Novatel SPAN CPT7 User manual

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SPAN CPT7™
GM-14915154 Rev 1A August 2018
QUICK START GUIDE
*GM-14915154*
The NovAtel® SPAN CPT7 is a compact, single enclosure GNSS+INS receiver. This guide provides the
basic information needed to set up and use a SPAN CPT7.
USER DOCUMENTATION
For detailed information on the installation, operation, logs and commands for the SPAN CPT7, refer to the
OEM7 User Documentation (docs.novatel.com/OEM7).
BOX CONTENTS
The following is provided with the SPAN CPT7:
• SPAN CPT7 I/O1 Cable (60723180)
• SPAN CPT7 I/O2 Cable (60723181)
ADDITIONAL EQUIPMENT REQUIRED
The additional equipment listed below is required for a typical setup (refer to the OEM7 User
Documentation (docs.novatel.com/OEM7) for further details).
• A 9-32 VDC, fuse protected power supply capable of at least 18 W
• Two high quality GNSS antennas, such as NovAtel’s VEXXIS® GNSS-500 or GNSS-800 series
antennas
• Two antenna cables with an SMA male connector at the SPAN CPT7 end
• Four #6 size screws for mounting.
• A computer with a serial COM, USB or Ethernet port
OPTIONAL ACCESSORIES
The following optional accessory is available from NovAtel:
• SPAN CPT7 Adapter Plate (70023109)
This plate mounts on the SPAN CPT7 and provides SPAN-CPT and SPAN-IGM compatible mounting
holes.
For information about this accessory, refer to the OEM7 User Documentation (docs.novatel.com/OEM7).

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GETTING TO KNOW THE SPAN CPT7
Refer to the OEM7 User Documentation (docs.novatel.com/OEM7) for details on SPAN CPT7 connectors
as well as detailed installation and operation instructions and information regarding SPAN CPT7 logs and
commands.
Table 1: SPAN CPT7 - Connector Definitions
Connector Description
RF1 SMA connector for the primary GNSS antenna
RF2 SMA connector for the secondary GNSS antenna
IO1
16-pin circular connector
• Power
• 7720-COM2 (RS-422)
• EVENT_IN 1
• EVENT_OUT 1
IO2
16-pin circular connector
• Power
• 7720-COM1 (RS-232)
•USB
• Ethernet
•CAN bus
• EVENT_IN 2
• EVENT_OUT 2

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SETTING UP A SPAN CPT7
Complete the following steps to connect and power the SPAN CPT7.
1. Mount the SPAN CPT7. See SPAN CPT7 Mounting on page 5 for details.
2. Mount both GNSS antennas to a secure, stable structure with an unobstructed view of the sky.
3. Connect the primary GNSS antenna to the RF1 port and the secondary GNSS antenna to the RF2
port.

ALIGN heading accuracy is dependent on the antenna baseline length. For best results,
mount the GNSS antennas at least one metre apart.

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4. Connect the interface cable to the SPAN CPT7.
If RS-422 protocol is used for communication to the other system devices, connect the interface cable
(SPAN CPT7 I/O1 Cable (60723180)) to the IO1 port on the SPAN CPT7.
If RS-232 protocol, USB or Ethernet is used for communication to the other system devices, connect
the interface cable (SPAN CPT7 I/O2 Cable (60723181)) to the IO2 port on the SPAN CPT7.
If signals from both IO ports are needed, connect both interface cables to the SPAN CPT7.
See Table 1, SPAN CPT7 - Connector Definitions on page 2.
5. Connect a USB, COM or Ethernet port on the receiver to a USB, serial or Ethernet port on a computer.
If using a USB connection, install the USB drivers (refer to Connect to the SPAN CPT7 on page 5 to
obtain drivers).
If RS-232 protocol is required, use COM1 which is available on the IO2 port.
If RS-422 protocol is required, use COM2 which is available on the IO1 port.
6. Connect the power leads on the interface cable to a 9-32 VDC power supply capable of at least 18 W.
Install a user supplied 8 A slow blow fuse in the positive line of the connection to the power source to
protect the power supply wiring and your warranty.

If using RS-232 protocol, the maximum data rate on the COM port is 230400 bit/s.

Power can be connected to either the IO1 or IO2 port.
Do not connect a power supply to both ports.

Ensure the VIN line is connected to the positive pole of the power source and the GND
line is connected to the negative pole of the power source.
Table 2: Fuse/Holder Recommendations 12 V System
Fuse Holder
BK/MDA-8-R Fuse (or equivalent)
BK/MDL-8-R Fuse (or equivalent) BK/HFA-R-R Fuse (or equivalent)

The fuse and holder are made by Cooper/Bussmann; available from Digikey.

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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 SPAN CPT7 minimum voltage or cut-out to ancillary equipment causing
the receiver and/or IMU to lose lock and calibration settings.
SPAN CPT7 MOUNTING
Mount the SPAN CPT7 and GNSS antennas securely to the vehicle. For the simplest operation, align the
X-axis of the SPAN CPT7 with the forward axis (direction of travel) of the vehicle and mount the Z-axis
down. When mounted with X-axis forward, the default RBV configuration is valid. Any other mounting
requires the SETINSROTATION RBV command to be sent. Ensure that the GNSS antennas and
SPAN CPT7 cannot move relative to each other. The distance and relative direction between them must be
fixed.
CONNECT TO THE SPAN CPT7
To configure the SPAN CPT7 and access data from the SPAN CPT7, establish a communication session
with the SPAN CPT7 using one of the following methods.
• NovAtel Connect
A serial (COM port), USB or Ethernet connection to the SPAN CPT7 is needed to use NovAtel
Connect. To download NovAtel Connect, and the USB drivers, go to the NovAtel website: novatel.com/
novatel-connect. For information about using NovAtel Connect, use the help system available in
NovAtel Connect.
• Command line
From a command line session, OEM7 commands and logs are used to configure and monitor the
SPAN CPT7. Refer to the OEM7 User Documentation (docs.novatel.com/OEM7) for more information.

Power can be connected to either the IO1 or IO2 port.
Do not connect a power supply to both ports.

The X, Y and Z axis are marked on the SPAN CPT7 enclosure.

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CONFIGURE THE SPAN SYSTEM
Follow these steps to enable INS as part of the SPAN system using software commands.
1. Establish a connection to the SPAN CPT7.
2. Enter the distance from the SPAN CPT7 center of navigation to the phase center of the GNSS
antennas using the SETINSTRANSLATION command. Use SETINSTRANSLATION ANT1 for the
distance to the primary GNSS antenna and SETINSTRANSLATION ANT2 for the distance to the
secondary GNSS antenna.
The offset between the antenna phase center and the SPAN CPT7 axes must remain constant and be
known accurately. The X (pitch), Y (roll) and Z (azimuth) directions are clearly marked on the
SPAN CPT7. The SETINSTRANSLATION parameters are (where the standard deviation fields are
optional):
x_offset y_offset z_offset [x_stdev] [y_stdev] [z_stdev]
3. The SPAN-CPT7 comes pre-configured with an RBV of 180 0 90. This configuration is valid if
mounting is done as described in SPAN CPT7 Mounting on page 5. If the SPAN CPT7 is mounted in
an orientation other than the default orientation, the SETINSROTATION command must be sent. Using
the RBV parameter, enter the Euler Angle rotation from the IMU Body frame to the Vehicle frame.
Accurate knowledge of the rotational offset between the IMU Body frame and the Vehicle frame (the
RBV rotation) is critical to correctly computing an attitude solution, and is required before a Kinematic
alignment is possible.
The SETINSROTATION parameters are (where the standard deviation fields are optional):
RBV x_rotation y_rotation z_rotation [x_stdev] [y_stddev] [z_stdev]
Configuration for Alignment
The SPAN CPT7 can use a kinematic alignment routine or a dual antenna alignment. The kinematic or
moving alignment is performed by estimating the attitude from the GNSS velocity vector and injecting it
into the SPAN filter as the initial system attitude. A dual antenna alignment uses the heading information
from a NovAtel Dual Antenna ALIGN solution to rapidly perform an alignment. For information about these
alignment techniques, refer to the OEM7 User Documentation (docs.novatel.com/OEM7).

A GNSS antenna must be connected and tracking satellites for operation.

The measurements for the translational offsets should be done as accurately as
possible, preferably to within millimetres especially for RTK operation. Any error in the
offsets will translate into an error in the INS position.

The order of rotations is Z-X-Y. All rotations are right handed.

Regardless of system configuration and IMU orientation, the SETINSTRANSLATION
command must be sent to the receiver before attempting a kinematic alignment.

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OPERATE THE SPAN SYSTEM
The system is ready to go once it is powered and the GNSS and INS are configured using the previously
shown commands.
Observe the status of the system in the NovAtel Connect INS Window or in the status field of any of the
INS solution logs (for example INSPOS, INSVEL, INSATT and INSPVA).
If performing a kinematic alignment, move the vehicle forward at a speed faster than 5 m/s. The following
status stages may be observed:
• The status changes from INS_INACTIVE through DETERMINING_ORIENTATION,
WAITING_INITIALPOS and INS_ALIGNING as the initial alignment routine starts.
• The status changes to INS_ALIGNMENT_COMPLETE when the alignment is complete. After some
motion (stops, starts and turns), the attitude solution converges to within specifications and the status
changes to INS_SOLUTION_GOOD.
• The status may occasionally change to INS_SOLUTION_FREE. This status indicates that the inertial
solution has detected poor quality GNSS positions from the receiver due to limited satellite visibility or
high multi-path conditions. The inertial filter may choose to disregard this information and wait for the
GNSS quality to improve. The solution is still valid during these times, it is simply a notification that the
GNSS+INS solution is more reliable than the GNSS-only solution.
DATA LOGGING
An extensive set of logs are available to capture data (refer to the Logs section of the OEM7 User
Documentation (docs.novatel.com/OEM7)). Logs can be directed to any of the SPAN CPT7
communication ports and can be automatically generated at regular intervals or when new or changed
data becomes available. Data can also be collected using NovAtel Connect.
Refer to the OEM7 User Documentation (docs.novatel.com/OEM7) for details on logging.
Log SPAN Data
Raw GNSS, IMU and navigation data (position, velocity, attitude) are available from the system as ASCII or
binary logs.
Data can be collected using the Logging window of NovAtel Connect or sent out a receiver communication
port to user supplied data collection software.
For real-time applications, the GNSS+INS solution is available through the SPAN logs listed in the OEM7
User Documentation (docs.novatel.com/OEM7) including INSPOS, INSVEL, INSATT and INSPVA. These
logs can be collected at rates up to the IMU data rate; however, there are some rate restrictions. Refer to
the Data Collection section in the SPAN Operation section of the OEM7 User Documentation
(docs.novatel.com/OEM7).
SPAN CPT7 POST PROCESSING
Post-mission data processing refers to cases where GNSS data collected by the receiver is processed
after the entire data collection session is complete.
SPAN CPT7 output is compatible with post-processing software from NovAtel’s Waypoint® Products
Group. For details, see www.novatel.com/Products/Waypoint Software.

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SPAN CPT7 Post-Process Data
Post-processing requires collection of simultaneous data from the base and rover stations. This includes
accurate coordinates of the base station and accurate measurement of the IMU to antenna separation.
Collect the following data for post-processing:
• From the base station
• RANGECMPB ontime 1
• RAWEPHEMB onchanged
• GLOEPHEMERISB onchanged (if using GLONASS)
• GALFNAVEPHEMERIS ONCHANGED (if using Galileo)
• GALINAVEPHEMERIS ONCHANGED (if using Galileo)
• BDSEPHEMERIS ONCHANGED (if using BeiDou)
• From the rover station(s)
• RANGECMPB ontime 1
• RAWEPHEMB onchanged
• GLOEPHEMERISB onchanged (if using GLONASS)
• GALFNAVEPHEMERIS ONCHANGED (if using Galileo)
• GALINAVEPHEMERIS ONCHANGED (if using Galileo)
• BDSEPHEMERIS ONCHANGED (if using BeiDou)
• RAWIMUSXB onnew
• INSCONFIGB onchanged
• HEADING2B onnew (if using ALIGN dual antenna solution)
SPAN system output is compatible with Inertial Explorer® post-processing software from the Waypoint®
Products Group, NovAtel Inc. Visit our website at www.novatel.com/products/software/ for details.
ADDITIONAL FUNCTIONALITY
Additional features, such as RTK, PPP, SBAS and the Interference Toolkit, are available on the
SPAN CPT7. Refer to the OEM7 User Documentation (docs.novatel.com/OEM7) for set up and installation
instructions for other functionality.
QUESTIONS OR COMMENTS
If you have any questions or comments regarding your SPAN CPT7 product, contact NovAtel Customer
Service using one of these methods
Log a Case and Search Knowledge: Website: www.novatel.com/support
Log a Case, Search Knowledge and View Your Case History: (login required)
Web Portal: https://novatelsupport.force.com/community/login
Email: [email protected]
Telephone: U.S. and Canada: 1-800-NOVATEL (1-800-668-2835)
International: [phone]
SPAN CPT7 Quick Start Guide
NovAtel, NovAtel CORRECT, OEM7, SPAN, VEXXIS, Inertial Explorer and Waypoint are registered trademarks of NovAtel Inc.
SPAN CPT7 and NovAtel Connect are trademarks of NovAtel Inc.
All other brand names are trademarks of their respective holders.
© Copyright 2018 NovAtel Inc. All rights reserved.
Printed in Canada on recycled paper. Recyclable.
Unpublished rights reserved under international copyright laws.