Novatel OM-20000122 - Manual

SPAN-CPT User Manual Rev 8 5 Figures 1 Primary and Secondary Lightning Protection ..................................................................... 10 2 SPAN-CPT Receiver ............................................................................................................ 13 3 Typical SPA...

6 SPAN-CPT User Manual Rev 8 Tables 1 Cable Modification for Kistler WPT Cable ........................................................................... 19 2 Cable Modification for SPAN-CPT Cable ............................................................................ 19 3 Full Mapping Definit...

SPAN-CPT User Manual Rev 8 7 Customer Support NovAtel Knowledge Base If a technical issue is encountered, browse the NovAtel Web site at www.novatel.com/support/search/ . Use this page to search for general information about GNSS and other technologies, information about NovAtel hardware and softwar...

8 SPAN-CPT User Manual Rev 8 Notices 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...

Notices SPAN-CPT User Manual Rev 8 9 WEEE Notice If you purchased 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...

10 SPAN-CPT User Manual Rev 8 Notices 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). Figure 1: Primary and Secondary Lightning Protect...

SPAN-CPT User Manual Rev 8 11 Chapter 1 Introduction 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...

12 SPAN-CPT User Manual Rev 8 Chapter 1 Introduction 1.2 System Components The SPAN-CPT system consists of the following components: • SPAN-CPT Integrated GNSS+INS receiver – This receiver has 3 accelerometers, 3 gyroscopes (gyros) and a NovAtel OEM6 receiver. Excellent acquisition and reacquisition...

SPAN-CPT User Manual Rev 8 13 Chapter 2 SPAN-CPT Installation This chapter contains instructions and tips to setup your SPAN-CPT system. 2.1 Required Equipment • A SPAN-CPT integrated GNSS+INS receiver • A quality, dual frequency GNSS antenna such as the GPS-702-GGL or 42G1215A-XT-1-Cert • See the N...

14 SPAN-CPT User Manual Rev 8 Chapter 2 SPAN-CPT Installation 2.2 Hardware Set Up Complete the following steps to set up the NovAtel SPAN system. Figure 3: Typical SPAN-CPT Set Up 1. Mount the GNSS antenna, as described in Mount the Antenna on page 15. 2. Mount the SPAN-CPT, as described in Mount th...

16 SPAN-CPT User Manual Rev 8 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 Set Up on page 14. For best performance, use a high quality coaxial cable. An approp...

SPAN-CPT Installation Chapter 2 SPAN-CPT User Manual Rev 8 17 Figure 5: Battery Isolator Installation 2.2.5 Connect a Computer to the SPAN-CPT SPAN-CPT has a multi-purpose I/O connector that contains pins for the COM1 serial port, COM2 serial port and USB port. Refer to Appendix A, Technical Specifi...

18 SPAN-CPT User Manual Rev 8 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 ISO11783 standards. Manufacturers can also create messages specific to ...

SPAN-CPT Installation Chapter 2 SPAN-CPT User Manual Rev 8 19 Table 1: Cable Modification for Kistler WPT Cable Table 2: Cable Modification for SPAN-CPT Cable 8-pin M12 Connector on the Kistler Cable (part # CWPTA41) a a. This modification is for the Kistler WPT 8-pin M12-plug cable number 14865. Fe...

20 SPAN-CPT User Manual Rev 8 Chapter 3 SPAN-CPT Operation 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 ...

SPAN-CPT Operation Chapter 3 SPAN-CPT User Manual Rev 8 21 3.1.2 SPAN Body Frame The definition of the SPAN body frame is as follows: • z-axis pointing up (aligned with gravity) • y-axis defined by how user has mounted the IMU • x-axis defined by how user has mounted the IMU To determine the SPAN x-...

22 SPAN-CPT User Manual Rev 8 Chapter 3 SPAN-CPT Operation 3.1.3 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 enclo...

SPAN-CPT Operation Chapter 3 SPAN-CPT User Manual Rev 8 23 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...

24 SPAN-CPT User Manual Rev 8 Chapter 3 SPAN-CPT Operation 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 ...

SPAN-CPT Operation Chapter 3 SPAN-CPT User Manual Rev 8 25 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. Refer ...

26 SPAN-CPT User Manual Rev 8 Chapter 3 SPAN-CPT Operation The offset between the antenna phase center and the IMU navigation center 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 ...

SPAN-CPT Operation Chapter 3 SPAN-CPT User Manual Rev 8 27 Table 4: Inertial Solution Status 3.4.1 System Start-Up and Alignment Techniques 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, veloci...

28 SPAN-CPT User Manual Rev 8 Chapter 3 SPAN-CPT Operation 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 dev...

SPAN-CPT Operation Chapter 3 SPAN-CPT User Manual Rev 8 29 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 (OM-2000014...

30 SPAN-CPT User Manual Rev 8 Chapter 3 SPAN-CPT Operation 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...

SPAN-CPT Operation Chapter 3 SPAN-CPT User Manual Rev 8 31 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 th...

32 SPAN-CPT User Manual Rev 8 Chapter 3 SPAN-CPT Operation 3.6 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 The position, ...

SPAN-CPT Operation Chapter 3 SPAN-CPT User Manual Rev 8 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. 3.7 Data Collection for Post-Processing Some operations such as aerial measurement s...

34 SPAN-CPT User Manual Rev 8 Chapter 3 SPAN-CPT Operation 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 G...

SPAN-CPT Operation Chapter 3 SPAN-CPT User Manual Rev 8 35 3.9.2 Veripos Marine Subscriptions A subscription is required to use the Veripos services . Contact Veripos sales at www.veripos.com/ support.html to obtain a Service Access License (SAL) number. To activate the service, contact the Veripos ...

SPAN-CPT User Manual Rev 8 37 Chapter 4 SPAN-CPT Dual-Antenna 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 obj...

38 SPAN-CPT User Manual Rev 8 Chapter 4 SPAN-CPT Dual-Antenna Figure 11: SPAN-CPT - Dual Antenna Installation 4.2 Configuring SPAN with ALIGN on SPAN-CPT Before configuring the ALIGN solution, the two receivers MUST both be powered on and connected directly between COM2 of the SPAN receiver and COM2...

SPAN-CPT Dual-Antenna Chapter 4 SPAN-CPT User Manual Rev 8 39 Alternately, the angular offset between the dual-antenna baseline (from primary GNSS antenna to secondary GNSS antenna) and the IMU frame forward axis is entered directly via the EXTHDGOFFSET command. Refer to the SPAN on OEM6 Firmware Re...

40 SPAN-CPT User Manual Rev 8 Chapter 4 SPAN-CPT Dual-Antenna 4.2.4 Automatic Alignment Mode - Automatic Alignment (default) 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 a...

SPAN-CPT User Manual Rev 8 41 Chapter 5 NovAtel Firmware and Software Download the most recent versions of the NovAtel firmware and receiver software from the NovAtel website at www.novatel.com/support/firmware-downloads . OEM6 Firmware and Software NovAtel Connect PC Utilities Software Bundle Bundl...

42 SPAN-CPT User Manual Rev 8 Chapter 5 NovAtel Firmware and Software 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 Cus...

NovAtel Firmware and Software Chapter 5 SPAN-CPT User Manual Rev 8 43 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...

44 SPAN-CPT User Manual Rev 8 Chapter 5 NovAtel Firmware and Software 5.3.2 Using the WinLoad Utility If opening WinLoad for the first time, ensure the file and communications settings are correct. Open a File to Download Select File | Open. Navigate to the file to open ( Figure 12, WinLoad’s Open W...

NovAtel Firmware and Software Chapter 5 SPAN-CPT User Manual Rev 8 45 Figure 15: Searching for Card 5. If the Authorization 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 Wi...

46 SPAN-CPT User Manual Rev 8 Chapter 5 NovAtel Firmware and Software 4. Open the *.shex firmware file. 5. Send each line of the *.shex file to the receiver in a SOFTLOADSREC command. The S-Records must be enclosed by quotation marks: SOFTLOADSREC "<S-RECORD>" 6. Send the SOFTLOADCOMMI...

NovAtel Firmware and Software Chapter 5 SPAN-CPT User Manual Rev 8 47 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 mode...

48 SPAN-CPT User Manual Rev 8 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 Table 8: GNSS Performance for SPAN-CPT Table 9: KVH IMU Sensor Specifications PHYSI...

SPAN-CPT User Manual Rev 8 49 Table 10: Electrical and Environmental Specifications Table 11: Power Specifications 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 @ 1 σ Temperature Dependent Bias ...

50 SPAN-CPT User Manual Rev 8 A.2 SPAN-CPT Mechanical Drawings Figure 18: SPAN-CPT Side and Perspective View +Z +Y +X C 3.3986.1 .8 .03 152.4 4X 6.00 1.2230.9 Note: All dimensions are in inches [mm] .51 [13.0]

52 SPAN-CPT User Manual Rev 8 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 Figure 20: SPAN-CPT Development Terminated Cable  The SPAN-CPT cable also has a green ground line not sho...

54 SPAN-CPT User Manual Rev 8 Table 13: SPAN-CPT 60723107 - KVH Standard Un-terminated Cable Pin-Out Pin Function Wire Pair Wire Color 1 Power Return White / Black White 2 9-18 VDC Power Input Black 3 COM1 RS-422 TX (+) / RS-232 TX from Receiver White / Black Black 4 COM1 RS-422 TX (-) / RS-232 RTS ...

SPAN-CPT User Manual Rev 8 55 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 B.2 Accessories and Options Part Description NovAtel P...

56 SPAN-CPT User Manual Rev 8 Appendix C Frequently Asked Questions 1. Why don’t I 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...