Novatel SPAN CPT7 User manual

OM-20000179 v3A January 2019
SPAN CPT7
Installation and Operation
User Manual

SPAN CPT7 Installation and Operation User Manual v3A 2
SPAN CPT7 Installation and Operation User Manual
Publication Number: OM-20000179
Revision Level: v3A
Revision Date: January 2019
Firmware Version: 7.05 / OM7MR0500RN0000, SC7PR0304RN0000
Warranty
NovAtel Inc. warrants that its GNSS products are free from defects in materials and work-
manship, subject to the conditions set forth on our web site: www.nova-
tel.com/products/warranty/ and for the following time periods:
OEM7®Receivers One (1) Year
GNSS Antenna Series One (1) Year
Cables and Accessories Ninety (90) Days
Software Warranty One (1) Year
Return instructions
To return products, refer to the instructions found at: www.novatel.com/warranty-return.
Proprietary Notice
Information in this document is subject to change without notice and does not represent a com-
mitment on the part of NovAtel Inc. The software described in this document is furnished 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 photocopying and recording, for any purpose without the express
written permission of a duly authorized representative of NovAtel Inc.
The information contained within this manual is believed to be true and correct at the time of
publication.
NovAtel, ALIGN, GLIDE, GrafNav/GrafNet, Inertial Explorer, NovAtel CORRECT, OEM7, PwrPak7,
RELAY, SPAN, STEADYLINE, VEXXIS and Waypoint are registered trademarks of NovAtel Inc.
NovAtel Connect, OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, SMART7, RELAY7
and RTK ASSIST are trademarks of NovAtel Inc.
All other brand names are trademarks of their respective holders.
© Copyright 2019 NovAtel Inc. All rights reserved. Unpublished rights reserved under Inter-
national copyright laws.

SPAN CPT7 Installation and Operation User Manual v3A 3
Table of Contents
Figures
Tables
SPAN CPT7 Notices
Customer Support
Chapter 1 SPAN CPT7 Overview
1.1 Fundamentals of GNSS+INS 20
Chapter 2 SPAN CPT7 Installation
2.1 Additional Equipment Required 21
2.2 Optional Accessories 21
2.3 SPAN CPT7 Cables 21
2.4 Selecting a GNSS Antenna 22
2.5 Choosing a Coaxial Cable 23
2.6 Power Supply Requirements for the SPAN CPT7 23
2.7 SPAN CPT7 Installation Overview 24
2.8 Mounting the GNSS Antenna 26
2.8.1 Antenna LNA Power 26
2.9 Mount the SPAN CPT7 26
2.9.1 Securing the SPAN CPT7 27
2.9.2 Secure the SPAN CPT7 Using the Adapter Plate 27
2.10 Connect the SPAN 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
3.1.1 USB Communications 37
3.1.2 Serial Port Communications 37
3.1.3 Ethernet Communications 39
3.1.4 ICOM Communications 39
3.1.5 CAN Bus Communications 40
3.2 Getting Started 40
3.2.1 Communicating with the Receiver 40
3.3 Transmitting and Receiving Corrections 41
3.3.1 Defining Antenna and Base Antenna 43
3.3.2 Base Station Configuration 43
3.3.3 Rover Station Configuration 44
3.3.4 Configuration Notes 44
3.4 GLIDE 45
3.4.1 Dual-Frequency GLIDE 45

SPAN CPT7 Installation and Operation User Manual v3A 4
3.4.2 PDP and GLIDE Configurations 46
3.5 STEADYLINE 46
3.5.1 Maintain 46
3.5.2 Transition 47
3.5.3 Prefer Accuracy 47
3.5.4 UAL 48
3.6 Enabling SBAS Positioning 49
3.7 Enabling NovAtel CORRECT with PPP 49
3.7.1 TerraStar Subscriptions 50
3.7.2 Veripos Subscriptions 51
3.8 RTK ASSIST 51
3.9 Transferring Time Between Receivers 52
3.9.1 GPS to Receiver Time Synchronization 52
3.9.2 Time Definitions 52
3.9.3 Procedures to Transfer Time 53
3.10 Interference Toolkit 57
3.10.1 Monitoring GNSS Signals 57
3.10.2 Disable/Enable Detection 59
3.10.3 Monitoring Signals Using a Command Line 59
3.10.4 Monitoring Signals Using NovAtel Connect 60
3.10.5 Remove Interference Signals 61
3.11 Logging and Retrieving Data Overview 64
3.11.1 Pass-Through Logging 64
3.11.2 Saving Logs to a File 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 Configuration 72
4.3.2 INS Profiles 72
4.3.3 SPAN Configuration for SPAN CPT7 74
4.4 Real-Time Operation 77
4.4.1 System Start-Up and Alignment Techniques 78
4.4.2 INSSeed / Fast INS Initialization 80
4.4.3 Navigation Mode 82
4.4.4 Data Collection 82
4.4.5 Body to Vehicle Frame Rotation Calibration Routine 84
4.4.6 Multi-Line Body to Vehicle Frame Rotation Calibration Routine 85
4.5 Synchronizing External Equipment 87
4.5.1 Configuring an Input Strobe 87
4.6 Adding Timed Sensor Triggers 88
4.6.1 Configuring the Hardware 88
4.6.2 Configuring the Software 89
4.6.3 Using Timed Event Pulses 89
4.6.4 Recording Incoming Sensor Events 89

SPAN CPT7 Installation and Operation User Manual v3A 5
4.7 Azimuth Sources on a SPAN System 89
4.7.1 Course Over Ground 90
4.7.2 Inertial Azimuth 90
4.7.3 ALIGN Azimuth 90
4.8 Data Collection for Post Processing 91
4.9 Variable Lever Arm 92
4.9.1 Reference Frame Description 92
4.9.2 How to Use Variable Lever Arm 94
4.10 Relative INS 96
4.10.1 Configure Relative INS 97
Chapter 5 SPAN with Dual Antenna
5.1 Configuring ALIGN with SPAN 99
5.1.1 Configuring SPAN with ALIGN 100
5.1.2 Alignment on a Moving Vessel - Aided Transfer Alignment 100
5.1.3 Alignment on a Stationary Vehicle - Aided Static Alignment 100
5.1.4 Unaided Alignment 101
5.1.5 Automatic Alignment Mode - Automatic Alignment (default) 101
5.2 SPAN ALIGN Attitude Updates 101
Chapter 6 Ethernet Configuration
6.1 Required Hardware 102
6.2 Static IP Address Configuration 102
6.2.1 Static IP Address Configuration—Receiver 103
6.2.2 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 the CAN Bus 113
7.2.3 Example of Modifying the CAN Bus Parameters 113
7.2.4 Example of Detecting an Address Claim Failure and Reconfiguring 113
7.2.5 Address Claim Procedure 114
7.3 NMEA2000 Logging 114
7.3.1 Example of NMEA2000 Log Configuration 115
7.3.2 Example of Custom PGN Configuration 115
7.4 Corrections Over CAN 115
7.4.1 Example for Receiving Corrections from Any Source 116
7.4.2 Example for Transmitting Corrections to 0x1C Node 116
7.5 NovAtel Messages Over CAN 116
7.6 Configuring OEM7 Receivers to Use OEM6 CAN Settings 116
7.6.1 Configuration on OEM6 117
7.6.2 Configuration on OEM7 117
Chapter 8 Built-In Status Tests
8.1 Receiver Status Word 118
8.2 RXSTATUSEVENT Log 118

SPAN CPT7 Installation and Operation User Manual v3A 6
8.3 RXSTATUS Log 119
8.3.1 Status Word 119
8.3.2 Error Word 119
8.3.3 Status Code Arrays 120
8.3.4 Receiver Status Code 121
8.3.5 Auxiliary Status Codes 121
8.3.6 Set and Clear Mask for all Status Code Arrays 121
Chapter 9 Troubleshooting
9.1 Examining the RXSTATUS Log 123
9.2 Examining the AUX1 Status Word 126
9.3 High Temperature Environments 127
9.3.1 Indicators of an Error State 127
9.3.2 Recovering from a Temperature Status Error 128
9.3.3 Mitigating High Receiver Temperature 128
9.3.4 Monitoring the Receiver Temperature 128
9.4 Safe Mode 129
9.4.1 Reset Loop Detection 129
9.4.2 Recovery Steps 129
Chapter 10 NovAtel Firmware and Software
10.1 Firmware Updates and Model Upgrades 131
10.1.1 Firmware Updates 131
10.1.2 Model Upgrades 131
10.2 Authorization Code 132
10.3 Transferring Firmware Files 133
10.3.1 Format 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 139
10.7.5 SoftLoad Errors 142
10.8 Upgrading Using an Auth-Code 142
10.8.1 Entering an Auth-Code Using NovAtel Connect 142
10.8.2 Entering an Auth-Code Using NovAtel Web UI 142
10.8.3 Entering an Auth-Code Using the Command Line 143
APPENDIX A SPAN CPT7 Technical Specifications
A.1 SPAN CPT7 Performance Specifications 145
A.2 SPAN CPT7 Mechanical Specifications 148
A.3 SPAN CPT7 Electrical and Environmental Specifications 151
A.4 SPAN CPT7 Data Communication Specifications 153
A.5 SPAN CPT7 Strobe Specifications 154
A.6 SPAN CPT7 Connectors 155
A.7 SPAN CPT7 I/O1 Cable 157
A.7.1 Custom Cable Recommendations 158
A.8 SPAN CPT7 I/O2 Cable 159
A.8.1 Custom Cable Recommendations 160

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

SPAN CPT7 Installation and Operation User Manual v3A 8
Figures
Figure 1: SPAN CPT7 Receiver 19
Figure 2: Typical Installation of a SPAN CPT7 System 25
Figure 3: SPAN CPT7 Adapter Plate 29
Figure 4: Offset from the SPAN CPT7 to the SPAN-CPT 30
Figure 5: Offset from the SPAN CPT7 to the SPAN-IGM-S1 31
Figure 6: Fuse for PwrPak7 Power Supply 34
Figure 7: Dedicated Battery for the SPAN CPT7 35
Figure 8: Basic SPAN CPT7 Connection Interfaces (example) 36
Figure 9: Basic Differential Setup 42
Figure 10: Positioning Change Without STEADYLINE 46
Figure 11: STEADYLINE Maintain 47
Figure 12: STEADYLINE Transition 47
Figure 13: STEADYLINE Prefer Accuracy 47
Figure 14: STEADYLINE UAL- Warning Limit Example 48
Figure 15: STEADYLINE UAL - Out of Bounds Example 49
Figure 16: Transfer COARSE Time from Fine Clock to Cold Clock Receiver 54
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 Configuration 93
Figure 26: Operating Gimbal 94
Figure 27: Relative INS Example 97
Figure 28: Cross-Over Ethernet Cable Configuration—OEM7 Receiver 103
Figure 29: Dynamic IP Address Configuration through a DHCP Server—OEM7 Receiver 105
Figure 30: Base/Rover Ethernet Setup—OEM7 Receiver 107
Figure 31: NTRIP System 109
Figure 32: Location of Receiver Status Word 119
Figure 33: Reading the Bits in the Receiver Status Word 119
Figure 34: Location of Receiver Error Word 120
Figure 35: Reading the Bits in the Receiver Error Word 120
Figure 36: Status Code Arrays 121
Figure 37: WinLoad’s Open Window 134
Figure 38: Open File in WinLoad 134

Figures
SPAN CPT7 Installation and Operation User Manual v3A 9
Figure 39: COM Port Setup 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

SPAN CPT7 Installation and Operation User Manual v3A 10
Tables
Table 1: SPAN CPT7 Cables 22
Table 2: Fuse/Holder Recommendations 12 V System 34
Table 3: Serial Ports Supported 38
Table 4: OEM7 INS Profiles 73
Table 5: Inertial Solution Status 77
Table 6: NVM Seed Indication 82
Table 7: Solution Parameters 82
Table 8: Valid Event Inputs and Outputs for Timed Sensor Triggers 89
Table 9: Logs with Azimuth Data 90
Table 10: Logs used with Variable Lever Arm 95
Table 11: Commands used with Variable Lever Arm 95
Table 12: Default NAME 112
Table 13: Troubleshooting Based on Symptoms 122
Table 14: Resolving a Receiver Error Word 124
Table 15: Resolving 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 Interfaces 153
Table 24: SPAN CPT7 Strobes Description 154
Table 25: SPAN CPT7 Strobe Electrical Specifications 154
Table 26: IO1 Pin Out 155
Table 27: IO2 Pin Out 156
Table 28: SPAN CPT7 I/O1 Cable Pinout 157
Table 29: I/O1 Connector 158
Table 30: SPAN CPT7 I/O2 Cable Pinout 159
Table 31: IO2 Connector 160
Table 32: GNSS Antennas 161
Table 33: SPAN CPT7 Cables 161
Table 34: GNSS Antenna Cables 162
Table 35: SPAN CPT7 Mounting Accessories 162