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SPAN-CPT Receiver User Manual

1. Receiver Receiver y Master Rover USB Power Supply 0 4 2 Configuring ALIGN with SPAN CPT Before configuring the ALIGN solution the two receivers MUST both be powered on and connected directly between COM 2 of the SPAN receiver and COM 2 of the second receiver through either a null modem cable or an appropriate radio connection The rover receiver must be an ALIGN capable model such as D2S Z00 000 running the latest OEM6 firmware version To enable the dual antenna ALIGN solution to aid the INS alignment and provide heading updates the offset between the antennas and the IMU must be known This is achieved by entering lever arms to both antennas using the SETIMUTOANTOFFSET and SETIMUTOANTOFFSET2 commands To configure SPAN with ALIGN Aiding 1 Enter the lever arm from the IMU to the primary antenna primary antenna is connected to the SPAN receiver using the SETIMUTOANTOFFSET command Abbreviated ASCII example SETIMUTOANTOFFSET 0 54 0 32 1 20 0 03 0 03 0 05 2 Enter the lever arm from the IMU to the secondary antenna secondary antenna is connected to the second receiver using the SETIMUTOANTOFFSET2 command Abbreviated ASCII example SETIMUTOANTOFFSET2 0 54 2 32 1 20 0 03 0 03 0 05 36 SPAN CPT User Manual Rev 7 SPAN CPT Dual Antenna Chapter 4 4 3 Alternately the angular offset between the dual antenna baseline fr
2. BEE PRODUCT RELEASE FAMILY INDICATOR FIRMWARE NUMBER After determining the appropriate model and firmware version the authorization code auth code is issued The auth code is required to unlock the features on the new model type To upgrade to a new model with the same firmware version use the AUTH command with the issued auth code if required as outlined in Updating or Upgrading Using the WinLoad Utility on page 44 To upgrade to a new model with a higher firmware version the new firmware HEX file needs to be loaded into the receiver using the WinLoad utility program WinLoad and the firmware HEX files can be found at www novatel com Support Firmware Software and Manuals Product Updates Refer to Updating or Upgrading Using the WinLoad Utility on page 44 for use instructions Firmware version OEM060200RN0000 also known as firmware version 6 200 and later contain the Firmware Signature feature This firmware feature removes the authorization code dependency on the firmware version and eliminates the need to obtain an auth code when downloading the latest version of signed firmware If updating from a version before 6 200 to a signed 6 200 version an authorization code is required Auth codes not required when loading signed firmware In version OEM060200RN0000 the receiver serial number and the software model are built into the signature in the firmware file Once the 6 200 signed firmware is installed with
3. Y X IT EE LLL 1 22 EZ mm BE m FN 51 13 0 30 9 L 3 39 u 4x 86 1 03 8 Note All dimensions are in inches mm 6 00 C 1524 gt SPAN CPT User Manual Rev 7 53 Figure 19 SPAN CPT Top Front and Bottom View 0 015 M A B C 5 68 144 2 ol 16 i 7 NY At 5 01 qos 127 3 3 39 86 1 Y y SE O 4 55 115 5 up 1 40 9 38 9 D e 88 9 l i P ps 71 6 1 22 e A 30 9 41 8 I 4 55 1155 A 6 66 7 002 169 3 e IB aX 4X MOUNTING SURFACE 4X a ers T DE 191 4 e ee Z 1 3 D 4X Q277 p ls EF o e 5 440 Y 6 1382 e E E AO m9 O e ER m 080 2 L gt 1 I ALIGNMENT HOLES FOR B 6 104 E 155 1 A 3 SPAN CPT Cable The NovAtel part numbers for the SPAN CPT cables are KVH Development Terminated Cable 60723108 KVH Standard Unterminated Cable 60723107 54 5 125 DOWEL PINS SPAN CPT User Manual Rev 7 Figure 20 SPAN CPT Development Terminated Cable 140 CM Duc Connector type MIL DTL 389
4. 19 COM2 RS 232 TX from Receiver Red 3 20 COM2 RS 232 RX to Receiver White 2 21 COM2 RS 232 RTS from Receiver Orange 7 22 COM2 RS 232 CTS to Receiver Brown 8 SPAN CPT User Manual Rev 7 55 Table 11 SPAN CPT 60723108 KVH Development Terminated Cable Pin Out continued Female Male Function Wire Pair Wire Color DB9to DB9to USB COMi COM2 23 No Connection 24 No Connection 25 COM2 Signal Ground Black 5 26 IMU RS 232 TX Diagnostics White Orange 27 IMU RS 232 RX Diagnostics White Yellow 28 IMU RS 232 Diagnostics Signal Ground White Blue 29 PPS from Receiver White Red 30 EVENT1 to Receiver White Brown 31 Receiver Signal GND White Black 32 CAN2L Receiver Black 33 CAN2H Receiver SEH Green 34 CAN 2 Signal Ground White Green 35 No Connection 36 No Connection 37 Chassis GND Green 56 SPAN CPT User Manual Rev 7 Table 12 SPAN CPT 60723107 KVH Standard Un terminated Cable Pin Out Pin Function Wire Pair Wire Color 1 Power Return White White Black 2 9 18 VDC Power Input Black 3 COM1 RS 422 TX RS 232 TX from Receiver Black White Black 4 COM1 RS 422 TX RS 232 RTS from Receiver White 5 COM1 RS 422 RX RS 232 RX to Receiver Black White Black 6 COM1 RS 422 R
5. 3 3 2 SPAN IMU Configuration iicet eost ED ense pa 3 4 Real Time Operation ENNEN ENNEN REN 3 4 1 System Start Up and Alignment Techniques eene 3 4 2 Navigation Mode 3 4 3 Vehicle to SPAN CPT Frame Angular Offsets Calibration Routine eese 3 4 4 SPAN CPT Wheel Sensor neret derbi dei de eb eed dee Foe ed re dea ge ed de De ge e so ede e eda es 3 5 Azimuth Sources on a SPAN System sse eene enne nennen eren nene erre 3 5 1 Course Over Ground 1 nescis seeded ie 3 5 2 InertialAZimth EE 3 5 3 ALIGN AZIMU whose e el ees ties ee e Ege ened re dede E asa 3 6 Data Collection eet aia 3 7 Data Collection for Post Proceseing eene en nee enne 3 9 Variable Lever ALTO E n EE Ro SR tae HS dada ore EE 4 SPAN CPT Dual Antenna 4 1 Installation repe np e n e OU oid tei e e a 4 2 Configuring ALIGN with GAN CPT enne nere nennen innen nrr inrer etre nnne tenen 4 3 Configuring SPAN with ALIGN on GPAN CDI 4 3 1 Alignment on a Moving Vessel Aided Transfer Alignment sss 4 3 2 Alignment on a Stationary Vehicle Aided Static Alignment 4 3 3 Unaided Alignment eerie Ee rete de e hile ene ee po tede Re dete cds 4 3 4 Automatic Alignment Mode Automatic Alignment default SPAN CPT User Manual Rev 7 Table of Contents 4 4 SPAN ALIGN Attitude Updates AAA 38 5 NovAtel Firmware and Software 39 5 1 Firmware Updates and Model Ulpogrades esee enne nn nennt nnne nns 40 XS Firmwar
6. NFPA 70 Canada Canadian Electrical Code CSA C22 UK British Standards Institute BSI 7671 10 SPAN CPT User Manual Rev 7 Chapter 1 Introduction 1 1 NovAtel s SPAN Synchronized Position Attitude Navigation technology brings together two different but complementary positioning and navigation systems GNSS and an Inertial Navigation System INS By combining the best aspects of GNSS and INS into one system SPAN technology offers a solution that is more accurate and reliable than either GNSS or INS alone The combined GNSS INS solution has the advantage of the absolute accuracy available from GNSS and the continuity of INS through traditionally difficult GNSS conditions SPAN CPT combines GNSS and Inertial Measurement Unit IMU hardware inside a single enclosure for simple installation and operation NovAtel s OEME receiver is the processing engine of SPAN CPT and the IMU components are manufactured by KVH Industries Commercial components are used in SPAN CPT to offer the same benefits of other SPAN products but with fewer export restrictions Fundamentals of GNSS INS GNSS positioning observes range measurements from orbiting Global Positioning System Satellites From these observations the receiver computes position and velocity with high accuracy NovAtel GNSS positioning systems are highly accurate positioning tools GNSS however does have some significant restrictions which limit its usefulness in some situations GNSS p
7. 2 You can also issue a FRESET command to the receiver to clear any unknown settings The FRESET command erases all user settings Record the configuration settings before sending the FRESET command to simplify reconfiguration If a hardware problem is encountered send a list of the troubleshooting steps taken and results Contact Information Use one of the following methods to contact NovAtel Customer Support Call the NovAtel Hotline at 1 800 NOVATEL U S amp Canada or 1 403 295 4500 international Fax 1 403 295 4501 Write NovAtel Inc E mail support novatel com Customer Support Department Web site http www novatel com 1120 68 Avenue NE Calgary AB Canada T2E 8S5 SPAN CPT User Manual Rev 7 7 The following notices apply to the SPAN CPT FCC Notices This device complies with part 15 of the FCC Rules Operation is subject to the following two conditions 1 this device may not cause harmful interference and 2 this device must accept any interference received including interference that may cause undesired operation SPAN CPT complies with the radiated and conducted emission limits for a Class B digital device The Class B limits are designed to provide reasonable protection against harmful interference in a residential installation The equipment listed generates uses and can radiate radio frequency energy and if not installed and used in accorda
8. 5 in Appendix C Frequently Asked Questions on page 59 3 4 1 System Start Up and Alignment Techniques 28 The system requires an initial attitude estimate to start the navigation filter This is called system alignment On start up the system has no position velocity or attitude information When the system is first powered up 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 Raw IMU measurements begin to be timed by the receiver and are available to the INS filter They are also available in the RAWIMU RAWIMUS RAWIMUX and RAWIMUSX logs The INS Status field changes from INS INACTIVE through DETERMINING ORIENTATION and WAITING INITIALPOS during this period 5 The inertial alignment routine starts and the INS Status field reports INS ALIGNING 6 When the kinematic alignment is completed and the INS Status field changes to INS ALIGNMENT COMPLETE The system transitions to navigation mode 7 The solution is refined using updates from GNSS Once the system is operating within specifications and after some vehicle movement the INS Status field changes to INS SOLUTION GOOD This indicates that the estimated azimuth standard deviation is below 2 degrees If it increases above 2 degrees the status c
9. AGNSS antenna Computer software Real time data collection status monitoring and receiver configuration is possible through the NovAtel Connect software utility refer to SPAN CPT Configuration with NovAtel Connect on page 25 Related Documents and Information This manual contains sufficient information about the installation and operation of the SPAN CPT system It is beyond the scope of this manual to provide details on service or repair Contact your local NovAtel dealer for any customer service related inquiries see Customer Support on page 7 The SPAN CPT utilizes a comprehensive user interface command structure which requires communications through its communication COM ports For information about the INS specific commands and logs see the SPAN on OEM6 Firmware Reference Manual OM 20000144 For descriptions of the other commands and logs available with SPAN CPT refer to the OEMG Family Firmware Reference Manual OM 20000129 Both of these manuals are available on the NovAtel website at www novatel com support firmware software and manuals product manuals and doc updates It is recommended that these documents be kept together for easy reference SPAN CPT system output is compatible with post processing software from NovAtel s Waypoint Products Group Visit our Web site at www novatel com for details Conventions The following conventions are used in this manual O Information that supplements or clarifies
10. Code window appears enter the auth code and click OK See Authorization Code on page 42 for further information about the Authorization Code Figure 16 Authorization Code Window Authorization Code EN Cancel 6 The receiver finishes the download and then resets The process is complete when Done appears in the main display area Figure 17 Upgrade Process Complete Download Complete Resetting Card Resetting Done COM 1 Connect 9600 Download 115200 7 Close WinLoad 46 SPAN CPT User Manual Rev 7 NovAtel Firmware and Software Chapter 5 5 4 Updating using SoftLoad Commands Use SoftLoad to update an OEM6 family receiver 9 Use SoftLoad if automated loading is required or the platform used to communicate with the receiver if not supported by WinLoad v Refer to Types of Firmware Files on page 44 for details on updating versus upgrading Open a connection to any port on the receiver COM or USB port with a user Application Programming Interface API Request the SOFTLOADSTATUSA log using the following command LOG SOFTLOADSTATUSA ONCHANGED Initialize SoftLoad with a SOFTLOADRESET command This command stops all tracking on the receiver to ensure sufficient memory is available for the loading process A RXSTATUSEVENTA log reports a SoftLoad In Progress status Open the HEX firmware file or SHEX firmware file SHEX files are treated in the same way as
11. Once the attitude accuracy has converged the INS status changes to INS SOLUTION GOOD 3 4 1 2 Manual Alignment If the attitude of your vehicle roll pitch azimuth is known enter the attitude information using the SETINITATTITUDE command Details of this command are in the SPAN on OEM6 Firmware Reference Manual 3 4 1 3 Dual Antenna Alignment SPAN can also use information available from a NovAtel Dual Antenna ALIGN solution to perform an alignment Refer to Chapter 4 SPAN CPT Dual Antenna on page 35 for details 3 4 2 Navigation Mode Once the alignment routine has successfully completed SPAN enters navigation mode SPAN CPT User Manual Rev 7 29 Chapter 3 SPAN CPT Operation SPAN computes the solution by accumulating velocity and rotation increments from the IMU to generate position velocity and attitude SPAN models system errors by using a filter The GNSS solution phase observations and automatic zero velocity updates ZUPTs provide updates to the filter Peripheral updates can also be supplied wheel sensor for displacement updates or an external receiver for heading updates Following the alignment the attitude is coarsely defined especially in heading Vehicle dynamics specifically turns stops and starts allow the system to observe the heading error and allows the heading accuracy to converge The amount of dynamics required for filter convergence vary by the alignment quality IMU quality and ma
12. Set Up on page 14 The SPAN CPT can supply power for the antenna Low Noise Amplifier LNA through the O antenna port center conductor The SPAN CPT provides 5 VDC 5 at a maximum of 100 mA For best performance use a high quality coaxial cable An appropriate coaxial cable is one that matches the impedances of the antenna and receiver 50 ohms and has a line loss that does not exceed 10 0 dB If the limit is exceeded excessive signal degradation may occur and the receiver may not meet performance specifications NovAtel offers several coaxial cables to meet your GNSS antenna interconnection requirements including 5 15 and 30 m antenna cable with TNC connectors on both ends NovAtel part numbers GPS C006 GPS C016 and GPS C032 If your application requires the use of cable longer than 30 m refer to application note APN 003 RF Equipment Selection and Installation available at www novatel com support knowledge and learning ublished papers and documents application notes 2 2 4 Connect Power The SPAN CPT receiver requires an input supply voltage of 9 VDC to 18 VDC The receiver has an internal power module that does the following filters and regulates the supply voltage protects against over voltage over current and high temperature conditions provides automatic reset circuit protection Power input pins are located on the multi purpose I O connector Be sure to connect the power with the correct pola
13. a signature auth code future firmware updates no longer require a new unique auth code The procedure for loading firmware is the same Refer to Upgrading Using the AUTH Command on page 49 The Firmware Signature feature simplifies the process of obtaining the latest releases by eliminating the need to obtain an authorization code An authorization code is still required if the software model changes for temporary trial upgrades or purchased permanent upgrades The new download package includes a signed firmware file type that uses an extension designated as shex example OEM060200RN0000 shex as well as the latest Winload utility and What s New file containing firmware update change details SPAN CPT User Manual Rev 7 NovAtel Firmware and Software Chapter 5 Prior to firmware version OEMO60200RNO0000 authorization codes depended on the O software model the firmware version and the serial number of the receiver The authorization code changed if any of the three items changed The NovAtel firmware download page contains two firmware versions e OEM Version contains firmware hex file and the loading utility Update Version contains firmware hex and shex files and the loading utility does not require the user to manually input the authorization code SPAN CPT User Manual Rev 7 43 Chapter 5 NovAtel Firmware and Software 5 3 Updating or Upgrading Using the WinLoad Utility WinLoad is the si
14. ih ad Dean 32 7 Hardware Specification for GPANCHT E 51 8 KVH IMU Sensor Specifications e 51 9 Electrical and Environmental Specifications ccccccccccceecenceeeeeeeeeeeeeeeeeeneeeeeeseaaeeeeeeseaeeeeeeeeeeeeeeeees 52 10 POWer SPECITIGATIONS EE 52 11 SPAN CPT 60723108 KVH Development Terminated Cable Pin Out 55 12 SPAN CPT 60723107 KVH Standard Un terminated Cable PDin Out 57 6 SPAN CPT User Manual Rev 7 Customer Support NovAtel Knowledge Base If a technical issue is encountered browse the NovAtel Web site at www novatel com then select Support Helpdesk and Solutions Search Known Solutions Use this page to search for general information about GNSS and other technologies information about NovAtel hardware and software and installation and operation issues Before Contacting Customer Support Before contacting NovAtel Customer Support about a software problem perform the following steps 1 Log the following data to a file on your computer for 15 minutes RXSTATUSB once RAWEPHEMB onchanged RANGEB ontime 1 BESTPOSB ontime 1 RXCONFIGA once VERSIONB once RAWIMUSXB onnew INSPVASB ontime 1 INSCOVSB ontime 1 INSUPDATEB onchanged IMUTOANTOFFSETSB onchanged Send the file containing the log to NovAtel Customer Support using either the NovAtel FTP site at Support Firmware Software and Manuals Access FTP Site on the NovAtel Web site at http www novatel com or through the support novatel com e mail address
15. procedures of your NovAtel SPAN system NovAtel SPAN is a powerful Synchronized Position Attitude Navigation system The NovAtel Connect screen shots in this manual may differ from your version of NovAtel Connect 3 3 2 0 SPAN CPT Configuration using Command Line Follow these steps to enable INS as part of the SPAN system using software commands 1 Issue the SETIMUTOANTOFFSET command to enter the distance from the SPAN CPT to the GNSS antenna See the SPAN on OEMG Firmware Reference Manual for information about the SETIMU TOANTOFFSET command The offset between the antenna phase centre and the IMU navigation centre must remain constant and be known accurately The X Y and Z positive directions are clearly marked on the SPAN CPT enclosure The SETIMUTOANTOFFSET parameters are in metres SETIMUTOANTOFFSET x offset y offsetz offset x stdev y stdev z stdev 26 SPAN CPT User Manual Rev 7 SPAN CPT Operation Chapter 3 The standard deviation fields are optional and the distances are measured from the IMU navigation center to the antenna phase center Y Offset 3 X Offset This example assumes a default mounting configuration and shows an X offset Y offset and Z offset A typical RTK GNSS solution is accurate to a few centimetres For the SPAN CPT system to have this level of accuracy the offset must be measured to within a centimetre Any offset error between the two systems directly affects the outp
16. required where filename is the name of the compressed file but not including the EXE extension and password if the password is required for extraction Example OEMO60000RN0000 hex In the above example a window appears asking for a password The self extracting archive produces 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 firmware since the last revision x x hex Firmware version upgrade file where x x defines the product name and release e g OEMO60000RN0000 hex The files are extracted to unzip program files NovAtel Inc x xxx Full Update Disk where x xxx is the firmware version NovAtel has an online video tutorial that explains firmware uploading at www novatel com Support Knowledge and Learning 5 3 2 Using the WinLoad Utility If opening WinLoad for the first time ensure the file and communications settings are correct 2 For further information and the exact cut off date refer to the NovAtel website at www novatel com Support Firmware Software and Manuals Product Updates OEM6 Family at the bottom of the page Mo SPAN CPT User Manual Rev 7 NovAtel Firmware and Software Chapter 5 Open a File to Download Select File Open Navigate to the file to open Figure 12 WinLoad s Open Window Figure 12 WinLoad s Open Window a Desktop 83 e Ed 4 095 KB HEX Fil
17. 99 Series 3 VO on SPAN CPT Part D38999 24FD35PA Mating Connector Part D38999 26FD35SA Pem f EEG eC Pb Ez DB9 FEMALE DB9 MALE The SPAN CPT cable also has a green ground line not shown in the drawing The green ground line is grounded to the SPAN CPT connector and enclosure Table 11 SPAN CPT 60723108 KVH Development Terminated Cable Pin Out Function Wire Pair Wire Color Female DB9 to DB9to COM1 Male USB COM2 1 Power Return Green Red Green 2 9 18 VDC Power Input Red 3 COM1 RS 422 TX RS 232 TX from Receiver Red 2 Red Black A COM1 RS 422 TX RS 232 RTS from Receiver Black 8 5 COM1 RS 422 RX RS 232 RX to Receiver White 3 White Black 6 COM 1 RS 422 RX RS 232 CTS to Receiver Black 7 7 RS 422 Select In j White Tie together with pin 8 to select RS 422 White Violet 8 RS 422 Select Out Violet Tie together with pin 7 to select RS 422 9 COM1 Signal Ground Grey 5 10 USB D Blue 3 Blue Black 11 USB D Black 12 USB Signal Ground Violet 4 18 Odometer Power White Red White Red 14 Odometer Power Return White Black White Black 15 ODO SIGA White Brown White Brown 16 ODO SIGA Inverted White Black White Black 18 ODO SIGB Inverted White Black White Black
18. Connect power to the SPAN CPT as described in Connect Power on page 16 Connect a computer to the SPAN CPT as described in Connect a Computer to the SPAN CPT on page 17 6 Connect the serial port on the user supplied radio device optional for real time differential operation to the COM2 port available on the multi purpose I O connector 7 Connect the I O strobe signals optional as described in Connect the I O Strobe Signals on page 17 y NovAtel recommends tying to ground any floating input lines 14 SPAN CPT User Manual Rev 7 SPAN CPT Installation Chapter 2 2 2 1 Mount the Antenna For maximum positioning precision and accuracy as well as to minimize the risk of damage ensure the antenna is securely mounted on a stable structure that will not sway or topple Where possible select a location with a clear view of the sky to the horizon so each satellite above the horizon can be tracked without obstruction The location should also be one that minimizes the effect of multipath interference Ensure the antenna cannot move due to dynamics For a discussion on multipath refer to NovAtel s GNSS book An Introduction to GNSS 2 2 2 Mount the SPAN CPT Mount the SPAN CPT in a fixed location where the distance from the SPAN CPT to the GNSS antenna phase center is constant Ensure the SPAN CPT orientation with respect to the vehicle and antenna is also constant For attitude output to be meaningful the SPAN CPT should be
19. Family Firmware Reference Manual OM 20000129 e QEM6 Family Installation and Operation Manual OM 20000128 2 1 2 SPAN CPT Hardware The SPAN CPT receiver contains an OEMG receiver and an IMU containing 3 accelerometers and 3 gyroscopes Communication is done using either the COM ports or USB through the multi I O connector Figure 2 SPAN CPT Receiver The sections that follows outline how to set up the system s parts and cables Refer to Appendix A Technical Specifications on page 51 for details SPAN CPT User Manual Rev 7 13 Chapter 2 SPAN CPT Installation Use a USB cable to log raw data Serial communication is sufficient for configuring and O monitoring the receiver through Hyperterminal or NovAtel Connect USB is required if using a post processing application requiring 100 Hz IMU data We also recommend using NovAtel Connect to collect the data Refer to Data Collection on page 32 and Data Collection for Post Processing on page 33 for instructions 2 2 Hardware Set Up Complete the following steps to set up the NovAtel SPAN system Figure 3 Typical SPAN CPT Set Up Radio COM2 optional for Real Time Differential operation 1 Mount the GNSS antenna as described in Mount the Antenna on page 15 2 Mount the SPAN CPT as described in Mount the SPAN CPT on page 15 Connect the GNSS antenna to the SPAN CPT as described in Connect the GNSS Antenna on page 16 4
20. HEX files Send each line of the HEX or SHEX file to the receiver in a SOFTLOADSREC command The S Records must be enclosed by quotation marks SOFTLOADSREC S RECORD Send the SOFTLOADCOMMIT command During the loading process SOFTLOADSTATUSA eh report the load status Wait for the SOFTLOADSTATUSA to indicate loading is COMPLETE If using standard auth codes do not require a firmware signature send the new auth code for the receiver with the following special case of the AUTH command AUTH ADD DOWNLOAD lt auth code gt Signature auth codes are maintained internally by the receiver and do not need to be re entered Refer to Authorization Code on page 42 for details on obtaining any auth code Reset the receiver by entering RESET FRESET or power cycling 10 Once the receiver resets the new version of firmware is active The SoftLoad process can be cancelled safely at any time during the process using the RESET command SPAN CPT User Manual Rev 7 47 Chapter 5 NovAtel Firmware and Software 5 4 1 Working with S Records 48 e Records beginning with SO S5 and S7 should be passed to the receiver directly using the SOFTLOADSREC command These records contain meta data about the firmware image Records beginning with S3 form the actual firmware image and can be converted to SOFTLOADDATA binary commands Aside from the header each pair of characters for
21. I example SETIMUTOANTOFFSET 0 54 0 32 1 20 0 03 0 03 0 05 2 Enterthe lever arm from the SPAN CPT to the secondary antenna secondary antenna is connected to the OEM6 receiver using the SETIMUTOANTOFFSET2 command Abbreviated ASCII example SETIMUTOANTOFFSET2 0 54 2 32 1 20 0 03 0 03 0 05 The SPAN CPT can be configured for different alignment routines depending on the motion conditions experienced during the alignment period For example in marine applications the dynamics required for the default kinematic alignment cannot be guaranteed so a different alignment routine is required The different alignment routines are described in the following sections 4 3 1 Alignment on a Moving Vessel Aided Transfer Alignment This alignment routine is the preferred dual antenna alignment method It is used if the alignment mode is set to AIDED TRANSFER using the ALIGNMENTMODE command 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 the IMU and computes a verified fixed integer ALIGN solution The INS status changes to INS ALIGNMENT COMPLETE or INS SOLUTION GOOD de
22. LIGNMENTMODE UNAIDED 4 3 4 Automatic Alignment Mode Automatic Alignment default 4 4 38 Automatic Alignment Mode Selection is the default setting for a SPAN receiver This mode is designed to allow alignment of the system as quickly as possible using either an aided transfer alignment Alignment on a Moving Vessel Aided Transfer Alignment on page 37 a kinematic alignment Default Kinematic Alignment on page 29 or a manual alignment Manual Alignment on page 29 The first available technique will be used regardless of its relative quality If you wish to guarantee 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 SPAN ALIGN Attitude Updates The INS heading updates are used to help constrain the azimuth drift of the INS solution whenever possible This is of the greatest value with lower quality IMUs and in environments with low dynamics where the attitude error is less observable Slow moving marine or train applications are good examples of the intended use By providing an external heading source the solution drift can be constrained in these environments You can monitor the heading update status as outlined in the INSUPDATE command in the SPAN on OEM6 Firmware Reference Manual OM 20000144 SPAN CPT User Manual Rev 7 Chapter 5 NovAtel Firmware and Software Downl
23. Manual Rev 7 31 Chapter 3 SPAN CPT Operation 3 6 32 There is a specific subset of logs that output this azimuth See Table 5 Logs with Azimuth data on page 32 Table 5 Logs with Azimuth data Log Log Format Azimuth Source INSPVA INSPVAS INSPVAX NovAtel Inertial INSATT INSATTS INSATTX NovAtel Inertial PASHR NMEA Inertial INSSPD NovAtel Course Over Ground Computed using the INS solution only BESTVEL NovAtel Course Over Ground From the best system solution which could be either GNSS or INS GPVTG NMEA Course Over Ground From the best system solution which could be either GNSS or INS HEADING NovAtel ALIGN GPHDT NMEA ALIGN Data Collection The INS solution is available in the INS specific logs with either a standard or short header Other parameters are available in the logs shown in Table 6 Solution Parameters Table 6 Solution Parameters Parameter Log Position INSPOS or INSPOSS NSPOSX or INSPVAX2 INSPVA or INSPVAS Velocity INSVEL or INSVELS INSVELX or INSPVAX8 INSSPD or INSSPDS INSPVA or INSPVAS Attitude INSATT or INSATTS INSATTX or INSPVAX2 INSPVA or INSPVAS Solution Uncertainty INSCOV or INSCOVS a These logs contain variance information and are therefore large logs Use a low logging rate 20 Hz only The position velocity and attitude are available together in the INSPVA and INSPVAS logs The inertial solution is available u
24. Once loaded the receiver reboots and begins operating with the new firmware v Direct access to a serial COM port on the SPAN CPT is required 40 SPAN CPT User Manual Rev 7 NovAtel Firmware and Software Chapter 5 5 1 2 Model Upgrades Model upgrades enable purchased receiver features Contact a local NovAtel dealer to assist in selecting the upgrade options that best suit your GNSS needs at www novatel com where to buy Contact NovAtel Customer Support www novatel com support or NovAtel Sales to request a temporary upgrade authorization code for trial purposes The receiver stores the firmware in Non Volatile Memory NVM which allows model upgrades to be performed without returning the receiver to the dealer Model upgrades can be applied to the receiver with an authorization code and the AUTH command SPAN CPT User Manual Rev 7 41 Chapter 5 NovAtel Firmware and Software 5 2 Authorization Code 42 An authorization code commonly known as an auth code is required to upgrade and possibly update a SPAN CPT Auth codes are obtained by contacting NovAtel Customer Support Upon contact NovAtel Customer Support requires e the receiver model number e the receiver serial number the receiver firmware version Enter the LOG VERSION command to determine the receiver model serial number and firmware version Example MODEL SERIAL FIRMWARE ENTER NUMBER NUMBER VERSION GPSCARD D2LRORTTRA BFN11230026 OEM628 1 00
25. P OSI ioning Technology Company ee mos NovAtel 1 E SPAN CPT User Manual OM 20000122 Rev 7 May 2013 SPAN CPT Receiver User Manual Publication Number OM 20000122 Revision Level Rev 7 Revision Date May 2013 This manual reflects SPAN CPT Firmware Version OEMO60220RN0000 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 www novatel com products warranty and for the following time periods SPAN CPT receiver GPS Antenna Series Cables and Accessories Software Warranty Return instructions To return products refer to the instructions at the bottom of the Warranty page www novatel com products warranty Proprietary Notice Information in this document is subject to change without notice and does not represent a commitment 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 One 1 Year One 1 Year Ninety 90 Days One 1 Year No part of this manual may be reproduced or transmitted in any form or by any means electronic or mechanical including photocopying and recording for any purpo
26. X RS 232 CTS to Receiver White 7 RS 422 Select In A White Tie together with pin 8 to select RS 422 8 RS 422 Select Out White Tie together with pin 7 to select RS 422 9 COM1 Signal Ground White 10 USBD Black White Black 11 USB D White 12 USB Signal Ground White 13 Odometer Power White White Black 14 Odometer Power Return Black 15 ODO SIGA Black White Black 16 ODO SIGA Inverted White 17 ODO SIGB Black White Black 18 ODO SIGB Inverted White 19 COM2 RS 232 TX from Receiver White 20 COM2 RS 232 RX to Receiver White 21 COM2 RS 232 RTS from Receiver White 22 COM 2 RS 232 CTS to Receiver White 23 No Connection 24 No Connection 25 COM2 Signal Ground White 26 IMU RS 232 TX Diagnostics White 27 IMU RS 232 RX Diagnostics White 28 IMU RS 232 Diagnostics Signal Ground White 29 PPS from Receiver White White Black 30 EVENT1 to Receiver Black 31 Receiver Signal Ground White 32 CAN2L Receiver White White Black 33 CAN2H Receiver Black 34 CAN 2 Signal Ground White 35 N C 36 N C 37 Chassis Ground White SPAN CPT User Manual Rev 7 Appendix B Replacement Parts The following is a list of the replacement parts available If assistance or additional components are required contact the local NovAtel dealer or Customer Service B 1 SPAN CPT System Part Description NovAtel Part KVH Enclosure 80023524 KVH Standard Un
27. as long as the GNSS outage lasts but the solution uncertainty increases with time This uncertainty can be monitored using the INSCOV log All the accels measurements in my RAWIMUS logs are zero and the IMU status shows one or all accels are failing What is wrong Ensure a monotonic power supply on power up of your SPAN CPT receiver See Connect Power on page 16 for more information The SPAN CPT will not start power on The SPAN CPT is connected to an incorrect power supply and the internal breaker has tripped Shut down and disconnect the SPAN CPT and reconnect to an properly supported power supply Reapply power to the SPAN CPT SPAN CPT User Manual Rev 7 59 RN NovAtel OM 20000122 Rev 7 May 2013
28. der to successfully post process data SPAN CPT User Manual Rev 7 33 Chapter 3 SPAN CPT Operation From a base e RANGECMPB ONTIME 1 e RAWEPHEMB ONCHANGED e GLOEPHEMERISB ONCHANGED if using GLONASS From a rover e RANGECMPB ONTIME 1 e RAWEPHEMB ONCHANGED e GLOEPHEMERISB ONCHANGED if using GLONASS e RAWIMUSXB ONNEW e IMUTOANTOFFSETSB ONCHANGED e VEHICLEBODYROTATIONB ONCHANGED Post processing is performed through the Waypoint Inertial Explorer software package available from the NovAtel Waypoint Products Group Visit our Web site at www novatel com products software waypoint products for details The highest rate to request GNSS logs RANGE BESTPOS RTKPOS PSRPOS and so O on while in INS operation is 5 Hz If the receiver is not running INS GNSS logs can be requested at rates up to 20 Hz 3 8 Variable Lever Arm The variable lever arm concept arose to support applications in which the IMU is no longer rigidly fixed to the vehicle but rather on a gimballed mount This creates an issue where the input lever arm offsets to the GNSS antenna are no longer correct because the IMU can rotate on its mount while the antenna remains fixed The use of the variable lever arm functionality requires that the device to which the IMU is attached be able to send its gimbal rotation angles back to SPAN These angles are used to re calculate the lever arm at the rate that they are received SPAN is also able to outp
29. e 12 7 200 w File name oEMosooooRNo000 Files of type Hex Files y Cancel E When a file is selected the filename appears in the main WinLoad display area and in the title bar Figure 13 Open File in WinLoad Figure 13 Open File in WinLoad FE winLoad C unzip program files NovAtel Inc 3 701 Full Update Disk 3701 hex File Settings Help S E Y 1 Authorization Code IC Nunzipsprogram files NovAtel Inc 3 701 Full Update Disk 3701 hex Communications Settings To set the communications port and baud rate select Settings COM Settings Choose the computer port to use from the Com Port drop down list and the baud rate from the Download Baudrate drop down list Set the baud rate as high as possible the default of 115200 and is preferred Figure 14 COM Port Setup Com Port E Download Baudrate n0 y Connect Baudrate BREAK zl OK Cancel Downloading Firmware 1 Select the file to download according to Open a File to Download on page 45 2 Ensure the file path and name are displayed in main display area see Figure 13 Open File in WinLoad on page 45 Click Write Flash to download the firmware When Searching for card appears in the main display power cycle the receiver SPAN CPT User Manual Rev 7 45 NovAtel Firmware and Software Chapter 5 Figure 15 Searching for Card File Settings Help Searching for card timeout in 13 secs 5 If the Authorization
30. e OK button to save the new device settings o ouod Select the new configuration from the Available Device Connections area of the Open Connection window Available Device Connections Name Device Type Settings SPAN CPT SERIAL COM23 115200 bps 10 Click the Open button to open SPAN CPT communications As NovAtel Connect establishes the communication session with the receiver a progress box displays 11 Select Tools Logging Control from the NovAtel Connect main menu to control the receiver s logging to files and serial ports Refer to the NovAtel Connect online Help for more information 12 Use the Console window to enter commands To save the receiver configuration to Non Volatile Memory NVM ensure that all windows other than the Console window are closed in NovAtel Connect and then use the SAVECONFIG command 3 2 2 INS Window in NovAtel Connect The INS Window in NovAtel Connect is described below Refer to the NovAtel Connect online help for more details 24 SPAN CPT User Manual Rev 7 SPAN CPT Operation Chapter 3 INS Window The Position Velocity and Attitude roll pitch and azimuth sections display data from the INSPVA log along with standard deviations calculated from the INSCOV log Information in the ZUPT Zero Velocity Update section reflects the current INSZUPT command setting The receiver uses the X Y and Z Offset fields to specify an offset from the IMU for
31. e Updates pr 40 5 1 2 Model Upgrades ccoo dene ettet eere de eel eec ded eee aide de dear dede de dee detinet 41 5 2 A thorization Code viii ads eite 42 5 3 Updating or Upgrading Using the WinLoad Utility sese 44 5 3 1 Transferring Firmware Files eene nennen nnne tenens sis 44 5 3 2 Using the WinLoad Utility ooo NEEN dE d seeded gue 44 5 4 Updating using SoftLoad Commandes sss eene eren nennen nte nr n Ennn nnne ne 47 5 4 1 Working with S Records car ined EES inte 48 5 5 Upgrading Using the AUTH Commande 49 5 5 1 Upgrade Procedure nce ER ied ten ee tede e d p a eee detta dut 49 5 6 Key Firmware Commands a dere Ebc 50 A Technical Specifications 51 A 1 SPAN CPT Technical Specifications ivonne 51 A 2 SPAN CPT Mechanical Droawings ener enn en nr nennen 53 A 3 SPAN GPT ablenne 54 B Replacement Parts 58 Bal SPAN CPT A esercito SEELEN den Phase ke Ra Ea BL ceo HP iid Ene e de cube De na 58 B 2 Accessories and Options 5 ii reden ere Doe eee c deese Eed fede dene erede eden fern 58 C Frequently Asked Questions 59 SPAN CPT User Manual Rev 7 Figures 1 Primary and Secondary Lightning Protection oocoocccnncccnnoncnnnonnnnnnrnnonaroncnnrn no rnnr cnn r rn narra nnrnnn raras 10 2 SPAN OPT Receiver usos eR Mp EE 13 3 Typical SPAN CPT Set Up ii A a 14 4 SPAN CPT Enclosure Mounting eeeesseeeeseeee
32. e has not started INS is inactive 1 INS ALIGNING INS is in alignment mode SPAN CPT User Manual Rev 7 27 Chapter 3 SPAN CPT Operation INS HIGH VARIANCE The INS solution is still being computed but the azimuth solution uncertainty has exceed the threshold The default threshold is 2 2 degrees The solution is still valid but you should monitor the solution uncertainty in the INSCOV log You may encounter this state during times when the GNSS used to aid the INS is absent 3 INS_SOLUTION_GOOD The INS filter is in navigation mode and the INS solution is good INS_SOLUTION_FREE The INS filter is in navigation mode and the GNSS solution is suspected to be in error 6 This may be due to multipath or limited satellite visibility The inertial filter has rejected the GNSS position and is waiting for the solution quality to improve INS_ALIGNMENT_COMPLET The INS filter is in navigation mode but not enough vehicle 7 E dynamics have been experienced for the system to be within specifications 8 DETERMINING ORIENTATIO INS is determining the IMU axis aligned with gravity N 9 WAITING INITIALPOS The INS filter has determined the IMU orientation and is awaiting an initial position estimate to begin the alignment process a This value is configured using the INSTHRESHOLDS command See the SPAN on OEM6 Firmware Reference Manual OM 20000144 for more information b See also question
33. eaningless 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 are available Course over ground azimuths are available in several different velocity logs See Table 5 Logs with Azimuth data on page 32 3 5 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 APPLYVEHICLEBODYROATION and VEHICLEBODYROTATION commands in the SPAN on OEM6 Firmware Reference Manual OM 20000144 This azimuth is the one provided in the majority of the INS logs available to a SPAN user See Table 5 Logs with Azimuth data on page 32 3 5 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 oriented on the vehicle SPAN CPT User
34. easurements with all available GNSS information to provide the optimum solution possible in any situation By using the high accuracy GNSS solution IMU errors can be modeled and mitigated Conversely the continuity and relative accuracy of the INS solution enables faster GNSS signal reacquisition and Real Time Kinematic RTK solution convergence The advantages of using SPAN CPT technology are its ability to Provide a full attitude solution roll pitch and azimuth Provide continuous solution output in situations when a GNSS only solution is impossible Provide faster signal reacquisition and RTK solution resolution over stand alone GNSS because of the tightly integrated GNSS and INS filters e Output high rate up to 100 Hz position velocity and attitude solutions for high dynamic applications see also Logging Restriction on page 33 Use raw phase observation data to constrain INS solution drift even when too few satellites are available for a full GNSS solution SPAN CPT User Manual Rev 7 11 Chapter 1 Introduction 1 2 1 3 1 4 12 System Components The SPAN CPT system consists of the following components e SPAN CPT Integrated INS GNSS receiver This receiver has 3 accelerometers 3 gyroscopes gyros and a NovAtel OEM6 receiver Excellent acquisition and reacquisition times allow the receiver to operate in environments where very high dynamics and frequent interruptions of signals can be expected
35. ed must be greater than 5 m s 18 km hour for the calibration to complete Drive straight on a level surface if possible 7 When the solved angles are verified after approximately 30 seconds the calibration stops and the VEHICLEBODYROTATION log provides the solved values Log VEHICLEBODYROTATION using the ONNEW trigger to monitor the progress of the calibration The rotation parameters can be saved in NVM for use on startup in case a fast alignment is required in the future Each time the SPAN CPT is re mounted this calibration should be performed again See System Start Up and Alignment Techniques on page 28 for details on alignment After the RVBCALIBRATE ENABLE command is entered there are no vehicle body rotation parameters present and a kinematic alignment is NOT possible Therefore this command should only be entered after the system has performed either a static or kinematic alignment and has a valid INS solution The solved rotation values are used only for a rough estimate of the angular offsets y between the SPAN CPT and vehicle frames The offsets are used when aligning the system while in motion see System Start Up and Alignment Techniques on page 28 The angular offset values are not applied to the attitude output unless the APPLYVEHICLEBODYROTATION command is enabled SPAN CPT User Manual Rev 7 SPAN CPT Operation Chapter 3 3 44 SPAN CPT Wheel Sensor The SPAN CPT system s
36. eeeeee nennen nennen nennen nnns nnt nt daa eren nnn nn nennen 15 5 Battery IsolatorInstallatiOti 2 n e CEA 17 6 rege ee 17 7 Mug WEE 18 8 Local Level Erame ENU ctae ra deeg 20 9 SPAN GPT Center of Navigation etate rent tnn redada adi EY ERR EXE ERR RR ER PER NEAR eaaa 22 10 Vehicle CEET 23 11 SPAN CPT Dual Antenna Installation ooonnncccnccnnnncccccnnonanaoccnnononancnnnnnnnnnccnnnnnnnn nn cnn nennen nnn n nnn nsn nnn 36 12 WinLoad s Open Window 31 2 ei eerte ettet eene toe re ac cet eene teu Ed dee 45 13 Open EileinWinload zc fee dee EE ee ee E 45 14 COM POr Se UD e A iaa 45 15 Sa A 46 16 Authorization Code WINDOW sisi race tege toe tese R0 EE SNE EENEG 46 17 Upgrade Process Complete 2 2 d SN ted Gp E eod e caps eat aeaea ee Repas dedi 46 18 SPAN CPT Side and Perspective View E 53 19 SPAN CPT Top Front and Bottom View EEN 54 20 SPAN CPT Development Terminated Cable ssessssssssssssseseeeeeeeee nennen enne ntn 55 SPAN CPT User Manual Rev 7 Tables 1 Cable Modification for Kistler WPT Cable nnne nennen nenne rnnt 19 2 Cable Modification for SPAN CPT Cable nennen nnn nnns reet ntn nen nennen nne 19 3 Full Mapping Definitions cit dat ey epic 21 4 Inertial Solution Status il duce ER ee are ordo Es 27 5 Logs with Azim th data 2 m de e e b Gee Do edt eet e ea ase Oe ide 32 6 Solution Parameters itti ite e p t a MI ERI ea au au ede ELI Ra RE RE E
37. ent Only qualified personnel electricians as mandated by the governing body in the country of installation may install lightning protection devices Actions to Mitigate Lightning Hazards 1 Do not install antennas or antenna coaxial cables outside the building during a lightning storm 2 ltis not possible 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 compliance with clause 7 Connection to Cable Distribution Systems of EN 60950 1 Safety for Information Technology Equipment a secondary lightning protection device must be used for in building equipment installations with external antennas The following device has been approved by NovAtel Inc Polyphaser Surge Arrestor DGXZ 24NFNF A If this device is not chosen as the primary lightning protection device the device chosen must meet the following requirements e UL listed or equivalent in country of installation for example TUV VDE and so on for lightning surge protection The primary device must be capable of limiting an incoming surge to 10kV 5 The shield of the coaxial cable entering the building should be connected at a grounding p
38. ettings The SPAN CPT contains a breaker which can be tripped if using an incorrect power v supply Manually power cycle the SPAN CPT to reset the breaker and reconnect to a properly supported power supply 16 SPAN CPT User Manual Rev 7 SPAN CPT Installation Chapter 2 Figure 5 Battery Isolator Installation from Vehicle Alternator to Vehicle Electrical System Vehicle Main Auxiliary Battery Battery 2 2 5 Connect a Computer to the SPAN CPT SPAN CPT has a multi purpose UO connector that contains pins for the COM1 serial port COM2 serial port and USB port Refer to Appendix A Technical Specifications on page 51 for the pin definitions of the multi purpose l O connector To use a USB connection connect the USB port pins on the multi purpose I O connector to the USB port on the computer To use a serial connection connect the COM1 or COM2 port pins on the multi purpose UO connector to the serial port on the computer By default COM1 operates as an RS 232 serial port To change COM1 to operate as an RS 422 serial port tie together the RS 422 select pins 7 and 8 on the multi purpose UO connector 2 2 6 Connect the I O Strobe Signals The SPAN CPT has several UO strobe signals enabling it to be part of an interconnected system composed of devices that need to be synchronized with each other For example connect the SPAN system to an aerial camera in such a way that the SPAN system rec
39. hanges to INS HIGH VARIANCE command See the SPAN on OEM6 Firmware Reference Manual OM 20000144 for information about this command O The azimuth standard deviation threshold can be changed using the INSTHRESHOLDS SPAN CPT User Manual Rev 7 SPAN CPT Operation Chapter 3 3 4 1 1 Default Kinematic Alignment A kinematic alignment is the default alignment routine for SPAN CPT If the system is mounted as recommended with the z axis pointing up and the y axis aligned with the forward direction of the vehicle then no additional configuration is required to complete a moving alignment Once the INS status reaches INS ALIGNING the moving alignment happens after the vehicle velocity reaches 1 15 m s 4 km h The INS status then changes to INS ALIGNMENT COMPLETE The moving alignment transfers the GNSS course over ground pitch and azimuth to the attitude of the IMU This alignment routine is best suited for ground vehicles where the direction of travel is coincident with the forward axis of the vehicle and the roll of the vehicle is close to zero The fast alignment routine may not be suitable for some marine or airborne applications where the direction of travel may be different from the forward axis of the vehicle because of factors like a crab angle If SPAN CPT is installed with the IMU axes NOT aligned with the vehicle then additional configuration is needed to complete the moving alignment These settings can be set graphical
40. inertial filter starts and the INS begins attempting to align How can l access the inertial solution The INS GNSS solution is available from a number of specific logs dedicated to the inertial filter The INSPOS INSPVA INSVEL INSSPD and INSATT logs are the most commonly used logs for extracting the INS solution These logs can be logged at any rate up to the rate of the IMU data 100 Hz Further details on these logs are available in SPAN on OEM6 Firmware Reference Manual Can 1 still access the GNSS only solution while running SPAN The GNSS only solution is still available when running SPAN Logs such as PSRPOS RTKPOS and OMNIPOS are still available The best available GNSS only solution is available in the BESTGNSSPOS log Any non INS logs should be logged at a maximum rate of 5 Hz when running SPAN Only INS specific logs documented in the SPAN on OEMG Firmware Reference Manual should be logged at rates higher than 5 Hz when running SPAN What will happen to the INS solution when I lose GNSS satellite visibility When GNSS tracking is interrupted the INS GNSS solution bridges through the gaps with what is referred to as free inertial navigation The IMU measurements are used to propagate the solution Errors in the IMU measurements accumulate over time to degrade the solution accuracy For example after one minute of GNSS outage the horizontal position accuracy is approximately 8 4 m The SPAN solution continues to be computed for
41. ion 0 5 mg C 10 Scale Factor Error Total 4000 ppm 10 Temperature Dependent SF Variation 1000 ppm 1c Accel Noise 55 ug Hz 10 Bandwidth 50 Hz Max Input 10 g SPAN CPT User Manual Rev 7 52 Table 9 Electrical and Environmental Specifications ELECTRICAL Temperature operational Input Power 9 18 VDC Power consumption 16 W Max Start Up Time Valid Data 5 secs ENVIRONMENTAL 40 C to 65 C Temperature non operational 50 C to 80 C Vibration operational 6 g rms 20 Hz 2 KHz Vibration non operational 8 g rms 20 Hz 2 KHz Shock operational 7g 6 10 msec 1 2 sine Shock non operational 60 g 6 10 msec 1 2 sine Altitude 1000 to 50 000 ft Humidity 95 at 35 C 48 hrs MTBF 2 10 500 hours Table 10 Power Specifications Vin Ripple 0 5 V pk pk Max in rush 5 A maximum for duration no longer than 4 5 ms 12 V steady state 1 2 A typical 12 V Chassis GND pin 37 connect to system chassis Voltage should rise monotonically to nominal level within 10 ms Odometer Power 9 to 18 VDC 0 100 mA output from Pin 13 and Pin 14 SPAN CPT User Manual Rev 7 A 2 SPAN CPT Mechanical Drawings Figure 18 SPAN CPT Side and Perspective View
42. late at the building s entrance The lightning protection devices should have their chassis grounded to the same ground near to the building s entrance 6 The primary and secondary lightning protections should be as close to the building s entrance as possible Where feasible they should be mounted onto the grounding plate itself refer to the following figure 1 Visit the NovAtel Web site at www novatel com through Products WEEE and RoHS for more infor mation on WEEE SPAN CPT User Manual Rev 7 9 Notices Figure 1 Primary and Secondary Lightning Protection Ref Description 1 Primary lightning protection device Secondary lightning protection device External antenna GNSS Receiver To ground O a A OO N Grounding plate or grounding point at the building s entrance Acceptable choices for Earth Grounds for central buildings are e Grounded interior metal cold water pipe within five feet 1 5 m of the point where it enters the building e Grounded metallic service raceway e Grounded electrical service equipment enclosure Eight foot grounding rod driven into the ground only if bonded to the central building ground by 6 or heavier bonding wire These installation instructions are the minimum requirements for receiver and antenna installations Where applicable follow the electrical codes for the country of installation Examples of country codes include USA National Electrical Code
43. lation are 1 Install the SPAN CPT and the two antennas in the vehicle such that the relative distance between them is fixed 2 The antennas should be mounted where the view of the satellites are not obstructed by any part of the vehicle As heading accuracy is dependent on baseline length mount the antennas as far apart as possible A minimum separation distance of 1 metre is recommended 3 The lever arms or distance from the SPAN CPT to the antennas needs to be fixed and accurately measured using the coordinate axes defined on the outside of the SPAN CPT The baseline between the two antennas does NOT need to be aligned with the vehicle axes or with the axes of the SPAN CPT 4 Both receivers need to be powered and connected to each other via COM2 before sending any configuration commands It does not matter which receiver is powered on first or how long they are both powered before sending commands The SPAN CPT and the FlexPak6 need to be set up as shown in the example in Figure 11 SPAN CPT Dual Antenna Installation on page 36 SPAN CPT User Manual Rev 7 35 Chapter 4 SPAN CPT Dual Antenna Figure 11 SPAN CPT Dual Antenna Installation Primary GNSS Antenna Secondary GNSS Antenna Es mg t E E Connect COM2 to COM2 7 E O af i O jJ SI SPAN Secondary
44. ly using the INS configuration wizard in the NovAtel Connect utility or through the command interface by issuing the following commands 1 Specify which IMU axis is most closely aligned with gravity using the SETIMUORIENTATION com mand See the SPAN on OEM6 Firmware Reference Manual for a description of this command and Table 3 Full Mapping Definitions on page 21 for the number corresponding to each orientation For example if the z axis of the SPAN CPT is pointing up send this command SETIMUORIENTATION 5 2 Specify the angular offset from the vehicle frame to the SPAN frame known as the vehicle body rotation or RVB using the VEHICLEBODYROTATION command Details of this command are in the SPAN on OEMG Firmware Reference Manual Following the example started above if the SPAN CPT is installed rotated so that the y axis points out the right side of the vehicle instead of forward enter this command VEHICLEBODYROTATION 0 0 90 Angular rotations are difficult to visualize so if you have complex rotations or some other axis that Z pointing up use the NovAtel Connect SPAN wizard for assistance with these settings The accuracy of the initial attitude depends on the dynamics of the vehicle and the accuracy of the angles input in the VEHICLEBODYROTATION command The alignment is only an estimate of the attitude of the vehicle and as the vehicle experiences dynamics the accuracy of the attitude solution improves
45. mounted so the positive Z axis marked on the SPAN CPT enclosure points up and the Y axis points forward through the front of the vehicle in the direction the vehicle is moving Figure 4 SPAN CPT Enclosure Mounting Z Also it is important to measure the distance from the SPAN CPT to the antenna the Antenna Lever Arm on the first usage on the axis defined on the SPAN CPT enclosure See also Appendix A Technical Specifications on page 51 for dimensional drawings of the SPAN CPT Ensure they cannot move due to dynamics and that the distance and relative direction between them is fixed The closer the antenna is to the SPAN CPT the more accurate the position solution Also O your measurements when using the SETIMUTOANTOFFSET command must be as accurate as possible or at least more accurate than the GNSS positions being used For example a 10 cm error in recording the antenna offset results in at least a 10 cm error in the output Millimeter accuracy is preferred The offset from the SPAN CPT to the antenna and or a user point device must remain constant especially for RTK or DGNSS data Ensure the SPAN CPT antenna and user point device are bolted in one position perhaps by using a custom bracket SPAN CPT User Manual Rev 7 15 Chapter 2 SPAN CPT Installation 2 2 3 Connect the GNSS Antenna Connect the antenna cable from the connector on the GNSS antenna to the antenna port on the SPAN CPT See Typical SPAN CPT
46. mplest and most common way to update or upgrade a receiver 5 3 1 Transferring Firmware Files To proceed with an update or possibly an upgrade obtain the latest version of firmware from the NovAtel website at www novatel com support firmware software and manuals Types of Firmware Files The firmware update or upgrade file is one of two types Update Version UPDT The update version includes the authorization codes for all OEMG receivers and receiver model upgrades purchased before the cut off date The update version is named UPDTXXXX EXE where XXXX is the firmware version If the receiver or model upgrade was purchased after the cut off date the authorization code does not appear in the UPDT file and the OEM version must be used OEM Version Use the OEM version if the receiver or model upgrade was purchased after the cut off date When the OEM version is used NovAtel Customer Service must generate and provide the required authorization code Authorization codes are obtained by contacting support novatel com or at www novatel com Support The OEM version is named OEMXXXX EXE where XXXX is the firmware version For convenience copy the update file to a GNSS sub directory for example CAGNSSILOADER If the firmware update file is password protected NovAtel Customer Support provides the required password After copying the file to a computer perform the following steps to extract the files Syntax filename password if
47. ms the ASCII representation of binary byte The format is as follows DDDDDDDD DDDDDDDD CC Check Sum One s compliment of all other bytes Little Endian Data These bytes are copied into the data field of the SOFTLOADDATA command 4 Byte Address Set this as the value of offset in the SOFTLOADDATA command Length This is the hexadecimal number of character pairs to follow in the record This value minus 4 bytes for the address and 1 byte for the check sum is copied into the data length field of the SOFTLOADDATA command Header Multiple S3 records can be packaged into a single SOFTLOADDATA command as long as the data from one S3 record follows immediately after the previous record up to a maximum of 4096 bytes of data That is the address must equal the previous address plus the previous data length The offset field remains the address of the first 53 record and the data and data length are updated to include the new data The hex file data may contain many gaps and jumps For example in most NovAtel hex files data for address 0x000 00000 is stored near the very end of the file SPAN CPT User Manual Rev 7 NovAtel Firmware and Software Chapter 5 5 5 Upgrading Using the AUTH Command The AUTH command authorizes the enabling unlocking of model features The AUTH command is used to upgrade a new OEM6 family model available with the same firmware version as the current model This command only f
48. nce with the instructions may cause harmful interference to radio communications However there is no guarantee that interference will not occur in a particular installation If this equipment 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 Recorient or relocate the receiving antenna Increase the separation between the equipment and the receiver Connect the equipment to an outlet on a circuit different from that to which the receiver is connected Consult the dealer or an experienced radio TV technician for help In order to maintain compliance with the limits of a Class B digital device it is v required to use properly shielded interface cables such as Belden 9539 or equivalent when using the serial data ports and double shielded cables such as Belden 9945 or equivalent when using the I O strobe port Changes or modifications to this equipment not expressly approved by NovAtel Inc could result in violation of FCC Industry Canada and CE Marking rules and void the user s authority to operate this equipment CE Notice The enclosures carry the CE mark Hereby NovAtel Inc declares that this SPAN CPT is in compliance with the essential requirements and other relevant provisions of Directive 1999 5 EC WEEE Notice If you pu
49. nd Information nennen E errek Ee ETa nnn rrr nen nns 1 4 CONVENTIONS d cono eve EECH 2 SPAN CPT Installation 2 1 Required E gU Me AE uie eee re ei aeta eiae dee edat EENS 2 1 1 Manu lS 5 iex soo A rece d Gora sa never E NINO 2 1 2289PAN GP T e Era EE le ETA D EE EE 2 2 Me per Antenria erret totos re Ee EE eu oh ER AEN Ee 2 2 2 Mount the GPANCHRT nennen rnr entr indes isa a sss e e senses eite trn ern n 2 2 3 Connect the GNSS Antenn 2 2 4 Connect POWEF iren voice rc Eee tv ve etica a vues ea etw Pe EE pev reo a e e Te EET vae vv vu vedo 2 2 5 Connect a Computer to the SPAN CHT eene eene nnne tnnt nnn nnns 2 2 6 Connect the I O Strobe Gionals sse enne enne 2 24 GAN Eeer hehe I uvas d MEUM PLAUSU s Mie iA E 2 2 8 Odometer Connection cir rere rire nete de doves 3 SPAN CPT Operation 3 1 Definition of Reference Frames Within SPAN rennen tenter ener nn nnns 3 1 1 The Local Level Frame eit aga 3 1 2 The SPAN Body Frame 5 energies dede deed ies ee 3 1 3 The Enclos re Frame 32 5 2 atit eo oet E iene A oie edere RINGS 3 1 4 The Vehicle Frame npe dave ee eae eee Ego de Pee go de e Poe ee ra e edP EE reges 3 2 Communicating with the SPAN CPT System een eee nernen nene enne 3 2 1 Use NovAtel Connect to Communicate eene nn nnns 3 2 2 INS Window in NovAtel Connect 3 9 Software Configuration 22 eite ett ette cc 3 3 1 GNSS Configuration sese eene nnne nnne nennen nne enne
50. neuvers performed The INS Status field changes to INS SOLUTION GOOD once convergence is complete If the attitude accuracy decreases the INS Status field changes to INS HIGH VARIANCE When the accuracy converges again the INS status continues as INS SOLUTION GOOD 3 4 3 Vehicle to SPAN CPT Frame Angular Offsets Calibration Routine 30 Kinematic fast alignment requires the angular offset between the vehicle and the SPAN CPT frame is known approximately If the angles are simple that is a simple rotation about one axis the values can easily be entered manually through the VEHICLEBODYROTATION command If the angular offset is more complex rotation is about 2 or 3 axis then the calibration routine may provide a more accurate estimation of the values The steps for the calibration routine are 1 Apply power to the SPAN CPT see Appendix A Technical Specifications on page 51 2 Configure the SPAN CPT see SPAN IMU Configuration on page 25 3 Ensure an accurate lever arm is entered into the system 4 Allow the system to complete an alignment see the System Start Up and Alignment Techniques on page 28 5 Enable the vehicle to body calibration using the RVBCALIBRATE ENABLE command See the SPAN on OEMG Firmware Reference Manual 6 Start to move the system under good GNSS conditions Movement of the system under good GNSS conditions is required for the observation of the angular offsets Vehicle spe
51. oad the most recent versions of the NovAtel firmware and receiver software from the NovAtel website at www novatel com Support Firmware Software and Manuals OEM6 Firmware and Software Refer to Transferring Firmware Files on page 44 for descriptions of the Update and OEM versions NovAtel Connect PC Utilities Software Bundle Bundled PC Utilities software includes e NovAtel Connect a GUI interface Connection Import imports connection profiles Convert converts receiver data logs into different formats USB Drivers and Window Signing Refer to the PC Utilities manual on the CD provided with the product and the NovAtel Connect online help for use instructions Firmware and Software included e SoftLoad firmware WinLoad software utility O WinLoad and SoftLoad instructions follow SPAN CPT User Manual Rev 7 39 Chapter 5 NovAtel Firmware and Software 5 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 support novatel com directly 5 1 1 Firmware Updates Firmware updates are firmware releases that include fixes and enhancements to the receiver functionality Firmware updates are released occasionally on the NovAtel web site as they become available New firmware must be loaded into the receiver through one of the COM ports
52. om primary GNSS antenna to secondary GNSS antenna and the IMU frame forward axis is entered directly via the EXTHDGOFFSET command We recommend entering the lever arms rather than entering the angular offset as this is easier to measure and will lead to better overall accuracy Refer to the SPAN on OEMG Firmware Reference Manual OM 20000144 for the syntax of the above commands As with all ALIGN capable products the GNSS baseline solution is available from the GPHDT and HEADING logs For INS heading please use INSATT or INSPVA The SPAN system can be configured for different alignment routines depending on the motion conditions experienced during the alignment period For example in marine applications the dynamics required for either a coarse or kinematic alignment cannot be guaranteed so a different alignment routine is required The different alignment routines are described in the following sections Configuring SPAN with ALIGN on SPAN CPT To enable the dual antenna ALIGN solution to aid the INS alignment and provide heading updates the offset between the antennas and the SPAN CPT must be known This is achieved by entering lever arms to both antennas using the SETIMUTOANTOFFSET and SETIMUTOANTOFFSET2 commands To configure SPAN with ALIGN aiding 1 Enter the lever arm from the SPAN CPT to the primary antenna primary antenna is connected to the SPAN CPT using the SETIMUTOANTOFFSET command Abbreviated ASCI
53. ords its position whenever the shutter button is pressed The SPAN CPT supports the strobe signals described in Table 6 I O Strobe Signals These signals are accessed from the multi purpose I O connector on the SPAN CPT See Appendix A Technical Specifications on page 51 for information on signals wiring and pin out information of the multi purpose UO connector Figure 6 I O Strobe Signals Signal Description Event An input signal for which a pulse greater than 150 ns triggers certain logs to be generated Mark 1 Polarity is configurable using the MARKCONTROL command A time synchronization output This is a pulse where the leading edge is synchronized to receiver calculated GNSS Time The polarity period and pulse width can be configured using PPSCONTROL command PPS Pulse Per Second a For information about the SETMARK10FFSET and TAGGEDMARK1 PVA commands refer to the SPAN on OEM6 Firmware Reference Manual OM 20000144 For information about the other commands and logs in this table refer to the OEM6 Family Firmware Reference Manual Om 20000129 SPAN CPT User Manual Rev 7 17 Chapter 2 SPAN CPT Installation 2 2 7 CAN Bus The SPAN CPT has a CAN Bus controller that supports physical layer signals and low level messages specified in the appropriate sections of the J1939 and I8011783 standards Manufacturers can also create messages specific to their application without violating these standard
54. ositioning requires line of site view to at least four satellites simultaneously If this criteria is met differential GNSS positioning can be accurate to within a few centimetres If however some or all the satellite signals are blocked the accuracy of the position reported by GNSS degrades substantially or may not be available at all An INS uses forces and rotations measured by an IMU to calculate position velocity and attitude This capability is embedded in the firmware of the SPAN CPT Forces are measured by accelerometers in three perpendicular axes within the IMU and the gyros measure angular rotation rates around those axes Over short periods of time inertial navigation gives very accurate acceleration velocity and attitude output The INS must have prior knowledge of its initial position initial velocity initial attitude Earth rotation rate and gravity field Since the IMU measures 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 time unless external updates such as position velocity or attitude are supplied The SPAN CPT system s combined GNSS INS solution integrates the raw inertial m
55. p to a rate of 100 Hz Data can be requested at a specific rate up to the maximum IMU output rate or can be triggered by the mark input trigger at rates up to 20 Hz The GNSS only solution is still available through the GNSS only logs such as RTKPOS PSRPOS and OMNIHPPOS When running SPAN CPT rates of non INS logs should be limited to a maximum rate of 5 Hz Refer to the OEM6 Family Firmware Reference Manual for more details on these logs INS only data logging and output can be at rates of up to the rate of the IMU data SPAN CPT User Manual Rev 7 SPAN CPT Operation Chapter 3 The highest rate to request GNSS logs RANGE BESTPOS RTKPOS PSRPOS and so on while in INS operation is 5 Hz If the receiver is not running INS GNSS logs can be requested at rates up to 20 Hz Ensure all windows other than the Console are closed in NovAtel Connect before using the SAVECONFIG command to save settings in NVM Otherwise unnecessary data logging occurs and may overload the system Specific logs need to be collected for post processing see Data Collection for Post Processing on page 33 To store data from a SPAN CPT connect a computer The computer should be equipped with a data storage device such as a Compact Flash Card CD or USB stick O Logging Restriction Logging excessive amounts of high rate data can overload the system When configuring the output for SPAN NovAtel recommends that only one high rate gt 50 H
56. pending on the variances of the ALIGN solution and the measured lever arm external heading offset SPAN CPT User Manual Rev 7 37 Chapter 4 SPAN CPT Dual Antenna To guarantee the use of this alignment mode the configuration command ALIGNMENTMODE must be sent to the receiver ALIGNMENTMODE AIDED TRANSFER 4 3 2 Alignment on a Stationary Vehicle Aided Static Alignment An alternative to the aided transfer alignment the ALIGN heading can be used as a seed for a coarse static alignment In this mode the standard coarse alignment routine runs given the initial azimuth value As with the transfer alignment the first verified fixed RTK solution is used to provide the alignment seed after which the coarse alignment INS ALIGNING begins After the coarse alignment is complete the INS status changes to INS ALIGNMENT COMPLETE After the attitude accuracy has converged the INS status changes to INS SOLUTION GOOD This alignment mode is useful if the initial vehicle roll is more than 20 degrees To use this alignment mode the configuration command ALIGNMENTMODE must be sent to the receiver ALIGNMENTMODE AIDED STATIC 4 3 3 Unaided Alignment The unaided alignment sets the SPAN system to use only single antenna alignment options static kinematic or manual alignment To use this alignment mode the configuration command ALIGNMENTMODE must be sent to the receiver A
57. rchased your SPAN CPT product in Europe please return it to your dealer or supplier at the end of its life The objectives of the European Community s environment policy are in particular to preserve protect and improve the quality of the environment protect human health and utilise natural resources prudently and rationally Sustainable development advocates the reduction of wasteful consumption of natural resources and the prevention of pollution Waste electrical and electronic equipment WEEE is a regulated area Where the generation of waste cannot be avoided it should be reused or recovered for its material or energy WEEE products may be recognized by their wheeled bin label CR SPAN CPT User Manual Rev 7 Notices Lightning Protection Installation and Grounding Procedure What is the hazard A lightning strike into the ground causes an increase in the earth s potential which results in a high voltage potential between the center conductor and shield of the coaxial cable This high voltage develops because the voltage surge induced onto the center conductor lags in time behind the voltage surge induced onto the shield Hazard Impact A lightning strike causes the ground potential in the area to rise to dangerous levels resulting in harm to personnel or destruction of electronic equipment in an unprotected environment It also conducts a portion of the strike energy down the inner conductor of the coax cable to the connected equipm
58. rity and ensure the power source is within specifications See Appendix A Technical Specifications on page 51 for the multi purpose I O connector pin out and the power input requirements There is always a drop in voltage between the power source and the power port due to cable loss Improper selection of wire gauge can lead to an unacceptable voltage drop at the SPAN CPT system A paired wire run represents a feed and return line Therefore a 2 m wire pair represents a total wire path of 4 m For a SPAN CPT system operating from a 12 V system a power cable longer than 2 1 m 7 ft should not use a wire diameter smaller than 24 AWG The power supply used to power the SPAN CPT must be monotonic during power on to wv ensure internal logic blocks are initialized appropriately and proceed to valid operating states If the power supply is not monotonic during power on the accelerometer status in the IMU status may show a failure and the accelerometer measurements in the RAWIMUS log see the RAWIMUS log description in the OEM6 Family Firmware Reference Manual Om 20000129 will be zero Power cycling with a monotonic power up clears this error state If the SPAN CPT is installed in a vehicle NovAtel recommends a backup battery be placed between the receiver and its voltage supply to act as a power buffer When a vehicle engine is started power can dip or cut out to ancillary equipment causing the receiver and IMU to lose lock and calibration s
59. s To facilitate manufacturer messages NovAtel provides an Application Program Interface API To obtain information about this API contact NovAtel Customer Support The CAN Bus port is available on the multi purpose I O connector on the SPAN CPT See Appendix A Technical Specifications on page 51 for information on signals wiring and pin out information of the multi purpose I O connector 2 2 8 Odometer Connection 18 The SPAN CPT provides a wheel sensor input for a Distance Measurement Instrument DMI through the multi purpose I O connector Refer to SPAN CPT Wheel Sensor on page 31 for additional details 2 2 8 1 Odometer Requirements SPAN CPT is compatible with any wheel sensor meeting the following requirements Input range less than or equal to 45 KHz Input duty cycle is symmetric 40 60 Active input voltage is greater than or equal to 2 5 VDC with a maximum input voltage of 50 VDC e Inactive voltage is less than or equal to 1 VDC Input current is approximately 3 5 mA at 5 VDC with a maximum of 5 mA at 50 VDC Ensure input current does not exceed 5 mA There is a current limiting diode that can dissipate 800 mW on the input opto isolator Quadrature pulse and direction type odometers are compatible An example of a SPAN CPT compatible odometer is the CWPTA411 from Kistler www kistler com A transducer traditionally fits to the outside of a non drive wheel A pulse is then generated from the transducer which i
60. s fed directly to the ODO connector on the IMU cable Figure 7 Kistler WPT The Wheel Pulse Transducer WPT mounts to the wheel lug nuts via adjustable mounting collets The torsion protection rod which maintains rotation around the wheel axis affixes to the vehicle body with suction cups Refer to the Kistler WPT part number CWPTA411 user manual for mounting instructions www kistler com SPAN CPT powers the odometer See SPAN CPT Cable on page 54 for the pin outs of the SPAN CPT cable Connect the appropriate pins to the chosen odometer If the Kistler WPT is chosen first modify the cable at the WPT end The cable modifications are shown in Table 1 Cable Modification for Kistler WPT Cable and Table 2 Cable Modification for SPAN CPT Cable on page 19 SPAN CPT User Manual Rev 7 SPAN CPT Installation Chapter 2 Table 1 Cable Modification for Kistler WPT Cable 8 pin M12 Connector on Female DB9 the Kistler Cable part CWPTA41 Connector Pin 1 GND Pin 5 Pin 2 Up Input Power Pin 9 Pin 3 Signal A Pin 6 Pin A Signal A inverted Pin 7 Pin 5 Signal B Pin 3 Pin 6 Signal B inverted Pin 1 Pin 7 Reserved No change Pin 8 a This modification is for the Kistler WPT 8 pin M12 plug cable number 14865 Kistler provides an M12 to DB9 cable for use with the WPT However certain revisions of this cable to do not bring through all four signal inputs The SPAN CPT odometer interface req
61. s the SPAN frame The origin of this frame is not the enclosure center but the Center of Navigation sensor center Figure 9 SPAN CPT Center of Navigation Z Center of Navigation indicators v Although the SPAN CPT is a rugged product the gyros inside are sensitive and can be damaged by environmental shocks such as vibration bumps and rapid temperature changes 3 1 4 The Vehicle Frame The definition of the vehicle frame is as follows z axis points up through the roof of the vehicle perpendicular to the ground y axis points out the front of the vehicle in the direction of travel e x axis completes the right handed system out the right hand side of the vehicle when facing forward Use the VEHICLEBODYROTATION command to enter the rotation into the system and use the RVBCALIBRATE command to calculate this rotation See the SPAN on OEM6 Firmware Reference Manual for information about these commands 22 SPAN CPT User Manual Rev 7 SPAN CPT Operation Chapter 3 Figure 10 Vehicle Frame Z 3 2 Communicating with the SPAN CPT System After the receiver is connected to a computer antenna and power supply install the NovAtel PC Utilities NovAtel Connect and Convert The installation instructions are in the SPAN CPT Quick Start Guide Alternatively use a terminal emulator program such as HyperTerminal to communicate with the receiver Refer also to the NovAtel Connec
62. se 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 SPAN OEM6 and ProPak and are registered trademarks of NovAtel Inc NovAtel Connect and SPAN CPT are trademarks of NovAtel Inc All other product or brand names are trademarks of their respective holders Manufactured and protected under U S patents NovAtel Patents KVH Technology Patents 5 101 416 6 243 409 B1 5 444 534 6 351 310 B1 6 763 153 5 390 207 6 664 923 B1 5 481 358 6 370 289 B1 6 836 334 5 414 729 6 721 657 B2 5 512 904 36 429 939 6 856 300 5 495 499 6 750 816 B1 5 552 887 6 441 779 6 864 347 5 736 961 7 193 559 B2 5 739 944 6 466 596 6 891 622 5 809 064 7 738 536 B2 5 768 462 6 542 651 7 120 323 6 184 822 B1 7 738 606 B2 6 041 149 6 594 020 6 608 998 B1 7 346 452 6 134 356 6 718 097 6 728 637 B2 7 885 317 B2 6 922 167 B2 Copyright 2013 NovAtel Inc All rights reserved Unpublished rights reserved under International copyright laws SPAN CPT User Manual Rev 7 Table of Contents Customer Support Notices 1 Introduction 1 1 Fundamentals of GNSS INS ssssssssesseeene nennen nennen nenne senes nenne nnn inn enses sess nn ran rrr nenas 1 2 System Components x ce ea eres oy anc eatin ee re eot de e aha een 1 3 Related Documents a
63. t Help file for more details The Help file is accessed by choosing Help from the main menu in NovAtel Connect or press F1 when the cursor is in a window 3 2 1 Use NovAtel Connect to Communicate NovAtel Connect is a Windows application that provides a Graphical User Interface GUI to set up and monitor the operation of the SPAN system by providing a series of windows Start NovAtel Connect on the computer to enable communication 1 Launch NovAtel Connect from the Start menu folder specified during the installation process The default location is Start Programs NovAtel OEMG NovAtel Connect 2 To define a new connection select New Connection from the Device menu The New Connection window appears If a connection is already defined or if connections were imported from NovAtel Connect choose Open Connection and skip to step 9 Name sPAN CPT Device Type Type Serial Serial Settings Port CoM23 Passive Baud Rate 115200 v Read Only Hardware Handshaking 3 Enter a name for the connection 4 Select Serial or USB from the Type drop down list SPAN CPT User Manual Rev 7 23 Chapter 3 SPAN CPT Operation Select the computer port the SPAN CPT is connected to from the Port drop down list If you selected Serial select 115200 from the Baud Rate drop down list If you selected Serial clear the Hardware handshaking check box Click th
64. terminated Cable 60723107 KVH Development Terminated Cable 60723108 SPAN CPT Quick Start Guide GM 14915124 SPAN CPT User Manual OM 20000122 SPAN on OEM6 Family Firmware Reference Manual OM 20000144 OEM6 Family Firmware Reference Manual OM 20000129 B 2 Accessories and Options Part Description NovAtel Part Optional NovAtel GPSAntennas Model 532 for aerodynamic applications ANT A72GA TW N Model 702 for high accuracy applications GPS 702 Model 702L for L Band applications GPS 702L Model 533 for high performance base station applications ANT C2GA TW N Optional RF Antenna Cable 5 metres GPS C006 15 metres GPS C016 58 SPAN CPT User Manual Rev 7 Appendix C Frequently Asked Questions Why don t hear sound from the SPAN CPT The SPAN CPT does not make noise Check that the multi purpose I O cable is connected properly Check the input power supply A minimum of 12 V should be supplied to the system for stable SPAN CPT performance The supply should also be able to output at least 16 W over the entire operating temperature range Why is the INS solution status INS INACTIVE The INS alignment routine does not begin until the system has solved for time This requires that an antenna is attached and satellites are visible to the system Verify that time is solved by checking the time status in the header of any standard header SPAN log such as BESTPOS When the time status reaches FINESTEERING the
65. text v A caution that actions operation or configuration may lead to incorrect or improper use of the hardware O A warning that actions operation or configuration may result in regulatory noncompliance safety issues or equipment damage SPAN CPT User Manual Rev 7 Chapter 2 SPAN CPT Installation This chapter contains instructions and tips to setup your SPAN CPT system 2 1 Required Equipment ASPAN CPT integrated GNSS INS receiver e A quality dual frequency GNSS antenna such as the GPS 702 GG or ANT A72GA TW N See the NovAtel website www novatel com products gnss antennas for information on a variety of quality antennas available to meet your form factor and performance needs An antenna cable with a TNC male connector at the receiver end such as NovAtel s GPS C016 model A power supply of 9 to 18 VDC e An interface cables for the multi purpose I O connector on the SPAN CPT The interface cables can be NovAtel cables see SPAN CPT Cable on page 54 or custom built cables see Appendix A Technical Specifications on page 51 for the multi purpose I O connector pin outs A Windows based computer with a USB or serial port A radio link if the application requires real time differential operation 2 1 1 Manuals The following additional manuals may be required for reference and are available from the NovAtel web site SPAN on OEMG Firmware Reference Manual OM 20000144 e QEM6
66. the output position and velocity of the INS solution as specified by the SETINSOFFSET command or the NovAtel Connect SPAN wizard The INS Configuration Status section displays the IMU type IMU Status and local date time information The dial is a graphical display of the Roll Pitch and Azimuth values indicated by an arrow on each axis 3 3 Software Configuration 3 3 1 GNSS Configuration The GNSS configuration can be set up for different accuracy levels such as single point SBAS DGPS and RTK RTCA RTCM RTCM V3 and CMR The SPAN CPT can also be set up for L Band VBS XP or HP Refer to the OEM6 Family Installation and Operation Manual OM 20000128 for details on DGPS RTK L Band or SBAS setup and operation With no additional configuration the system operates in single point mode 3 3 2 SPAN IMU Configuration You can configure the IMU portion of the SPAN system using software commands or the NovAtel Connect software utility v A GNSS antenna must be connected and tracking satellites for operation 3 3 2 1 SPAN CPT Configuration with NovAtel Connect SPAN CPT User Manual Rev 7 25 Chapter 3 SPAN CPT Operation 1 Select Wizards SPAN Alignment from the NovAtel Connect toolbar This wizard moves through the steps required to complete an alignment and configure the receiver port to accept IMU data Welcome to the NovAtel SPAN Wizard The wizard will guide you through the different setup
67. tion of the local level coordinate frame is as follows e z axis pointing up aligned with gravity y axis pointing north e x axis pointing east Figure 8 Local Level Frame ENU Zecer North N East E SPAN CPT User Manual Rev 7 20 SPAN CPT Operation Chapter 3 3 1 2 The SPAN Body Frame The definition of the SPAN body frame is as follows e z axis pointing up aligned with gravity e y axis defined by how user has mounted the IMU e x axis defined by how user has mounted the IMU To determine the SPAN x axis and y axis see Table 3 Full Mapping Definitions on page 21 This frame is also Known as the computation frame and is the frame where all the mechanization equations are computed Table 3 Full Mapping Definitions IMU LEY ate SPAN Frame SPAN Frame Enclosure IM Enclosure Axis Frame Axis Frame X Z X Z 5 Y Y default Z Z KR X X SPAN CPT User Manual Rev 7 21 Chapter 3 SPAN CPT Operation IMU WET eye fare SPAN Frame SPAN Frame Enclosure MU Enclosure Axis Frame Axis Frame Z Y X X 6 Y Y Z Z Z X 3 1 3 The Enclosure Frame The definition of the enclosure frame is defined on the SPAN CPT and represents how the sensors are mounted in the enclosure If the SPAN CPT is mounted with the z axis as marked on the SPAN CPT pointing up the enclosure frame is the same a
68. uires all four signal inputs to operate correctly See your WPT documentation for cable details Table 2 Cable Modification for SPAN CPT Cable Pin Wires on SPAN CPT KVH Terminated or Male DB9 Connector Unterminated Cable 18 ODO SIGNAL B INV Pin 1 NONE Pin 2 17 ODO SIGNAL B Pin3 NONE Pin 4 14 GND Pin 5 15 ODO SIGNAL A Pin 6 16 ODO SIGNAL A INV Pin 7 NONE Pin 8 13 INPUT POWER Pin 9 SPAN CPT User Manual Rev 7 19 Chapter 3 SPAN CPT Operation 3 1 Before operating the SPAN CPT system ensure that the installation and set up instructions in Chapter 2 SPAN CPT Installation on page 13 were completed Use the NovAtel Connect software to configure receiver settings and to monitor data in real time between a rover SPAN CPT system and base station SPAN CPT system output is compatible with post processing software from NovAtel s Waypoint Products Group For information about Waypoint visit our Web site at http www novatel com products software waypoint products Ensure the computer s Control Panel Power Settings are not set to go into Hibernate or Standby modes Data is lost if one of these modes occur during a logging session Definition of Reference Frames Within SPAN The reference frames most frequently used throughout this manual are The Local Level Frame e The SPAN Body Frame The Enclosure Frame The Vehicle Frame 3 1 1 The Local Level Frame The defini
69. unctions with a valid auth code assigned by NovAtel Customer Support The upgrade can be performed directly through the NovAtel Connect command line or from any other communications program y Refer to Types of Firmware Files on page 44 for details on updating versus upgrading 5 5 1 Upgrade Procedure 1 Power up the receiver and establish communications refer to the SPAN CPT Quick Start Guide for instructions 2 Issue the LOG VERSION command to verify the current model firmware version and serial number refer to Authorization Code on page 42 for instructions on obtaining 3 Issue the AUTH command followed by the auth code and model type refer to Authorization Code on page 42 for details on obtaining any auth code The syntax is as follows auth lt your auth code here gt where auth is a command that enables model upgrades and auth code is the upgrade authorization code expressed as follows Kell XXXXXX XXXXXX XXXXXX XXXXXX XXXXXX MODE where EXPDATE Each X character is a case insensitive ASCII character The MODEL string is a maximum of 15 characters long and represents the model enabled by the auth code The EXPDATE string is the auth code s expiry date in YYMMDD format Example auth 7WBMBK 887CB6 K5J3FH 5DF5P2 42PW8G DISBOGTTO 121211 When the AUTH command is executed the receiver reboots Issuing the LOG VERSION command confirms the new upgrade model type and firm
70. upports wheel sensor inputs integrated via the SPAN CPT The SPAN CPT accepts TTL level input pulses from a wheel sensor through the multi pin connector See Appendix A Technical Specifications on page 51 for specifications on the wheel sensor interface 3 4 4 1 Wheel Sensor Update Logic The wheel sensor information is sent to the SPAN CPT along with the raw IMU data The SPAN filter uses sequential TIMEDWHEELDATA logs to compute a distance traveled between update intervals 1 Hz This information is used to constrain free inertial drift during times of poor GNSS visibility The filter also contains a state for modeling the circumference of the wheel as it may change due to hardware changes or environmental conditions The modeled wheel circumference is available in the WHEELSIZE log Information on how the wheel sensor updates are being used is available in the INSUPDATE log 3 5 Azimuth Sources on a SPAN System The SPAN system use three different methods to calculate the azimuth Course Over Ground Inertial Azimuth Align Azimuth 3 5 1 Course Over Ground The course over ground azimuth is determined using the position delta between two position solutions computed by the OEM 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 azimuth is m
71. ut a gimballed solution at the rate the gimbal angles are received Refer to SPAN on OEM6 Firmware Reference Manual for details 34 SPAN CPT User Manual Rev 7 Chapter 4 SPAN CPT Dual Antenna 4 1 NovAtel s ALIGN heading technology generates distance and bearing information between a master and one or more rover receivers This feature is ideal for those wanting relative directional heading separation heading between two objects or heading information with moving base and pointing applications Heading applications can be applied over various markets including machine control unmanned vehicles marine and agricultural markets SPAN CPT dual antenna provides the hardware necessary to run an ALIGN baseline with a SPAN CPT and a second receiver From any of the SPAN CPT COM ports the ALIGN baseline solution can be logged along with the standard OEM6 logs SPAN CPT dual antenna operation requires the dedicated use of the COM2 port for communication between receivers With the SPAN CPT the ALIGN GNSS baseline can be used to assist the initial alignment of the SPAN solution In addition the ALIGN baseline solution aids the heading solution from the SPAN CPT if the heading drifts due to slow or constant dynamics ALIGN is capable of a 10 Hz heading output rate when integrated with SPAN CPT Installation The hardware for SPAN CPT is installed in a manner similar to other SPAN systems Some points to consider during instal
72. ut position For example a 10 cm error recording this offset will result in at least a 10 cm error in the output 3 4 Real Time Operation SPAN CPT operates through the OEM6 command and log interface Commands and logs specifically related to SPAN CPT operation are documented in the SPAN on OEM6 Firmware Reference Manual Real time operation notes Inertial data does not start until FINESTEERING time status is reached and therefore the SPAN CPT system does not function unless a GNSS antenna is connected with a clear view of the sky The inertial solution is computed separately from the GNSS solution The GNSS solution is available from the SPAN CPT system through the GNSS specific logs even without SPAN running The integrated GNSS INS solution is available through special INS logs documented in the SPAN on OEM6 Firmware Reference Manual The IMU solution is available at the maximum rate of output of the SPAN CPT 100 Hz Because of this high data rate a shorter header format was created These shorter header logs are defined with an S RAWIMUSB rather than RAWIMUB We recommend using 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 Table 4 Inertial Solution Status on page 27 Table 4 Inertial Solution Status Binary ASCII Description 0 INS INACTIVE IMU logs are present but the alignment routin
73. ware version number If communicating using NovAtel Connect the communication path must be closed and reopened using the Device menu SPAN CPT User Manual Rev 7 49 Chapter 5 NovAtel Firmware and Software 5 6 Key Firmware Commands Refer to the for OEM6 Family Firmware Reference Manual for the details of these commands auth log Version reset softloadsrec 50 SPAN CPT User Manual Rev 7 Appendix A Technical Specifications This appendix details the technical specifications of the SPAN CPT A 1 SPAN CPT Technical Specifications Table 7 Hardware Specification for SPAN CPT PHYSICAL 152 0 mm L X 168 0 mm W X 89 0 mm H 2 28 kg SPAN CPT Enclosure Size SPAN CPT Weight CONNECTORS Power and UO MIL DTL 38999 Series 3 RF Antenna Connector TNC Female Table 8 KVH IMU Sensor Specifications PERFORMANCE FIBER OPTIC GYROS Bias Offset 20 Ihr Turn On To Turn On Bias Repeatability Compensated 3 ihr In Run Bias Variation At Constant Temperature 1 Ihr 10 Scale Factor Error Total 1500 ppm 10 Scale Factor Linearity 1000 ppm 1c Temperature Dependent SF Variation 500 ppm 1c Angular Random Walk 0 0667 hlhr 1o Max Input t375 sec PERFORMANCE ACCELEROMETERS Bias Offset 50 mg Turn On To Turn On Bias Repeatability 0 75 mg In Run Bias Variation At Constant Temperature 0 25 mg 10 Temperature Dependent Bias Variat
74. z message be configured for output at a time It is possible to log more than one message at high rates but doing so could have negative impacts on the system Also if logging 100 200 Hz data always use the binary format and if possible the short header binary format available on most INS logs For optimal performance log only one high rate output at a time These logs could be Raw data for post processing RAWIMUXSB ONNEW 100 or 200 Hz depending on IMU RAWIMU logs are not valid with the ONTIME trigger The raw IMU observations contained in these logs are sequential changes in velocity and rotation As such you can only use them for navigation if they are logged at their full rate See details of these logs in the SPAN on OEM6 Firmware Reference Manual Real time INS solution INSPVASB ONTIME 0 01 or 0 005 maximum rate equals the IMU rate Other possible INS solution logs available at high rates are INSPOSSB INSVELSB and INSATTSB 3 7 Data Collection for Post Processing Some operations such as aerial measurement systems do not require real time information from SPAN CPT These operations are able to generate the position velocity or attitude 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 or

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