using NovAtel Connect Detected interference details can also be logged and analyzed using the command line interface There are two types of interference detection available Spectral Analysis Detection and Stat istical Analysis Detection NovAtel recommends using the default settings for Interference Toolkit whenever pos sible NovAtel Connect 2 0 or greater is required to use...

Страница 58: ...N 144 174 30dB for L1 path Alternatively if a spectrum analyzer is not available the RFINPUTGAIN can be obtained using the cascaded RF gain before 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 con nector A typical GNSS active antenna with reasonable quality has a noise figure of 2dB RFINPUT...

Страница 59: ...be configured to mitigate the interference Due to the high volume of data a higher bandwidth medium such as USB or Ethernet is recommended when monitoring signals using the Interference Toolkit Example LOG ITDETECTSTATUS onchanged 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 SPECTRUMANALY...

Страница 60: ...l encoder path This gives a narrower view of the incoming signal 3 10 4 Monitoring Signals Using NovAtel Connect Due to the high volume of data a higher bandwidth medium such as USB or Ethernet is recommended when monitoring signals using the Interference Toolkit Start NovAtel Connect and open a connection to the OEM7 receiver Scroll down to the Interference Toolkit and double click on the Interfe...

Страница 61: ...sing the programmable High Dynamic Range HDR Bandpass or Notch fil ters Contact www novatel com where to buy sales offices to obtain mitigation functionality High Dynamic Range Mode The High Dynamic Range HDR mode enables special signal processing to remove distortions from the spectrum providing a cleaner signal This optimizes the Automatic Gain Control AGC to prevent interfering signals from dro...

Страница 62: ...sing NovAtel Connect Bandpass Filter The Interference Toolkit bandpass filter reduces the signal power of all incoming signals at 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 sig nal band When a bandpass filter is applied to this signal the upper and l...

Страница 63: ...ont end mode for each RF path to use the default tracking mode or change to High Dynamic Range HDR mode ITPROGFILTCONFIG Configures filtering on the receiver to be either a notch filter or a bandpass filter ITSPECTRALANALYSIS Configures and enables spectral analysis on the receiver Logs ITBANDPASSBANK Provides the allowable bandpass filter configurations ITDETECTSTATUS Lists all of the interferenc...

Страница 64: ...he receiver to perform bid irectional 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 FILE port for example LOG ...

Страница 65: ... 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 the file system runs out of free space or logging is stopped If the OVERWRITE mode has been set the oldest file will be deleted in...

Страница 66: ... site at www novatel com for details Ensure the Control Panel Power Settings on your computer are not set to go into Hibern ate or Standby modes Data will be lost if one of these modes occurs during a logging ses sion 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 Level Frame ENU belo...

Страница 67: ... are marked on the SPAN CPT7 Refer to SPAN CPT7 Mechanical Specifications on page 148 for illustrations of the IMU Body frame axes The axis marking on the SPAN 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 41 SPAN CPT7 Center of Navigation on page 150 The origin of this frame is n...

Страница 68: ...rent 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 frame specify a user offset rotation using the SETINSROTATION command 4 2 SPAN Translations and Rotations A SPAN system combines GNSS and INS into a single system In a GN...

Страница 69: ...ame are typically indicated on the IMU enclosure The X Y and Z axes of the IMU Body frame are also indicated on the mechanical draw ings of the IMUs in the SPAN CPT7 Mechanical Specifications on page 148 Figure 23 IMU to Antenna Translation Offset below shows an example of the translational off sets from the IMU to a GNSS antenna In this example the IMU Body Frame indicated by the small arrows has...

Страница 70: ...ows the offsets to be entered relative to the Vehicle Frame 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 Rotatio...

Страница 71: ...Y IMU Z equals Vehicle Z l You must rotate from the IMU Body frame to the Vehicle frame l You must rotate in the order Z X Y l Positive rotation is defined according 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 rotatio...

Страница 72: ...the IMU must be configured 4 3 1 GNSS Configuration The GNSS configuration can be set up for different accuracy levels such as single point SBAS DGNSS PPP and RTK Refer to OEM7 Receiver Operation on page 36 for information about con figuring the GNSS settings With no additional configuration the system operates in single point mode 4 3 2 INS Profiles INS Profiles provide two major functions simpli...

Страница 73: ...oning MARINE_ BASIC Basic profile for marine vessels Enacts changes to disable static behavior and make the marine solution more robust Disable Zero Velocity Updates Disable turn on bias estimation MARINE_ PLUS Enhanced marine profile adds access to the Heave filter output This profile requires an enhanced profile capable receiver model Enable Heave algorithms FIXEDWING_ BASIC For fixed wing aircr...

Страница 74: ... Minimum Recommended Configuration When configuring your SPAN CPT7 system for first time use the following is the minimum amount of information required to ensure proper operation of a SPAN system Required Information Required Command IMU to primary antenna lever arm SETINSTRANSLATION ANT1 IMU to secondary antenna lever arm SETINSTRANSLATION ANT2 IMU to vehicle frame rotation SETINSROTATION RBV Wh...

Страница 75: ...nd the distances are measured from the SPAN CPT7 to the antenna ANT1 x_offset y_offset z_offset x_stdev y_stdev z_stdev This example shows a mounting configuration with a negative X offset negative Y offset and positive Z offset The axis marking on the SPAN 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 navi...

Страница 76: ...ts on page 70 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 84 SPAN Configuration with NovAtel Connect NovAtel Connect provides a wizard that takes you through the steps required to confi...

Страница 77: ...SXB rather than RAWIMUXB We recommend you use these logs instead of the standard header logs to save throughput on the COM port Status of the inertial solution can be monitored using the inertial status field in the INS logs see Table 5 Inertial Solution Status below Binary ASCII Description 0 INS_INACTIVE IMU logs are not yet present or the alignment routine is not yet initialized INS state is in...

Страница 78: ... the following sequence of events happens 1 The first satellites are tracked and coarse time is solved 2 Enough satellites are tracked to compute a position 3 Receiver fine time is solved meaning the time on board the receiver is accurate enough to begin timing IMU measurements 4 The INS Status field changes from INS_INACTIVE through DETERMINING_ORIENTATION and WAITING_INITIALPOS 5 Once a GNSS pos...

Страница 79: ... then 10 5 m s is the default alignment velocity If a different alignment velocity is required it can be changed using the SETALIGNMENTVEL command Refer to the OEM7 Commands and Logs Reference Manual for more information While it is possible to lower the minimum speed required for kinematic alignment to take place the higher the value the more closely the course over ground estimate will match the...

Страница 80: ...oot 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 less than 0 2 m s When these conditions ar...

Страница 81: ...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 INSSEEDSTAT...

Страница 82: ...pdates ZUPTs provide updates to the filter Peripheral updates can also be supplied wheel sensor for displacement updates or heading updates Following the alignment the attitude is coarsely defined especially in heading Vehicle dynam ics 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 f...

Страница 83: ...lable up to a rate of 200 Hz Data can be requested at a specific syn chronous time interval asynchronously matching the IMU output rate or can be triggered by the mark input trigger at rates up to 200 Hz The GNSS only solution is still available through the GNSS only logs such as RTKPOS and PSRPOS Refer to the OEM7 Commands and Logs Reference Manual INS only data logging and output can be at rates...

Страница 84: ... l Other possible INS solution logs available at high rates are INSPVASB INSPOSSB INSVELSB INSATTSB Specific logs need to be collected for post processing See Data Collection for Post Processing on page 91 To store data from an OEM7 receiver connect the receiver to a computer running NovAtel Con nect or other terminal program capable of recording data 4 4 5 Body to Vehicle Frame Rotation Calibrati...

Страница 85: ...is entered there are no body vehicle rotation parameters present and a kinematic alignment is NOT possible Therefore this command should only be entered after the system has performed a kinematic alignment and has a valid INS solution For information about the logs and commands used in this procedure refer to the OEM7 Commands and Logs Reference Manual 4 4 6 Multi Line Body to Vehicle Frame Rotati...

Страница 86: ...ion using the INSCALIBRATE command with the optional standard deviation target omitted INSCALIBRATE RBV NEW 6 Start to move the vehicle Drive a straight course at a vehicle speed greater than 5 m s 18 km hr A distance of approximately 250 metres is recommended To monitor the calibration log INSCALSTATUS using the ONCHANGED trigger 7 When the end of the available distance is reached stop the vehicl...

Страница 87: ...gnment and has a valid INS solution For information about the logs and commands used in this procedure refer to the OEM7 Commands and Logs Reference Manual 4 5 Synchronizing External Equipment A SPAN system allows you to synchronize with external equipment All SPAN receivers accept input pulses events Each event signal can be configured for positive or negative polarity Time or a solution position...

Страница 88: ...ut the logs and commands used in this procedure refer to the OEM7 Commands and Logs Reference Manual 4 6 Adding Timed Sensor Triggers Use the EVENT IN and EVENT OUT connections to attach up to two sensor devices to a SPAN CPT7 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 ...

Страница 89: ...affected the GPS time for the desired event in weeks and seconds and an event ID You can queue 10 unprocessed events at a time Any time input specified via this command must occur at least 1 second after the command is entered The timing accuracy of the TIMEDEVENTPULSE output is 2 milliseconds 4 6 4 Recording Incoming Sensor Events After a TIMEDEVENTPULSE is sent the system can be configured to ac...

Страница 90: ...tial Azimuth The inertial azimuth computed by the SPAN inertial navigation filter It uses the sensors in the IMU to compute the azimuth of the IMU this can be rotated to another reference if desired For more information see the SETINSROTATION command in the OEM7 Commands and Logs Reference Manual This azimuth is the one provided in the majority of the INS logs available to a SPAN user See Table 9 ...

Страница 91: ...titude solution post mission in order to generate a more robust and accurate solution than is possible in real time In order to generate a solution in post processing data must be simultaneously collected at a base station and each rover The following logs must be collected in order to successfully post process data From a base l RANGECMPB ONTIME 1 l RAWEPHEMB ONCHANGED l GLOEPHEMERISB ONCHANGED i...

Страница 92: ...ved SPAN will also be able to output a gim balled solution at the rate the gimbal angles are received 4 9 1 Reference Frame Description There are several frames of reference involved when dealing with a gimballed mount The frames are all very similar but can be quite confusing due to small differences Below are all frames applicable to the implementation of the variable lever arm Frame Description...

Страница 93: ...configure Variable Lever Arm for this setup are SETINSROTATION RBM 180 0 0 SETINSROTATION USER 0 0 90 SETINSROTATION RBV 0 0 90 Figure 26 Operating Gimbal on the next page shows the gimbal in operation the gimbal plat form has moved relative to the mount body frame The gimbal frame and IMU Body frame move together as does the user output or mark output frame Figure 25 Sample Configuration ...

Страница 94: ...sic I O The variable lever arm functionality is based on the input of the INPUTGIMBALANGLE com mand 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 le...

Страница 95: ...riable 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 different frames together using the commands below If attitude...

Страница 96: ...ctor between two SPAN systems One is the Master receiver and the other is the Rover receiver Once con figured 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 link r...

Страница 97: ...0 seconds however when using Rel ative INS it is suggested this be set to 5 seconds by sending the command RTKTIMEOUT 5 For information about the RTKTIMEOUT command refer to the OEM7 Commands and Logs Reference Manual 4 10 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 examp...

Страница 98: ... using the RELINSAUTOMATION command the master and rover receivers must be communicating using a COM port If the master and rover are communicating via an ICOM port the RELINSCONFIG command must be used The Model option must be present on both the rover and master for the Relative INS fea ture to be enabled ...

Страница 99: ... must be known This is achieved by entering lever arms to both antennas using the SETINSTRANSLATION command To configure SPAN with ALIGN Aiding 1 Enter the lever arm from the SPAN CPT7 to the primary antenna antenna connected to the RF1 connector Abbreviated ASCII example SETINSTRANSLATION ANT1 0 54 0 32 1 20 0 03 0 03 0 05 2 Enter the lever arm from the SPAN CPT7 to the secondary antenna antenna ...

Страница 100: ...mmand and can be used if the alignment mode is set to AUTOMATIC If your vehicle is not stationary during the alignment such as may be the case on a ship use the Aided Transfer Alignment routine This alignment method uses the ALIGN baseline solution to perform an instantaneous alignment of the vehicle attitude The alignment happens instantaneously after the receiver establishes communication with t...

Страница 101: ...ent on page 79 or a manual alignment Manual Align ment on page 79 The first available technique will be used regardless of its relative quality If you wish to guar antee a specific technique is used or use an aided static alignment you must select the desired alignment mode manually No additional configuration is required to use this alignment routine 5 2 SPAN ALIGN Attitude Updates The INS headin...

Страница 102: ...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 user su...

Страница 103: ...ion is used to send the commands in this procedure to the receiver For information about establishing a connection using NovAtel Connect refer to the Help within NovAtel Connect NovAtel Connect version 2 0 or greater is required for OEM7 receivers Download the latest NovAtel Connect software and documentation from www novatel com novatel connect 3 Enable the Ethernet port on the receiver by enteri...

Страница 104: ...e Local Area Connection Status window appears 4 Click the Properties button The Local Area Connection Properties window appears 5 Select Internet Protocol Version 4 TCP IPv4 and then click the Properties button The Internet Protocol Version 4 TCP IPv4 Properties window appears 6 Click the Use the Following IP Address radio button then enter the IP address Subnet mask and Default gateway for the Et...

Страница 105: ...ovAtel Connect software and documentation from www novatel com novatel connect 6 3 Dynamic IP Address Configuration Figure 29 Dynamic IP Address Configuration through a DHCP Server OEM7 Receiver below shows the connections when an OEM7 receiver uses a dynamic IP address configuration Figure 29 Dynamic IP Address Configuration through a DHCP Server OEM7 Receiver To set up a dynamic IP address confi...

Страница 106: ...ed to the OEM7 receiver by the DHCP server LOG IPSTATUS ONCE Make a note of the IP address returned with this log 5 Assign the TCP IP port number by entering ICOMCONFIG ICOM1 TCP 2000 6 Confirm the port number assigned to ICOM1 by entering LOG ICOMCONFIG ONCE 6 4 Base Rover Configuration through Ethernet Connectivity You can use an Ethernet connection to provide communication between a base and ro...

Страница 107: ...thin NovAtel Connect NovAtel Connect version 2 0 or greater is required for OEM7 receivers Download the latest NovAtel Connect software and documentation from www novatel com novatel connect 3 Connect the power cables to both of the OEM7 receivers and apply power to the receivers 4 Connect the Ethernet cables to the Ethernet ports on both OEM7 receivers 5 Establish an Ethernet connection either st...

Страница 108: ... 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 the operation of the computer Editing the Windows Registry is for advanced Microsoft Windows users only NovAtel Inc is not able to provide any technical support for any actions taken...

Страница 109: ...either NovAtel Connect or another terminal pro gram This connection is used to send the commands in this procedure to the receiver For information about establishing a connection using NovAtel Connect refer to the Help within NovAtel Connect NovAtel Connect version 2 0 or greater is required for OEM7 receivers Download the latest NovAtel Connect software and documentation from www novatel com nova...

Страница 110: ... 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 information about Net work RTK options and properties refer to the application no...

Страница 111: ...for pin out information OEM7 receivers support the following NMEA2000 Parameter 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...

Страница 112: ...arameter Value Address 0xFE Industry Group 2 Device Class 0 Device Class Instance 0 Function 23 Function Instance 0 ECU Instance 0 Manufacturer Code 0 Identity Number 0 Table 12 Default NAME 7 2 Configuring the CAN Bus To enable an OEM7 receiver to communicate over the CAN bus configure CAN and place the receiver on bus triggering a J1939 Address Claim Procedure 1 Use the J1939CONFIG command to sp...

Страница 113: ...IMED status by J1939STATUS log l No messages will be sent or received until the receiver is online and an address is claimed Outgoing messages are not buffered they are discarded until the receiver is online 7 2 2 Example of Enabling the CAN Bus 1 LOG J1939STATUS ONCHANGED 2 J1939CONFIG NODE1 CAN1 addresses 3 CANCONFIG CAN1 ON 250K 4 SAVECONFIG J1939STATUS NODE1 DISABLED 0 0xFE J1939STATUS NODE1 C...

Страница 114: ...over from this failure take the receiver off bus using the CANCONFIG command and change the CAN address configuration using the J1939CONFIG command The address can also be assigned using J1939 Commanded Address message sent by another ECU on the bus such as a tester unit The commanded address always overrides the address specified using J1939CONFIG command When the Commanded Address is received th...

Страница 115: ...conflicts 7 4 Corrections Over CAN All NovAtel supported correction types are supported over CAN ports CCOM To send or receive corrections 1 Configure the CAN Bus See Configuring the CAN Bus on page 112 2 Use the CCOMCONFIG command to configure the PGN and other CAN parameters used by the RTK corrections CAN messages PGN Use the PGN designated for corrections Address l Use 0xFF to receive correcti...

Страница 116: ...el ASCII or Abbreviated ASCII Unlike other COM ports the receiver will not distinguish between ASCII and binary input l To use CAN NOVATELMINBINARY the CCOM port must be placed into NOVATELMINBINARY using the INTERFACEMODE command It is recommended to use one dedicated CCOM port for NovAtel messages and another dedicated CCOM port for corrections NovAtel UI configuration does not affect NMEA2000 A...

Страница 117: ...e 7 6 2 Configuration on OEM7 To configure an OEM7 receiver to log the same commands and use the same logging rate and CAN port bit rate enter the following commands CCOMCONFIG CCOM1 NODE1 NMEA2000 CANCONFIG CAN1 ON 250K LOG CCOM1 PGN129025 ONTIME 0 1 LOG CCOM1 PGN129026 ONTIME 0 1 LOG CCOM1 PGN129029 ONTIME 1 0 SAVECONFIG On OEM7 receivers nothing is automatically logged when CAN is enabled Regul...

Страница 118: ... be customized to better suit an individual application RXSTATUSEVENT logs can be disabled completely with the UNLOG command RXSTATUSEVENT 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 8 1 Receiver Status ...

Страница 119: ...e receiver is operating normally The numbering of the bits is shown in Figure 33 Reading the Bits in the Receiver Status Word below Figure 33 Reading the Bits in the Receiver Status Word If the receiver status word indicates a problem see Examining the RXSTATUS Log on page 123 8 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 ...

Страница 120: ... the receiver error word indicates an error refer to Examining the RXSTATUS Log on page 123 8 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 sim...

Страница 121: ... error state Setting a bit in the aux iliary 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 cor responds to the auxiliary 2 status word and bit 29 to the auxiliary 3 status w...

Страница 122: ... the power cable Replace if faulty See l Power Supply Requirements for the SPAN CPT7 on page 23 The receiver cannot establish communication Check the serial cables and ports Replace if faulty See CAN Bus on page 111 Refer also to the SERIALCONFIG command in the OEM7 Commands and Logs Reference Manual The receiver is not tracking satellites Ensure that the antenna has an unobstructed view of the sk...

Страница 123: ...as been used Refer to the VERSION log or VALIDMODELS log and the MODEL command or AUTH command in the OEM7 Commands and Logs Reference Manual The receiver is being affected by jamming Move the receiver away from any possible jamming sources The receiver is being affected by interference See Interference Toolkit on page 57 Move the GNSS antenna away from the source of the interference signal If the...

Страница 124: ...r at 100 C and 110 C respectively The warning and 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 17 11 Possible hardware or environmental condition If you cannot resolve the problem contact Customer Support on page 17 Also check the Auxiliary 2 Status word to determine which PLL...

Страница 125: ...neous use of functionality 8 See Table 3 Serial Ports Supported on page 38 Also check the Auxiliary 2 Status word to determine which COM port has overrun its buffer 9 11 Reserved 15 Check the Auxiliary 1 status word to determine which 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 No...

Страница 126: ...does not contain any new information on problems Refer also to the FRESET command in the OEM7 Commands and Logs Reference Manual 30 None This bit indicates if any bits in the auxiliary 2 status word are set The auxiliary 2 word provides status information and does not contain any new information on problems Refer also to the FRESET command in the OEM7 Commands and Logs Reference Manual 31 None Thi...

Страница 127: ...e operating temperature of OEM7 receivers increases as more features channels used HDR mode etc are enabled When the receiver is operating in an environment that is near its maximum ambient tem perature an increase in the ambient air temperature or enabling additional features may cause the receiver to exceed its maximum operating temperature and generate a Temperature Status error When a Temperat...

Страница 128: ...current operation of the receiver 9 3 4 Monitoring the Receiver Temperature If the receiver is operating in a high ambient temperature environment you can monitor the receiver temperature using the RXSTATUS and HWMONITOR logs 1 Log the RXSTATUS log and check Bit 1 of the Receiver Status word LOG RXSTATUS onchanged RXSTATUS USB1 0 81 5 FINESTEERING 1990 326146 020 0a104020 2ae1 14434 00000000 5 0a1...

Страница 129: ...Volatile Memory NVM l An unsupported Auth Code l The expected main firmware image could not be found by the boot code This is possibly due to an error during the main firmware loading process i e WinLoad SoftLoad etc Safe 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 ...

Страница 130: ...eration User Manual v3A 130 2 Reference Table Safe Mode States in the OEM7 Commands and Logs Reference Manual and find the suggested actions for the current Safe Mode State 3 If the suggested actions do not resolve the issue contact NovAtel Customer Support ...

Страница 131: ... NovAtel receivers It provides the features and functionality available on the receiver The firmware download file contains l Firmware shex file l WinLoad software utility 10 1 Firmware Updates and Model Upgrades A local NovAtel dealer can provide all the information needed to upgrade or update a receiver Refer to www novatel com where to buy for contact information or contact sales novatel com or...

Страница 132: ...ng Using an Auth Code on page 142 To upgrade to a new model with a new firmware version the new firmware needs to be loaded into the OEM7 receiver For instructions refer to Updating or Upgrading Using the WinLoad Util ity on the next page Updating the Firmware Using NovAtel Connect on page 135 Updating the Firmware Using NovAtel Web UI on page 136 or Updating Using SoftLoad Commands on page 137 Au...

Страница 133: ...l com support For convenience unzip the update file to a GNSS sub directory for example C GNSS LOADER If the firmware update file is password protected NovAtel Customer Sup port provides the required password The zip archive includes the following files winload exe WinLoad utility program howto txt Instructions on how to use the WinLoad utility whatsnew rtf Information on the changes made in the f...

Страница 134: ...lected the filename appears in the main WinLoad display area and in the title bar Figure 38 Open File in WinLoad below Figure 38 Open File in WinLoad Communications Settings To set the communications port and baud rate select Settings COM Settings Choose the com puter port to use from the Com Port drop down list and the baud rate from the Download ...

Страница 135: ...de on page 132 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 on a receiver ensure that Optimized Loading option is unchecked in WinLoad under Se...

Страница 136: ...ceiver 1 Obtain the new firmware file See Transferring Firmware Files on page 133 for information about obtaining the latest ver sion of receiver firmware Copy the firmware file to the device s local drive before uploading 2 Use a Wi Fi capable device such as a laptop tablet or smart phone to connect to the receiver s Wi Fi access point The SSID and password for the receiver Wi Fi are on a label o...

Страница 137: ...tLoad process SOFTLOADDATA Send firmware image data to the receiver for the SoftLoad process SOFTLOADCOMMIT Complete the SoftLoad process SOFTLOADSETUP Send configuration information to the receiver for the SoftLoad process This command is not required when working with a shex file Log Description SOFTLOADSTATUS Provides status updates for the ongoing SoftLoad process Each command and log can be u...

Страница 138: ...ADSREC S RECORD S3 records can be sent individually to the receiver using the SOFTLOADSREC command Altern atively the data from an S3 record can be parsed and packaged together with data from other S3 records 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 on...

Страница 139: ...of data bytes Send existing SOFTLOADDATA command and start a new SOFTLOADDATA command S3210000001C80040000E001000030000000082B0100D8060000E4060000C806000063 Address 0x0000001C Num Data Bytes 0x1C Previous Address Previous Num Bytes 0x00000000 0x1C 0x0000001C Add data to existing SOFTLOADDATA command The SOFTLOADDATA command must be sent as a NovAtel binary format command 10 7 4 SoftLoad Update Met...

Страница 140: ...er all data from the shex file has been trans ferred to the receiver The SOFTLOADSTATUS log reports the status of the loading process Wait for a SOFTLOADSTATUS log to indicate the status is COMPLETE The COMPLETE status or an error is guaranteed to be output from the receiver within 300 seconds from the time the SOFTLOADCOMMIT command was received by the receiver 7 Send the auth code for the newly ...

Страница 141: ...Chapter 10 NovAtel Firmware and Software SPAN CPT7 Installation and Operation User Manual v3A 141 ...

Страница 142: ...olved 10 8 Upgrading Using an Auth Code An authorization code auth code enables unlocks model features An auth code can be entered using NovAtel Connect NovAtel Web UI or the command line inter face 10 8 1 Entering an Auth Code Using NovAtel Connect 1 Obtain the new auth code from NovAtel Sales or your local NovAtel dealer 2 Connect a computer to the receiver using a serial COM cable USB cable or ...

Страница 143: ...Issue the AUTH command followed by the auth code and model type refer to Authorization Code on page 132 for details on obtaining any auth code The syntax is as follows auth your auth code here where auth is a command that enables model upgrades and auth code is the upgrade author ization code expressed as follows XXXXXX XXXXXX XXXXXX XXXXXX XXXXXX MODEL EXPDATE where l Each X character is a case i...

Страница 144: ... See the following sections for more information about the SPAN CPT7 l SPAN CPT7 Performance Specifications on the next page l SPAN CPT7 Mechanical Specifications on page 148 l SPAN CPT7 Electrical and Environmental Specifications on page 151 l SPAN CPT7 Data Communication Specifications on page 153 l SPAN CPT7 Strobe Specifications on page 154 l SPAN CPT7 Connectors on page 155 l SPAN CPT7 I O1 C...

Страница 145: ... Up to 5 channels6 Table 18 SPAN 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 unin...

Страница 146: ...L5 Time to First Fix Hot 26 s Almanac and recent ephemeris saved and approximate position and time entered Cold 46 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 Position Attitude up to 200 Hz IMU Raw Data Rate up to 100 Hz Time Accuracy1 20 ns RMS Velocity Accu...

Страница 147: ... 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 5 cm 1 0 mm B2I 5 cm 1 0 mm Velocity Limit 515 m s1 Gyroscope Performance Technology MEMS Input Rate max 200 second Accelerometer Performance Technology MEMS Accelerometer Range 20 g Table 19 SPAN CPT7 IMU Performance 1Export licensing restricts operation to a maximum of 515 metres...

Страница 148: ...T7 Installation and Operation User Manual v3A 148 A 2 SPAN CPT7 Mechanical Specifications l Figure 40 SPAN CPT7 Dimensions on the next page l Figure 41 SPAN CPT7 Center of Navigation on page 150 In the following diagrams the dimensions are in millimetres ...

Страница 149: ...APPENDIX A SPAN CPT7 Technical Specifications SPAN CPT7 Installation and Operation User Manual v3A 149 Figure 40 SPAN CPT7 Dimensions ...

Страница 150: ...Manual v3A 150 Figure 41 SPAN CPT7 Center of Navigation The axis marking on the SPAN 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 41 SPAN CPT7 Center of Navigation above ...

Страница 151: ...rminal sawtooth Acceleration MIL STD 810G Ch1 Method 513 7 Procedure II G Loading 15 g Table 20 SPAN CPT7 Environmental Specifications Voltage 9 to 32 VDC Power Consumption 7 W typical all constellations all frequencies plus L Band These are typical values using serial ports without interference mit igation These values can change with the number of satellites in view firmware version data logging...

Страница 152: ...Dou B2a L Band 1575 42 MHz 1227 60 MHz 1176 45 MHz 1561 098 MHz 1575 42 MHz 1207 14 MHz 1176 45 MHz 1525 to 1560 MHz GLONASS L1 GLONASS L2 GLONASS L3 Galileo E1 Galileo E5a Galileo E5b Galileo E5 1593 1610 MHz 1237 1254 MHz 1202 025 MHz 1575 42 MHz 1176 45 MHz 1207 14 MHz 1191 795 MHz LNA Power 5 0 VDC 5 0 mA to 200 mA supplied by receiver through center conductor of RF connector ...

Страница 153: ...M2 Electrical format RS 422 Data rates1 2400 4800 9600 default 19200 38400 57600 115200 230400 or 460800 bit s Signals supported COM2_Tx COM2_Tx COM2_Rx COM2_Rx SPAN CPT7 port IO1 Connector on Cable DB9 female on SPAN 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 SPAN CPT7 port IO2 USB Electrical format...

Страница 154: ...KTIME logs and ONMARK trigger Polarity is configurable using the MARKCONTROL command EVENT_IN2 IO2 EVENT_OUT1 IO1 Output Active low Programmable variable frequency outputs ranging from 0 Hz to 50 MHz refer to the EVENTOUTCONTROL command Note EVENT_OUT1 can also be controlled by the FREQUENCYOUT command EVENT_OUT2 IO2 Table 24 SPAN CPT7 Strobes Description Strobe Sym Min V Max V Current mA EVENT_IN...

Страница 155: ...n 1 Reserved Reserved 2 COM2_RX COM2 receive data negative One half of the RS 422 receive differential pair 3 Reserved Reserved 4 Reserved Reserved 5 Reserved Reserved 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 ...

Страница 156: ...port 4 USB_D One half of the USB differential pair 5 Reserved Reserved 6 ETH_TD Ethernet receive 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 transmit data negative One half of the Ethernet transmit data differential pair 9 EVENT_OUT2 EVENT2 Mark2 output 10 E...

Страница 157: ...is cable provides access to all of the signals available on the IO1 connector of the SPAN CPT7 Figure 43 SPAN CPT7 I O1 Cable P1 16 Pin Circular Signal Name J2 COM 2 DB9 Female J3 AUX 1 DB15 Female E1 Leads 1 Reserved 7 2 COM2 RX 7 3 Reserved 4 Reserved 5 Data Ready 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 28 SPAN CPT7 I O1 Cable Pinout ...

Страница 158: ...4 Reserved 15 GND 5 8 VRTN 16 VIN VIN A 7 1 Custom Cable Recommendations To create a custom cable for the IO1 port a specific connector is required on the SPAN 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 29 I O1 Connector ...

Страница 159: ... 01020209 This cable provides access to all of the signals available on the IO2 connector on the SPAN CPT7 Figure 44 SPAN 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 Reserved A 14 2 ETH_RX_H 3 3 CAN_H 1 4 USB 3 5 Reserved B 15 6 ETH_TX_L 2 7 ETH_TX_H 1 Table 30 SPAN CPT7 I O2 Cable Pinout ...

Страница 160: ... 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 8 1 Custom Cable Recommendations To create a custom cable for the IO2 port a specific connector is required on the SPAN 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...

Страница 161: ...L2 GLONASS L1 L2 BeiDou B1 B2 and Galileo E1 E5b GNSS 804L GPS L1 L2 GLONASS L1 L2 BeiDou B1 B2 Galileo E1 E5b and L Band GNSS 850 GPS L1 L2 L5 GLONASS L1 L2 L3 BeiDou B1 B2 B3 Galileo E1 E5a E5b E6 and L Band Compact Antennas GPS 301 3 5 circular form factor GPS L1 GPS 302 A ARINC 743 bolt pattern GPS L1 L2 GPS 302L A ARINC 743 bolt pattern GPSL1 L2 GLONASS L1 and L Band GNSS 302L A ARINC 743 bol...

Страница 162: ...366 Fischer Core Series cable mounted plug For use on cables made for the SPAN CPT7 IO2 connector Fischer part number SS 104 A086 240 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 to TNC cable 60723177 2 5 metres SMA to TNC cable 60723178 5 metres SMA to TNC cable Table 34 GNSS Antenna Cables NovAtel Part Part Descriptio...

Страница 163: ...acting the INS solution These logs can be logged at any rate up to the rate of the IMU data 100 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 avail able when running SPAN Logs such as the PSRPOS log and R...

Страница 164: ...lement 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 hor...

Страница 165: ...e high precision Real Time Kinematic RTK receivers can achieve position accuracies of 2 4 cm and a few mil limetres of phase center error translates to a 10 15 error in reported position For RTK sur vey 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 intende...

Страница 166: ...User Manual v3A 166 temperatures and vibration profiles Survey rover antennas should be able to survive rough handling by surveyors including a pole drop The table below highlights some of the important desirable features needed for a GNSS antenna based upon the user s application ...

Страница 167: ...APPENDIX D Importance of Antenna Selection SPAN CPT7 Installation and Operation User Manual v3A 167 ...

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