Novatel NEXAGON CPT7 User manual

CPT7 and CPT7700
Installation and Operation
User Manual
CPT7 and CPT7700 Installation and Operation User Manual v12 August 2022

CPT7 and CPT7700 Installation and Operation User Manual v12 2
CPT7 and CPT7700 Installation and Operation User Manual
Publication Number: OM-20000179
Revision Level: v12
Revision Date: August 2022
Firmware Version:
l7.08.02 / SC7PR0802RN0000:CPT7
l7.08.10 / SC7PR0810RN0000:CPT7700
Warranty
NovAtel Inc. warrants that its GNSS products are free from defects in materials and workmanship, subject to
the conditions set forth on our web site: novatel.com/products/novatel-warranty-and-return-policies.
Return instructions
To return products, refer to the instructions found at: novatel.com/products/novatel-warranty-and-return-
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.
©2022 NovAtel Inc. All rights reserved. NovAtel is part of Hexagon. NovAtel makes no representation or
warranty regarding the accuracy of the information in this publication. This document gives only a general
description of the product(s) or service(s) offered by NovAtel and, except where expressly provided otherwise,
shall not form part of any contract. Such information, the products and conditions of supply are subject to
change without notice.

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Table of Contents
Figures
Tables
CPT7 Notices
Customer Support
Chapter 1 CPT7 Overview
1.1 CPT7 Connectors 21
1.2 CPT7 LEDs 22
1.3 Fundamentals of GNSS+INS 24
Chapter 2 CPT7 Installation
2.1 Shipping Box 26
2.2 Additional Equipment Required 26
2.3 Optional Accessories 26
2.4 CPT7 Cables 26
2.5 Selecting a GNSS Antenna 27
2.6 Choosing a Coaxial Cable 28
2.7 Power Supply Requirements for the CPT7 28
2.8 CPT7 Installation 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 33
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
2.13.1 Fuse for the Power Supply 38
2.13.2 Vehicle Installation 39
2.14 Check that the CPT7 is Operating 40
Chapter 3 OEM7 Receiver Operation
3.1 Communications with the Receiver 42
3.1.1 USB Communications 43
3.1.2 Serial Port Communications 43
3.1.3 Ethernet Communications 44

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3.1.4 ICOM Communications 45
3.1.5 CAN Bus Communications 45
3.2 Getting Started 46
3.2.1 Communicating with the Receiver 46
3.3 Transmitting and Receiving Corrections 46
3.3.1 Defining Antenna and Base Antenna 48
3.3.2 Base Station Configuration 48
3.3.3 Rover Station Configuration 49
3.3.4 Configuration Notes 50
3.4 GLIDE 50
3.4.1 Dual-Frequency GLIDE 51
3.4.2 PDP and GLIDE Configurations 51
3.5 STEADYLINE 51
3.5.1 Prefer Accuracy 52
3.6 Enabling SBAS Positioning 52
3.7 Enabling PPP 53
3.7.1 TerraStar Subscriptions 53
3.7.2 Veripos Subscriptions 55
3.8 RTK ASSIST 55
3.9 Transferring Time Between Receivers 56
3.9.1 GPS to Receiver Time Synchronization 56
3.9.2 Time Definitions 56
3.9.3 Procedures to Transfer Time 57
3.10 Interference Toolkit 61
3.10.1 Monitoring GNSS Signals 61
3.10.2 Disable/Enable Detection 63
3.10.3 Monitoring Signals Using a Command Line 63
3.10.4 Monitoring Signals Using NovAtel Application Suite 64
3.10.5 Remove Interference Signals 64
3.10.6 Interference Toolkit Commands and Logs 65
3.11 Logging and Retrieving Data Overview 66
3.11.1 Pass-Through Logging 66
3.11.2 Saving Logs to a File 66
3.11.3 Logging to Internal Memory 67
3.11.4 Access CPT7 Internal Memory with a Computer 68
3.11.5 Repair Errors on the CPT7 Internal Memory 69
3.11.6 Logging Using NovAtel Application Suite or Setup & Monitor (Web) 69
3.12 Additional Features and Information 70
3.12.1 Strobes 70
Chapter 4 SPAN Operation
4.1 Definition of Reference Frames Within SPAN 71
4.1.1 The Local-Level Frame (ENU) 71
4.1.2 The IMU Body Frame 72
4.1.3 The Vehicle Frame 73
4.1.4 The User Output Frame 73
4.2 SPAN Translations and Rotations 73

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

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5.3.3 Automatic Alignment Mode – Automatic Alignment (default) 113
Chapter 6 Ethernet Configuration
6.1 Required Hardware 114
6.2 Static IP Address Configuration 114
6.2.1 Static IP Address Configuration—Receiver 115
6.2.2 Static IP Address Configuration—Windows 7 116
6.2.3 Confirming Ethernet Setup 116
6.3 Dynamic IP Address Configuration 117
6.4 Base/Rover Configuration through Ethernet Connectivity 118
6.5 Large Ethernet Port Data Throughput 119
Chapter 7 NTRIP Configuration
7.1 NTRIP Configuration Over Ethernet 120
Chapter 8 CAN Bus
8.1 Default Configuration 123
8.2 Configuring the CAN Bus 123
8.2.1 Configuration Notes 123
8.2.2 Example of Enabling the CAN Bus 124
8.2.3 Example of Modifying the CAN Bus Parameters 124
8.2.4 Example of Detecting an Address Claim Failure and Reconfiguring 124
8.2.5 Address Claim Procedure 125
8.3 NMEA2000 Logging 125
8.3.1 Example of NMEA2000 Log Configuration 125
8.4 Corrections Over CAN 126
8.4.1 Example for Receiving Corrections from Any Source 126
8.4.2 Example for Transmitting Corrections to 0x1C Node 126
8.5 NovAtel Messages Over CAN 126
8.6 Configuring OEM7 Receivers to Use OEM6 CAN Settings 127
8.6.1 Configuration on OEM6 127
8.6.2 Configuration on OEM7 127
Chapter 9 Built-In Status Tests
9.1 Receiver Status Word 129
9.2 RXSTATUSEVENT Log 129
9.3 RXSTATUS Log 130
9.3.1 Status Word 130
9.3.2 Error Word 130
9.3.3 Status Code Arrays 131
9.3.4 Receiver Status Code 132
9.3.5 Auxiliary Status Codes 132
9.3.6 Set and Clear Mask for all Status Code Arrays 132
Chapter 10 Troubleshooting
10.1 Examining the RXSTATUS Log 134

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10.2 Examining the AUX1 Status Word 137
10.3 High Temperature Environments 138
10.3.1 Indicators of an Error State 138
10.3.2 Recovering from a Temperature Status Error 138
10.3.3 Mitigating High Receiver Temperature 138
10.3.4 Monitoring the Receiver Temperature 139
10.4 Safe Mode 140
10.4.1 Reset Loop Detection 140
10.4.2 Recovery Steps 140
Chapter 11 NovAtel Firmware
11.1 Firmware Updates and Model Upgrades 141
11.1.1 Firmware Updates 141
11.1.2 Model Upgrades 141
11.2 Authorization Code 141
11.3 Downloading Firmware Files 142
11.3.1 Format of Firmware Files 142
11.4 Updating or Upgrading Using the WinLoad Utility 143
11.4.1 Open a File to Download 143
11.4.2 Communications Settings 144
11.4.3 Downloading Firmware 145
11.5 Updating the Firmware Using NovAtel Application Suite 145
11.6 Updating the Firmware Using Setup & Monitor (Web) 146
11.7 Updating Using SoftLoad Commands 146
11.7.1 Implementing SoftLoad 146
11.7.2 Use SoftLoad Customer Support utilities 147
11.7.3 Self-Implement the SoftLoad process 152
11.8 Upgrading Using an Auth-Code 158
11.8.1 Entering an Auth-Code Using NovAtel Application Suite 158
11.8.2 Entering an Auth-Code Using Setup & Monitor (Web) 158
11.8.3 Entering an Auth-Code Using the Command Line 158
APPENDIX A CPT7 Technical Specifications
A.1 CPT7 Performance Specifications 161
A.2 CPT7700 Performance Specifications 164
A.3 CPT7 IMU Performance Specifications 166
A.4 CPT7 Mechanical Specifications 167
A.5 CPT7 Electrical and Environmental Specifications 172
A.6 CPT7 Data Communication Specifications 175
A.7 CPT7 Strobe Specifications 176
A.8 CPT7 Connectors 177
A.9 CPT7 I/O1 Cable 179
A.9.1 Custom Cable Recommendations 180
A.10 CPT7 I/O2 Cable 181
A.10.1 Custom Cable Recommendations 182

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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

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Figures
Figure 1: CPT7 Receiver 21
Figure 2: CPT7700 Receiver 21
Figure 3: CPT7 Status Indicators 23
Figure 4: Typical Installation of a CPT7 System 29
Figure 5: Typical Installation of a CPT7700 System 30
Figure 6: Default RBV Configuration 32
Figure 7: CPT7 Adapter Plate 34
Figure 8: Offset from the CPT7 to the SPAN-CPT 35
Figure 9: Offset from the CPT7 to the SPAN-IGM-S1 36
Figure 10: Fuse for CPT7 Power Supply 39
Figure 11: Dedicated Battery for the CPT7 40
Figure 12: Basic CPT7 Connection Interfaces (example) 42
Figure 13: Basic Differential Setup 47
Figure 14: Positioning Change Without STEADYLINE 52
Figure 15: STEADYLINE Prefer Accuracy 52
Figure 16: Transfer COARSE Time from Fine Clock to Cold Clock Receiver 58
Figure 17: Transfer FINE Time from Fine Clock to Cold Clock Receiver 59
Figure 18: Transfer FINE Time from Fine Clock to Warm Clock Receiver 60
Figure 19: 1 PPS Alignment 60
Figure 20: Local-Level Frame (ENU) 72
Figure 21: IMU Body Frame Marking 72
Figure 22: Vehicle Frame 73
Figure 23: IMU to Antenna Translation Offset 74
Figure 24: CPT7 to Antenna Offset 80
Figure 25: Rear View of CPT7 – Mounting Plate is not Flat 82
Figure 26: Side View of CPT7 – Vehicle is not Level 82
Figure 27: Top View of CPT7 – CPT7 Misalignment 82
Figure 28: Multi-Line IMU Body to Vehicle Calibration 92
Figure 29: Kistler WPT 94
Figure 30: DMI to CPT7 Setup 96
Figure 31: Sample Configuration 104
Figure 32: Operating Gimbal 104
Figure 33: Relative INS Example 107
Figure 34: SPAN – CPT7700 Dual Antenna Installation 110
Figure 35: SPAN – CPT7 Dual Antenna Installation 111

Figures
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Figure 36: Cross-Over Ethernet Cable Configuration—OEM7 Receiver 115
Figure 37: Dynamic IP Address Configuration through a DHCP Server—OEM7 Receiver 117
Figure 38: Base/Rover Ethernet Setup—OEM7 Receiver 118
Figure 39: NTRIP System 120
Figure 40: Location of Receiver Status Word 130
Figure 41: Reading the Bits in the Receiver Status Word 130
Figure 42: Location of Receiver Error Word 131
Figure 43: Reading the Bits in the Receiver Error Word 131
Figure 44: Status Code Arrays 132
Figure 45: WinLoad’s Open Window 143
Figure 46: Open File in WinLoad 144
Figure 47: COM Port Setup 144
Figure 48: CPT7 Dimensions 168
Figure 49: CPT7700 Dimensions 169
Figure 50: CPT7/CPT7700 Alignment Holes 170
Figure 51: CPT7/CPT7700 Center of Navigation 171
Figure 52: Fischer Core 16 Pin Connector 177
Figure 53: CPT7 I/O1 Cable 179
Figure 54: CPT7 I/O2 Cable 181
Figure 55: Plot of Good and Poor Antenna Phase Center Variation over Elevation Angle 0-90° 191