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Novatel NEXAGON CPT7 User Manual

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

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Summary of Contents for Novatel NEXAGON CPT7

  • Page 1 CPT7 and CPT7700 Installation and Operation User Manual CPT7 and CPT7700 Installation and Operation User Manual v12 August 2022...
  • Page 2 7.08.02 / SC7PR0802RN0000:   CPT7 7.08.10 / SC7PR0810RN0000:   CPT7700 Warranty NovAtel Inc. warrants that its GNSS products are free from defects in materials and workmanship, subject to the conditions set forth on our web site: novatel.com/products/novatel-warranty-and-return-policies. Return instructions To return products, refer to the instructions found at: novatel.com/products/novatel-warranty-and-return-...

  • Page 3: Table Of Contents

    Table of Contents Figures Tables CPT7 Notices Customer Support Chapter 1 CPT7 Overview 1.1 CPT7 Connectors 1.2 CPT7 LEDs 1.3 Fundamentals of GNSS+INS Chapter 2 CPT7 Installation 2.1 Shipping Box 2.2 Additional Equipment Required 2.3 Optional Accessories 2.4 CPT7 Cables 2.5 Selecting a GNSS Antenna 2.6 Choosing a Coaxial Cable 2.7 Power Supply Requirements for the CPT7...
  • Page 4 3.11.3 Logging to Internal Memory 3.11.4 Access CPT7 Internal Memory with a Computer 3.11.5 Repair Errors on the CPT7 Internal Memory 3.11.6 Logging Using NovAtel Application Suite or Setup & Monitor (Web) 3.12 Additional Features and Information 3.12.1 Strobes Chapter 4 SPAN Operation 4.1 Definition of Reference Frames Within SPAN...
  • Page 5 4.2.1 Translational Offsets 4.2.2 Rotational Offsets 4.3 Software Configuration 4.3.1 GNSS Configuration 4.3.2 INS Profiles 4.3.3 Configure the CPT7 IMU Data Rate 4.3.4 SPAN Configuration for CPT7 4.3.5 Importance of RBV Calibration 4.4 Real-Time Operation 4.4.1 System Start-Up and Alignment Techniques 4.4.2 INS Seed / Fast INS Initialization 4.4.3 Navigation Mode 4.4.4 Data Collection...
  • Page 6 8.4 Corrections Over CAN 8.4.1 Example for Receiving Corrections from Any Source 8.4.2 Example for Transmitting Corrections to 0x1C Node 8.5 NovAtel Messages Over CAN 8.6 Configuring OEM7 Receivers to Use OEM6 CAN Settings 8.6.1 Configuration on OEM6 8.6.2 Configuration on OEM7 Chapter 9 Built-In Status Tests 9.1 Receiver Status Word...
  • Page 7 11.4 Updating or Upgrading Using the WinLoad Utility 11.4.1 Open a File to Download 11.4.2 Communications Settings 11.4.3 Downloading Firmware 11.5 Updating the Firmware Using NovAtel Application Suite 11.6 Updating the Firmware Using Setup & Monitor (Web) 11.7 Updating Using SoftLoad Commands 11.7.1 Implementing SoftLoad 11.7.2 Use SoftLoad Customer Support utilities...
  • Page 8 APPENDIX B Differences Between CPT7 and Legacy CPT7 APPENDIX C Accessories and Replacement Parts APPENDIX D Frequently Asked Questions APPENDIX E Importance of Antenna Selection CPT7 and CPT7700 Installation and Operation User Manual v12...
  • Page 9 Figures Figure 1: CPT7 Receiver Figure 2: CPT7700 Receiver Figure 3: CPT7 Status Indicators Figure 4: Typical Installation of a CPT7 System Figure 5: Typical Installation of a CPT7700 System Figure 6: Default RBV Configuration Figure 7: CPT7 Adapter Plate Figure 8: Offset from the CPT7 to the SPAN-CPT Figure 9: Offset from the CPT7 to the SPAN-IGM-S1 Figure 10: Fuse for CPT7 Power Supply...
  • Page 10 Figures Figure 36: Cross-Over Ethernet Cable Configuration—OEM7 Receiver Figure 37: Dynamic IP Address Configuration through a DHCP Server—OEM7 Receiver Figure 38: Base/Rover Ethernet Setup—OEM7 Receiver Figure 39: NTRIP System Figure 40: Location of Receiver Status Word Figure 41: Reading the Bits in the Receiver Status Word Figure 42: Location of Receiver Error Word Figure 43: Reading the Bits in the Receiver Error Word Figure 44: Status Code Arrays...
  • Page 11 Table 11: Inertial Solution Status Table 12: NVM Seed Indication Table 13: Solution Parameters Table 14: Kistler to NovAtel Wheel Sensor Cable Connections Table 15: DMI Command and Log Compatibility Table 16: Valid Event Inputs and Outputs for Timed Sensor Triggers...
  • Page 12 Tables Table 36: IO1 Pin Out Table 37: IO2 Pin Out Table 38: CPT7 I/O1 Cable Pinout Table 39: I/O1 Connector Table 40: CPT7 I/O2 Cable Pinout Table 41: IO2 Connector Table 42: Physical Specifications Table 43: Power Requirements Table 44: Signals Tracked Table 45: RF Input Table 46: COM Port Communication Table 47: I/O Strobes...

  • Page 13: Cpt7 Notices

    NovAtel Inc. declares that the CPT7 GNSS receiver is in compliance with: 1. EU Directive 2014/53/EU 2. UK Regulations S.I. 2017/1206 The full text of the EU Declaration of Conformity may be obtained from the NovAtel website at: novatel.com/products/novatel-compliance. WEEE If you purchased your CPT7 in Europe or the United Kingdom, please return it to your dealer or supplier at the end of life.
  • Page 14 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 ( novatel.com/products/novatel-compliance/novatel-environmental-compliance for more information. RoHS CPT7 GNSS receivers are in conformity with: 1.
  • Page 15 CPT7 Notices CPT7 International Approval Eurasian Economic Community Armenia, Belarus, Kazakhstan, Kyrgyzstan and Russia Conventions The following conventions are used in this manual: Information that supplements or clarifies text. A caution that actions, operation or configuration may lead to incorrect or improper use of the hardware.

  • Page 16: Customer Support

    Customer Support NovAtel Knowledge Base If you have a technical issue, visit the NovAtel Support page at novatel.com/support. Through the Support page you can contact Customer Support, find papers and tutorials or download the latest firmware. To access the latest user documentation, visit docs.novatel.com/OEM7.
  • Page 17 Customer Support E-mail: support.novatel@hexagon.com Telephone: U.S. and Canada:   1-800-NOVATEL (1-800-668-2835) International:   +1-403-295-4900 General Troubleshooting Logs LOG RXSTATUSB ONCHANGED LOG RAWEPHEMB ONNEW LOG GLORAWEPHEMB ONNEW LOG BESTPOSB ONTIME 1 LOG RANGEB ONTIME 1 LOG RXCONFIGA ONCE LOG VERSIONA ONCE LOG LOGLISTA ONCE LOG PORTSTATSA ONTIME 10...
  • Page 18 Customer Support For interference issues add this log. LOG ITPSDDETECTB ONNEW For interference issues, when you have enough datalink bandwidth to handle large logs, add this log: LOG ITPSDFINALB ONNEW SPAN Troubleshooting Logs LOG RXSTATUSB ONCHANGED LOG RAWEPHEMB ONNEW LOG GLORAWEPHEMB ONNEW LOG GALINAVRAWEPHEMERISB ONNEW LOG BDSEPHEMERISB ONNEW LOG BESTPOSB ONTIME 1...
  • Page 19 Customer Support PPP Troubleshooting Logs LOG RXSTATUSB ONCHANGED LOG GPSEPHEMB ONNEW LOG GLOEPHEMERISB ONNEW LOG QZSSEPHEMERISB ONNEW LOG BDSEPHEMERISB ONNEW LOG BDSBCNAV1EPHEMERISB ONNEW (firmware versions 7.08.03 and 7.08.10 and later) LOG BDSBCNAV2EPHEMERISB ONNEW (firmware versions 7.08.03 and 7.08.10 and later) LOG BDSBCNAV3EPHEMERISB ONNEW (firmware versions 7.08.03 and 7.08.10 and later) LOG GALFNAVEPHEMERISB ONNEW LOG GALINAVEPHEMERISB ONNEW...

  • Page 20: Chapter 1 Cpt7 Overview

    Chapter 1 CPT7 Overview SPAN GNSS+INS technology from Hexagon | NovAtel brings together two very different but complementary positioning and navigation systems namely Global Navigation Satellite System (GNSS) and an Inertial Navigation System (INS). By combining the best aspects of GNSS and INS into one system, SPAN technology is able to offer a solution that is more accurate and reliable than either GNSS or INS could provide alone.

  • Page 21: Cpt7 Connectors

    Chapter 1   CPT7 Overview In this document, legacy CPT7s refers to the previous version of the CPT7. Refer to Differences Between CPT7 and Legacy CPT7 on page 183 for a comparison between the current and legacy CPT7. Figure 1: CPT7 Receiver Figure 2: CPT7700 Receiver CPT7 technical specifications are provided in CPT7 Technical Specifications on page 160.

  • Page 22: Cpt7 Leds

    Chapter 1   CPT7 Overview Table 1: CPT7 Connectors Connector Label Description SMA connector for the primary GNSS antenna SMA connector for the secondary GNSS antenna (CPT7 only) 16-pin circular connector Power COM2 (RS-422) EVENT_IN 1 EVENT_OUT 1 EVENT_IN 3 EVENT_OUT 3 (PPS) 16-pin circular connector Power COM1 (RS-232)
  • Page 23 Chapter 1   CPT7 Overview Figure 3: CPT7 Status Indicators The following tables provide information about the CPT7 LEDs and their states. Table 2: CPT7 and CPT7700 Status Indicators Label Description Indicates the power status of the receiver Indicates the position status of the receiver Indicates the INS status of the receiver Indicates the status of logging to the receiver internal memory Table 3: PWR (Power) LED...

  • Page 24: Fundamentals Of Gnss+Ins

    GNSS positioning observes range measurements from orbiting GNSS satellites. From these observations, the receiver can compute position and velocity with high accuracy. NovAtel GNSS positioning systems are highly accurate positioning tools. However, GNSS in general has some restrictions which limit its usefulness in some situations.
  • Page 25 Use raw phase observation data (to constrain INS solution drift even when too few satellites are available for a full GNSS solution) For more information about GNSS and INS, refer to An Introduction to GNSS available on our website novatel.com/an-introduction-to-gnss CPT7 and CPT7700 Installation and Operation User Manual v12...

  • Page 26: Chapter 2 Cpt7 Installation

    A 9-36 VDC, fuse (2 A) protected power supply capable of at least 18 W A high quality GNSS antenna, such as NovAtel’s VEXXIS GNSS-500 or GNSS-800 series antennas Two GNSS antennas are needed to use the integrated ALIGN heading feature (CPT7 only)

  • Page 27: Selecting A Gnss Antenna

    European Union’s Restriction of Hazardous Substances (RoHS) and Waste Electrical and Electronic Equipment (WEEE). If a non-NovAtel GNSS antenna is chosen, a typical antenna LNA gain between 26 dB to 30 dB is recommended in a rover station application.

  • Page 28: Choosing A Coaxial Cable

    NovAtel offers several coaxial cables to meet GNSS antenna interconnection requirements, including: 5 m, 15 m and 30 m antenna cable with TNC connectors on both ends (NovAtel part numbers GPS-C006, GPS-C016 and GPS-C032) 2.5 m and 5 m antenna cable with an SMA connector on one end and a TNC connector on the other (NovAtel part numbers 60723177 and 60723178) The CPT7 requires cables with an SMA connector on the CPT7 side or an SMA to TNC adapter.

  • Page 29: Cpt7 Installation Overview

    Chapter 2   CPT7 Installation If the voltage supplied is below the minimum specification, the CPT7 suspends operation. If the voltage supplied is above the maximum specification, the CPT7 may be permanently damaged, voiding the warranty. The supply must be capable of providing enough current to operate the CPT7, including the initial inrush transient.
  • Page 30 Chapter 2   CPT7 Installation Figure 5: Typical Installation of a CPT7700 System Power can be connected to either the IO1 or IO2 port. Do not connect a power supply to both ports. Complete the following steps to set up your CPT7 system. 1.

  • Page 31: Mounting The Gnss Antenna

    NovAtel antennas and coaxial cables meet receiver RF input gain requirements. NovAtel coaxial cables are designed to introduce no more than 10 dB loss and NovAtel antennas are equipped with built-in LNAs that provide 29 dB of gain to the satellite signal received.
  • Page 32 If the CPT7 will be used in areas of extreme high temperatures, be sure to mount the CPT7 on a metal surface such as the NovAtel mount adapter or the metal vehicle chassis. This will allow heat to leave the CPT7 through contact with the metal surface and allow more optimized performance.

  • Page 33: Securing The Cpt7

    Chapter 2   CPT7 Installation The closer the primary antenna is to the CPT7, particularly in the horizontal plane, the more accurate the position solution. Also, your measurements entered using the SETINSTRANSLATION 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 will result in at least a 10 cm error in the output.
  • Page 34 Chapter 2   CPT7 Installation Figure 7: CPT7 Adapter Plate CPT7 and CPT7700 Installation and Operation User Manual v12...
  • Page 35 Chapter 2   CPT7 Installation Figure 8: Offset from the CPT7 to the SPAN-CPT Dimensions are in mm. The axis marking on the CPT7 indicates the orientation of the X, Y and Z axis only. It does not indicate the center of navigation. For the location of the center of navigation, refer to Figure 51: CPT7/CPT7700 Center of Navigation on page 171.

  • Page 36: Connect The Cpt7 To Data Communication Equipment

    Chapter 2   CPT7 Installation Figure 9: Offset from the CPT7 to the SPAN-IGM-S1 Dimensions are in mm 2.11 Connect the CPT7 to Data Communication Equipment The CPT7 can communicate with other devices in the system, such as computers and data loggers, using serial, USB or Ethernet ports.

  • Page 37: Usb Ports

    Chapter 2   CPT7 Installation 1. Connect the CPT7 I/O2 cable, or a custom made cable, to the IO2 connector. 2. Connect the DB9 female connector on the cable to the serial port on the computer or other data communication device. To connect to a serial port using RS-422 protocol: 1.

  • Page 38: Connect I/O Signals To The Cpt7

    Chapter 2   CPT7 Installation 2.12 Connect I/O Signals to the CPT7 The CPT7 has several inputs and outputs, also referred to as strobes, that provide status and synchronization signals. Event Inputs Event Outputs For more information about the I/O signals, refer to the CPT7 Strobe Specifications on page 176. To access the EVENT_IN1, EVENT_OUT1, EVENT_IN3 or EVENT_OUT3 signals, connect the CPT7 I/O1 Cable, or a custom made cable, to the IO1 connector.

  • Page 39: Vehicle Installation

    Chapter 2   CPT7 Installation Figure 10: Fuse for CPT7 Power Supply Power can be connected to either the IO1 or IO2 port. Do not connect a power supply to both ports. Table 8: Fuse/Holder Recommendations Fuse Holder BK/MDA-2-R Fuse (or equivalent) BK/HFA-R Fuse (or equivalent) BK/MDL-2-R Fuse (or equivalent) The fuse and holder are made by Cooper/Bussmann;...

  • Page 40: Check That The Cpt7 Is Operating

    1. Connect the CPT7 to a computer using a serial or USB cable. 2. Open NovAtel Application Suite, establish a connection to the CPT7 and open the Terminal window. Alternately, open a terminal emulation program and establish a connection to the CPT7.
  • Page 41 Chapter 2   CPT7 Installation For information about the other digits in Receiver Status word, refer to the RXSTATUS log in the OEM7 Commands and Logs Reference Manual. It can take about a minute for time status to reach FINESTEERING depending on number of satellites being tracked.

  • Page 42: Chapter 3 Oem7 Receiver Operation

    Chapter 3 OEM7 Receiver Operation Before operating the receiver for the first time, use the installation instructions in CPT7 Installation on page 26. The following instructions are based on a configuration similar to the following figure. Figure 12: Basic CPT7 Connection Interfaces (example) The figure above does not show all necessary hardware.

  • Page 43: Usb Communications

    Chapter 3   OEM7 Receiver Operation NovAtel Setup & Monitor (Web) - NovAtel Setup & Monitor (Web) is a browser based tool used to monitor, configure and update a variety of receiver functions. For information about using Setup & Monitor (Web), refer to the online documentation (docs.novatel.com/Tools).

  • Page 44: Ethernet Communications

    Use any standard communications software package that emulates a terminal to establish bidirectional communications with the receiver. Examples include NovAtel Application Suite and PuTTY. All data is sent as raw 8-bit binary or ASCII characters.

  • Page 45: Icom Communications

    Chapter 3   OEM7 Receiver Operation firmware. OEM7 receivers are also equipped with NTRIP Version 2.0 (Networked Transport of RTCM via Internet Protocol) client and server capability. The Ethernet port must be configured before using. Refer to Ethernet Configuration on page 114 for configuration details.

  • Page 46: Getting Started

    Customer Support on page 16. 3.2.1 Communicating with the Receiver You can communicate with the receiver using NovAtel Setup & Monitor (Web), NovAtel Application Suite or a terminal emulation program. For instructions on using NovAtel Setup & Monitor (Web) and NovAtel Application Suite, refer to docs.novatel.com/Tools.
  • Page 47 Chapter 3   OEM7 Receiver Operation position and transmits correction messages to the rover station. The rover station is the GNSS receiver that does not know its exact position and requires correction messages from a base station to calculate differential GNSS positions. An example of a differential setup is shown in Figure 13: Basic Differential Setup below. Figure 13: Basic Differential Setup Rover Setup Base Setup...

  • Page 48: Defining Antenna And Base Antenna

    To receive corrections, a data link between the base station and the rover station is required. The base and rover stations can both be NovAtel receivers, however NovAtel receivers will work with some other brands. Contact Customer Support for further details (refer to Customer Support on page 16 for details).

  • Page 49: Rover Station Configuration

    Chapter 3   OEM7 Receiver Operation RTCM V3 with GLONASS serialconfig com2 19200 N 8 1 N on interfacemode com2 none rtcmv3 off fix position lat lon hgt (enter your own lat, lon, hgt) log com2 rtcm1004 ontime 1 log com2 rtcm1012 ontime 1 log com2 rtcm1006 ontime 10 log com2 rtcm1033 ontime 10 log com2 rtcm1019 ontime 120...

  • Page 50: Configuration Notes

    2 1. Interface mode must be set to NOVATEL for the receiver to issue logs with an A or B suffix. 2. Using the receiver in NOVATEL mode consumes more CPU bandwidth than using the native differential messages as shown in Base Station Configuration on page 48.

  • Page 51: Dual-Frequency Glide

    3.4.1 Dual-Frequency GLIDE NovAtel’s dual-frequency GLIDE technology adds to the superior pass-to-pass performance provided by single-frequency GLIDE. Dual-frequency GLIDE is ideal for agricultural and machine guidance applications where relative positioning is critical.

  • Page 52: Prefer Accuracy

    NONE explicitly. For more on SBAS, refer to application note APN-051 Positioning Modes of Operation (additional Application Notes available at novatel.com/support/support- materials/application-notes) and the known solution SBAS Positioning. CPT7 and CPT7700 Installation and Operation User Manual v12...

  • Page 53: Enabling Ppp

    10 km of shore. For more information about TerraStar services, visit novatel.com/products/gps-gnss-correction-services/terrastar-correction-services. To obtain a subscription, contact your local NovAtel sales representative. The NovAtel product serial number (PSN) is needed to obtain a subscription. To obtain the receiver serial number, enter the following command: log version once <VERSION USB1 0 74.0 FINESTEERING 2045 336197.080 02028020 3681 15341...
  • Page 54 LBANDTRACKSTAT log will be 00c2, as shown in the example. The latest services and coverage can be obtained from novatel.com/products/gps-gnss-correction- services/terrastar-correction-services. For additional information on TerraStar activation, contact NovAtel Customer Service at novatel.com/support or download APN-061 TerraStar Correction Services from: novatel.com/support/support-materials/application-notes...

  • Page 55: Veripos Subscriptions

    NovAtel sales representative or visit novatel.com/products/gps-gnss-correction-services/terrastar- correction-services. The NovAtel Product Serial Number (PSN) is needed to obtain a subscription. The PSN is available from the VERSION log. RTK ASSIST is available as soon as the rover receiver has at least one valid RTK solution and has received the RTK ASSIST correction data.

  • Page 56: Transferring Time Between Receivers

    Additional information about enabling and using RTK ASSIST is available in APN-073: RTK ASSIST & RTK ASSIST PRO (available from our website: novatel.com/support/support-materials/application- notes). 3.9 Transferring Time Between Receivers The ADJUST1PPS command is used as part of the procedure to transfer time between receivers. The number of Pulses Per Second (PPS) is always set to 1 with this command.

  • Page 57: Procedures To Transfer Time

    When connecting two receivers to transfer time, disable responses on the COM port used to connect the receivers by issuing the following command on both receivers: interfacemode comX novatel novatel off Where comX is the port used on the receiver.
  • Page 58 Chapter 3   OEM7 Receiver Operation Figure 16: Transfer COARSE Time from Fine Clock to Cold Clock Receiver Transfer FINE Time (<50 ns) from a Fine Clock to a Cold Clock GPS Receiver 1. Connect a COM, USB or Ethernet port from the fine clock receiver to the cold clock receiver (for example, COM2 on the fine clock receiver to COM3 on the cold clock receiver), as shown in Figure 17: Transfer FINE Time from Fine Clock to Cold Clock Receiver on the next page.
  • Page 59 Chapter 3   OEM7 Receiver Operation Figure 17: Transfer FINE Time from Fine Clock to Cold Clock Receiver Transfer FINE Time from a Fine Clock to a Warm Clock GPS Receiver 1. Connect the 1 PPS signal of the fine clock receiver to the Mark 1 input (Event1) of the warm clock receiver as shown in Figure 18: Transfer FINE Time from Fine Clock to Warm Clock Receiver on the next page.
  • Page 60 Chapter 3   OEM7 Receiver Operation Figure 18: Transfer FINE Time from Fine Clock to Warm Clock Receiver If Receiver 2 is not in coarsetime, the input is ignored. Figure 19: 1 PPS Alignment CPT7 and CPT7700 Installation and Operation User Manual v12...

  • Page 61: Interference Toolkit

    Disable/Enable Detection on page 63 for instructions. Detected interference can be viewed and different tracking modes with possible additional filters can be applied to mitigate the interference using NovAtel Application Suite. Detected interference details can also be logged and analyzed using the command line interface.
  • Page 62 Chapter 3   OEM7 Receiver Operation Measuring the RF Input Gain This section is intended for advanced users. The RFINPUTGAIN command allows users to enter a more accurate receiver input condition, which is considered as a calibrated receiver input condition, and is used for interference detection. This command supports different values for L1, L2, L5, and L-Band and is recommended when there is a known strong interference present at receiver start up.

  • Page 63: Disable/Enable Detection

    The spectrum can then be viewed by plotting the PSD samples in the ITPSDFINAL log. NovAtel Application Suite can also be used to view the spectrum. See Monitoring Signals Using NovAtel Application Suite on the next page.

  • Page 64: Monitoring Signals Using Novatel Application Suite

    Due to the high volume of data, a higher bandwidth medium, such as USB or Ethernet, is recommended when monitoring signals using the Interference Toolkit. Start NovAtel Application Suite and open a Setup & Monitor connection to the OEM7 receiver. Click Tools and select Interference Toolkit. The Interference Toolkit window opens. The following example shows a typical signal.

  • Page 65: Interference Toolkit Commands And Logs

    To configure a bandpass filter, use the ITPROGFILTCONFIG command or the ITBANDPASSCONFIG command. A bandpass filter can also be configured using NovAtel Application Suite. 3.10.6 Interference Toolkit Commands and Logs The following are the commands and logs used by the Interference Toolkit to monitor, apply filters and mitigate interference.

  • Page 66: Logging And Retrieving Data Overview

    Logs can be directed to any of the receiver communication ports and can be automatically generated at regular intervals or when new or changed data becomes available. Data can be collected using NovAtel Application Suite or Setup & Monitor (Web). Refer to docs.novatel.com/Tools for comprehensive logging instructions.

  • Page 67: Logging To Internal Memory

    Chapter 3   OEM7 Receiver Operation where: <PSN> is the product serial number of the enclosure <UTC_Date> is the UTC date in the format YYYY-MM-DD <UTC_Time> is the UTC time in the format HH-MM-SS Example file name: NOV12001200A_2017-01-10_12-14-34.LOG When a file is closed, but the receiver does not have a valid time, the file is left with its automatically generated name.

  • Page 68: Access Cpt7 Internal Memory With A Computer

    Before powering off the CPT7 or using the RESET command, use the FILECONFIG CLOSE command to close the log file. NovAtel Application Suite or Setup & Monitor Web are the recommended methods for configuring logging to internal memory. Refer to the NovAtel UI Tools Documentation Portal (docs.novatel.com/Tools) for information about configuring logging using the NovAtel Application...

  • Page 69: Repair Errors On The Cpt7 Internal Memory

    3.11.6 Logging Using NovAtel Application Suite or Setup & Monitor (Web) The NovAtel user interface tools, NovAtel Application Suite and Setup & Monitor (Web), provide a graphic user interface to configure the logs output from an OEM7 receiver.

  • Page 70: Additional Features And Information

    Chapter 3   OEM7 Receiver Operation For information about using NovAtel Application Suite or Setup & Monitor (Web), refer to docs.novatel.com/Tools. 3.12 Additional Features and Information The following sections contain information on additional features of the OEM7 receivers. Strobes below 3.12.1 Strobes The CPT7 has three EVENT inputs and three EVENT outputs that provide status and synchronization signals.

  • Page 71: Chapter 4 Span Operation

    Before operating your SPAN system, ensure that you have followed the installation and setup instructions in CPT7 Installation on page 26. You can use the NovAtel Application Suite software to configure receiver settings and to monitor data in real- time, between a rover SPAN system and base station.

  • Page 72: The Imu Body Frame

    Chapter 4   SPAN Operation Figure 20: Local-Level Frame (ENU) 4.1.2 The IMU Body Frame The definition of the IMU Body frame is given by the physical axes of the IMU and represents how the sensors are mounted inside the IMU. The IMU Body frame axes are marked on the CPT7. Refer to CPT7 Mechanical Specifications on page 167 for illustrations of the IMU Body frame axes.

  • Page 73: The Vehicle Frame

    Chapter 4   SPAN Operation The IMU body frame is a right-handed coordinate system. The axis markings indicate the positive Z axis points towards the base of the CPT7. 4.1.3 The Vehicle Frame The definition of the vehicle frame is as follows: z-axis –...

  • Page 74: Translational Offsets

    Chapter 4   SPAN Operation The orientation of the IMU relative to the forward direction of the vehicle is also needed to convert the velocity and attitude changes sensed by the IMU into the actual motion of the vehicle. If the SPAN system incorporates other devices, such as a camera connected to an Event Input, the SPAN system also needs to know the location and orientation of these additional devices relative to the IMU.

  • Page 75: Rotational Offsets

    Chapter 4   SPAN Operation The measurements for the translational offsets should be done as accurately as possible, preferably to within millimeters especially for RTK operation. Any error in the offsets will translate into an error in the INS position. The translational offsets from the IMU to the GNSS antenna are required for all SPAN systems. However, some SPAN systems may have other sensors or devices integrated into the system for which the SPAN needs translational offsets.
  • Page 76 Chapter 4   SPAN Operation X: -90 Y: 0 Z: +90 To reach this answer, keep in mind the following rules: The goal is to rotate the IMU Body frame to be coincident with the Vehicle frame (i.e. IMU X equals Vehicle X, IMU Y equals Vehicle Y, IMU Z equals Vehicle Z).

  • Page 77: Software Configuration

    Chapter 4   SPAN Operation The rotational offsets are entered using the SETINSROTATION command. For this example, the command to enter the rotations for the previous example is: SETINSROTATION RBV -90 0 90 4.3 Software Configuration On a SPAN system, both the GNSS receiver and the IMU must be configured. 4.3.1 GNSS Configuration The GNSS configuration can be set up for different accuracy levels such as single point, SBAS, DGNSS, PPP and RTK.

  • Page 78: Configure The Cpt7 Imu Data Rate

    1. Ensure the CPT7 has a Model with the SPAN IMU Grade option 2 or 3. If the CPT7 does not have IMU Grade option 2 or 3, contact NovAtel Support or Sales for information about upgrading. See Model Upgrades on page 141 for details.

  • Page 79: Span Configuration For Cpt7

    Configure SPAN Manually below SPAN Configuration with NovAtel Application Suite on page 81 SPAN Configuration with NovAtel Setup & Monitor (Web) on page 81 Minimum Recommended Configuration When configuring your CPT7 system for first time use, the following is the minimum amount of information required to ensure proper operation of a SPAN system.
  • Page 80 Chapter 4   SPAN Operation The offset between the antenna phase center and the IMU axis must remain constant and be known accurately (m). The X, Y and Z directions are clearly marked on the CPT7 enclosure. The SETINSTRANSLATION parameters are (where the standard deviation fields are optional and the distances are measured from the CPT7 to the antenna): ANT1 x_offset y_offset z_offset [x_stdev] [y_stdev] [z_stdev] ANT2 x_offset y_offset z_offset [x_stdev] [y_stdev] [z_stdev]...

  • Page 81: Importance Of Rbv Calibration

    SPAN using NovAtel Application Suite, refer to docs.novatel.com/Tools. SPAN Configuration with NovAtel Setup & Monitor (Web) The SPAN parameters can be configured using the NovAtel Setup & Monitor (Web) User Interface. For information about using Setup & Monitor (Web), refer to docs.novatel.com/Tools.
  • Page 82 Chapter 4   SPAN Operation installation can cause the IMU Body frame to be slightly out of alignment with the Vehicle frame. The misalignment of the IMU Body frame from the Vehicle frame will add a bias to the SPAN solution. The following diagrams show examples of a CPT7 installed in a vehicle with misalignment issues.

  • Page 83: Real-Time Operation

    Chapter 4   SPAN Operation Body to Vehicle Frame Rotation Calibration Routine on page 91 or Multi-Line Body to Vehicle Frame Rotation Calibration Routine on page 91 for more information. These parameters are estimated in the background when the system is fully converged, however it is always better to have this measured as precisely as possible before mission critical data is collected.

  • Page 84: System Start-Up And Alignment Techniques

    Chapter 4   SPAN Operation Binary ASCII Description The INS solution is in navigation mode and has converged sufficiently to be within specifications. INS_SOLUTION_ For a more rigorous check of the INS solution, examine bit 6 of the Extended GOOD Solution Status word. The Extended Solution Status word is available in several logs, including INSATTX log, INSPOSX log, INSSTDEV log, INSSTDEVS log, INSVELX log and INSUPDATESTATUS log The INS filter is in navigation mode and the GNSS solution is suspected to be...
  • Page 85 This transition can be observed by monitoring the INS Status field in the INS logs. Dual Antenna Alignment SPAN can also use heading information available from a NovAtel Dual Antenna ALIGN solution to rapidly perform an alignment. Refer to CPT7 with Dual Antenna on page 109 for details.

  • Page 86: Ins Seed / Fast Ins Initialization

    Chapter 4   SPAN Operation 4.4.2 INS Seed / Fast INS Initialization The INS Seed functionality is an alignment method whereby INS alignment information from a previous powerup can be injected into the system at startup to achieve an INS alignment very quickly. This is especially useful for systems that previously required a kinematic alignment.
  • Page 87 Chapter 4   SPAN Operation INJECT Option (Advanced Users Only) There is an advanced option available to skip the second and third validation steps described in the boot-up section above. This can be used if GNSS is not available on power-up or if speed to achieve an alignment is imperative.

  • Page 88: Navigation Mode

    Chapter 4   SPAN Operation Table 12: NVM Seed Indication Bit 31-29 Hex Value NVM Seed Type Values1 0x00 NVM Seed Inactive 0x01 Seed stored in NVM is invalid 0x02 NVM Seed failed validation check 0x03 NVM Seed is pending validation (awaiting GNSS) 0x04 NVM Seed Injected (includes error model data) 0x05...

  • Page 89: Recommended Messages To Be Logged For Span Data Collection

    Specific logs need to be collected for post-processing. See Data Collection for Post Processing on page 101. To store data from an OEM7 receiver, connect the receiver to a computer running NovAtel Application Suite or other terminal program capable of recording data. On CPT7 receivers, you can also collect data on internal memory.
  • Page 90 Chapter 4   SPAN Operation following are the suggested messages that should be logged for every survey. Note that the list includes all necessary messages for post-processing in Inertial Explorer. Recommended SPAN Messages for OEM7 LOG VERSIONB ONCE LOG RXCONFIGB ONCE LOG RXSTATUSB ONCHANGED LOG RANGEB ONTIME 1 LOG GPSEPHEMB ONCHANGED...

  • Page 91: Body To Vehicle Frame Rotation Calibration Routine

    Chapter 4   SPAN Operation 4.4.6 Body to Vehicle Frame Rotation Calibration Routine Kinematic alignment requires that the rotational offset between the vehicle and IMU Body frame (RBV) is known. If the angles are simple (that is, a simple rotation about one axis) the values can easily be entered manually through the SETINSROTATION RBV command.
  • Page 92 Chapter 4   SPAN Operation high as several degrees. For applications where vehicle roll must be well known, or pass-to-pass accuracy of a highly offset position is especially important, the Multi-Line IMU Body to Vehicle frame offset calibration routine offers higher calibrated accuracy in roll. This is done by running independent calibrations over the same ground path in opposite directions;...

  • Page 93: Distance Measurement Instrument

    Manual. 4.5 Distance Measurement Instrument A Distance Measurement Instrument (DMI) can provide additional accuracy and reliability to a NovAtel SPAN solution. Specifically, a DMI can help constrain INS position and azimuth error growth during GNSS outages. The lower the IMU grade, the greater the DMI will help in constraining INS error drifts.

  • Page 94: Dmi Communication

    Chapter 4   SPAN Operation complete revolution of the wheel. The resulting precision will be 0.002 m/tick. Given the same wheel, but a DMI rated for 10 ticks per revolution, the resulting precision will be 0.2 m/tick. 4.5.1 DMI Communication The CPT7 supports single channel DMI data transmission using a pair of complementary signals represented as A+ and A-.

  • Page 95: Dmi Connected To A Cpt7

    SPAN systems require at a minimum the A+ and A- signals for distance. All four signal inputs are required to measure both distance and direction correctly. See your WPT documentation for cable details. Table 14: Kistler to NovAtel Wheel Sensor Cable Connections Kistler Cable CPT7...
  • Page 96 Chapter 4   SPAN Operation Figure 30: DMI to CPT7 Setup The DMI connections are A+, A- and GND. DMI Data Collected on the CPT7 Typical DMI hardware generates wheel ticks constantly as the wheel rotates. The CPT7 interface is configured to accumulate wheel tick counts at a rate of 1 Hz. DMI Update Logic DMI data is available through the RAWDMI log.

  • Page 97: Dmi Command Compatibility

    Command DMICONFIG Command For firmware versions 7.06.xx and earlier, refer to docs.novatel.com/OEM7/Content/Appendix/PreviousVersionsDocument.htm for information about the legacy commands and logs. The WHEELVELOCITY command will still be accepted in 7.07.00 and newer firmware with a limited capability. WHEELVELOCITY’s cumulative tick field will be mapped to a RAWDMI command for backwards compatibility.

  • Page 98: Dmi Troubleshooting

    The DMI is being powered. The receiver is being powered. The DMI has been enabled through a DMICONFIG command. The receiver has the latest NovAtel Firmware, available from the NovAtel website (novatel.com/support/support-materials/firmware-download). The receiver has a valid SPAN model for use with DMI.

  • Page 99: Adding Timed Sensor Triggers

    Chapter 4   SPAN Operation Time Guard (t_guard): The time guard specifies the minimum number of milliseconds between pulses. This is used to coarsely filter the input pulses. The time of the input pulses is available from the MARKTIME, MARK2TIME, MARK3TIME and MARK4TIME log.

  • Page 100: Configuring The Software

    Chapter 4   SPAN Operation 4.7.2 Configuring the Software Sensor objects are defined by using the SETUPSENSOR command. This command allows the Event_In and Event_Out lines to be specified as well as some parameters for the outgoing and incoming signals. After configuring a sensor using the SETUPSENSOR command, any other commands that affect the selected event lines will disturb this functionality.

  • Page 101: Inertial Azimuth

    There is a specific subset of logs that output this azimuth. See Table 17: Logs with Azimuth Data below. Table 17: Logs with Azimuth Data Azimuth Source Format Course Over Ground BESTGNSSVEL NovAtel From the best GNSS only solution Course Over Ground BESTVEL NovAtel From the best system solution which could be either GNSS...

  • Page 102: Variable Lever Arm

    DMICONFIGB ONCHANGED (if using a DMI sensor) RAWDMI ONNEW (if using a DMI sensor) Post processing is performed using Waypoint Inertial Explorer. Visit our web site at novatel.com/products/waypoint-software for details. The highest rate that you should request GNSS logs (RANGE, BESTPOS, RTKPOS, PSRPOS, and so on) while in INS operation is 5 Hz.
  • Page 103 Chapter 4   SPAN Operation Frame Description Notation IMU Body frame The physical IMU axes Vehicle frame Default reference frame for attitude output in SPAN logs Mount body frame The physical axes of the gimballed mount The physical axes of the gimbal plane. This frame matches the mount Gimbal body frame body frame when gimbal angles are zero and rotates relative to the mount body frame when the gimbal is active.
  • Page 104 Chapter 4   SPAN Operation Figure 31: Sample Configuration Figure 32: Operating Gimbal CPT7 and CPT7700 Installation and Operation User Manual v12...

  • Page 105: How To Use Variable Lever Arm

    Chapter 4   SPAN Operation 4.10.2 How to Use Variable Lever Arm The variable lever arm functionality is simple to use in a SPAN system. It requires the input of gimbal angles from the camera mount or platform that the IMU is mounted on. After that is provided, the system will automatically compute the variable lever arm and produce several messages for output.

  • Page 106: Relative Ins

    4.11 Relative INS NovAtel's Relative INS technology generates a position, velocity and full attitude vector between two SPAN systems. One is the Master receiver and the other is the Rover receiver. Once configured, the Master receiver begins transmitting corrections to the Rover receiver. Relative information is created and the system begins filling the RELINSPVA log and SYNCRELINSPVA log on the Rover receiver.

  • Page 107: Configure Relative Ins

    Chapter 4   SPAN Operation Figure 33: Relative INS Example An important command that can be used with Relative INS to manually change the maximum amount of time to use RTK data is the RTKTIMEOUT command. This command is used to set the maximum age of RTK data to use when operating as a rover station.
  • Page 108 Chapter 4   SPAN Operation The master and rover receiver must be using the same datum. CPT7 and CPT7700 Installation and Operation User Manual v12...

  • Page 109: Chapter 5 Cpt7 With Dual Antenna

    Chapter 5 CPT7 with Dual Antenna NovAtel's ALIGN heading technology generates a heading solution using the position information from the primary and secondary GNSS antenna. The CPT7700 requires a second receiver to generate an ALIGN solution. The CPT7 can provide an ALIGN solution without an additional receiver.
  • Page 110 Chapter 5   CPT7 with Dual Antenna Figure 34: SPAN – CPT7700 Dual Antenna Installation Install a user supplied 2 A slow blow fuse in the positive line of the connection to the power source. CPT7 and CPT7700 Installation and Operation User Manual v12...

  • Page 111: Configuring Dual Antenna Align With Span

    Chapter 5   CPT7 with Dual Antenna Figure 35: SPAN – CPT7 Dual Antenna Installation Install a user supplied 2 A slow blow fuse in the positive line of the connection to the power source. 5.2 Configuring Dual Antenna ALIGN with SPAN Before configuring a CPT7700 ALIGN system, the both receivers should both be powered on and connected directly between a COM port on the CPT7700 and a COM port on the second (rover) receiver through either a null modem cable or an appropriate radio connection.

  • Page 112: Configuring Span Alignment Method

    Chapter 5   CPT7 with Dual Antenna 1. Enter the lever arm from the CPT7/CPT7700 to the primary antenna (antenna connected to the RF1 connector). Abbreviated ASCII example: SETINSTRANSLATION ANT1 0.54 0.32 1.20 0.03 0.03 0.05 2. Enter the lever arm from the CPT7/CPT7700 to the secondary antenna (antenna connected to the CPT7 RF2 connector or the rover receiver).

  • Page 113: Aided Transfer Alignment - Align Injected Azimuth

    Chapter 5   CPT7 with Dual Antenna For optimal SPAN performance when using Dual Antenna with SPAN, an ALIGN offset calibration is required for each unique installation. This calibration refines the IMU to antenna baseline angular offset from the initial estimate derived from the input lever arms. Refer to INSCALIBRATE command for details.

  • Page 114: Chapter 6 Ethernet Configuration

    Chapter 6 Ethernet Configuration This chapter describes how to configure the Ethernet port on an OEM7 receiver. It provides the step-by-step process for connecting to the OEM7 receiver through the Ethernet interface, setting up a base/rover configuration through Ethernet connectivity and utilizing the NTRIP interface. The Ethernet port connections for a computer connected to the receiver are also described for Windows 7 operating systems.

  • Page 115: Static Ip Address Configuration-Receiver

    1. Connect a computer to the OEM7 receiver using a null modem serial cable or USB cable. 2. Establish a connection to the receiver using either NovAtel Application Suite or another terminal program. This connection is used to send the commands in this procedure to the receiver.

  • Page 116: Static Ip Address Configuration-Windows 7

    See Figure 36: Cross-Over Ethernet Cable Configuration—OEM7 Receiver on the previous page. 2. Connect to the receiver using NovAtel Application Suite or any third party terminal program that supports TCP/IP connections. Use the static IP address and port number assigned to the OEM7 receiver in Static IP Address Configuration—Receiver on the previous page.

  • Page 117: Dynamic Ip Address Configuration

    1. Connect a computer to the OEM7 receiver using a null modem serial cable or USB cable (model dependent). 2. Establish a connection to the receiver using either NovAtel Application Suite or another terminal program. This connection is used to send the commands in this procedure to the receiver.

  • Page 118: Base/Rover Configuration Through Ethernet Connectivity

    1. Connect your computer to both OEM7 receivers using null modem serial cables or USB cables. 2. Establish a connection to the receiver using either NovAtel Application Suite or another terminal program. This connection is used to send the commands in this procedure to the receivers.

  • Page 119: Large Ethernet Port Data Throughput

    If done incorrectly, changing the Windows Registry may impair the operation of the computer. Editing the Windows Registry is for advanced Microsoft Windows users only. NovAtel Inc. is not able to provide any technical support for any actions taken regarding information found in Microsoft’s Knowledge Base.

  • Page 120: Chapter 7 Ntrip Configuration

    7.1 NTRIP Configuration Over Ethernet The following procedure describes how to configure a NovAtel base and a NovAtel rover through a third party NTRIP caster. This configuration is recommended for optimal RTK performance. 1. Establish a connection to the receiver using either NovAtel Application Suite or another terminal program.
  • Page 121 LOG NCOMx GPGGA ONTIME 5, until data is received by the caster. For more information about Network RTK options and properties, refer to the application note APN-041 Network RTK APN-074: NTRIP on NovAtel OEM6/OEM7. The following is an NTRIP Client configuration example without the use of a Network RTK system:...

  • Page 122: Chapter 8 Can Bus

    BUS The OEM7 receivers support the following CAN protocols: J1939 Transport and Extended Transport Protocol: used for corrections and NovAtel messages (both transmitting and receiving) NMEA2000: used for standard as well as NovAtel-proprietary messages (transmitting only) By default, CAN is disabled on OEM7 receivers.

  • Page 123: Default Configuration

    Chapter 8   CAN Bus Details for the PGN messages can be found in the NMEA2000 specification which can be purchased directly from the National Marine Electronics Association (www.nmea.org/). 8.1 Default Configuration After a FRESET, the receiver has the following CAN configuration: All CAN physical ports are disabled No J1939 addresses are claimed CCOM ports are configured for NMEA2000 messages only...

  • Page 124: Example Of Enabling The Can Bus

    Chapter 8   CAN Bus Once the receiver is "on bus", it must be taken "off-bus" using CANCONFIG for any further configuration changes using J1939CONFIG. The receiver is fully "on-bus" only once the J1939 address has been successfully claimed. This is reported as "CLAIMED"...

  • Page 125: Address Claim Procedure

    J1939CONFIG command. 8.3 NMEA2000 Logging OEM7 receivers support both a subset of the standard NMEA2000 PGNs, as well as NovAtel proprietary PGNs. All NMEA2000 logs are configured using the LOG command, where the COM port is a CAN port (CCOM). The CCOM port must be associated with a J1939 node using the CCOMCONFIG command.

  • Page 126: Corrections Over Can

    A single CCOM port cannot be used for both Binary messages and corrections. If the CCOM port is configured as NOVATEL, all input is interpreted as NovAtel ASCII or Abbreviated ASCII. Unlike other COM ports, the receiver will not distinguish between ASCII and binary input.

  • Page 127: Configuring Oem7 Receivers To Use Oem6 Can Settings

    To use CAN NOVATELBINARY, the CCOM port must be placed into NOVATELBINARY using the INTERFACEMODE command. It is recommended to use one dedicated CCOM port for NovAtel messages and another dedicated CCOM port for corrections. NovAtel UI configuration does not affect NMEA2000. Any CCOM port can be used for NMEA2000 logs irrespective of CCOMCONFIG settings.
  • Page 128 Chapter 8   CAN Bus On OEM7 receivers, nothing is automatically logged when CAN is enabled. Regular log requests must be made for each log required. A full address claim procedure with default values is initiated with the CANCONFIG ON command. The J1939CONFIG command can be used to modify the default address claim parameters including the ManufacturingCode (set to 603 in the SETCANNAME example above, now defaults to 305 in the new J1939CONFIG) but it's not necessary.

  • Page 129: Chapter 9 Built-In Status Tests

    Chapter 9 Built-In Status Tests The Built-In Status Test monitors system performance and status to ensure the receiver is operating within specifications. The test detects an exceptional condition and informs the user through one or more indicators. The receiver status system is used to configure and monitor the indicators: 1.

  • Page 130: Rxstatus Log

    Chapter 9   Built-In Status Tests 9.3 RXSTATUS Log The Receiver Status log (RXSTATUS) provides system status and configuration information in a series of hexadecimal words. 9.3.1 Status Word The status word is the third field after the header, as shown in the example in Figure 40: Location of Receiver Status Word below.

  • Page 131: Status Code Arrays

    Chapter 9   Built-In Status Tests Figure 42: Location of Receiver Error Word Figure 43: Reading the Bits in the Receiver Error Word below shows an example of a receiver error word. Figure 43: Reading the Bits in the Receiver Error Word Refer to the RXSTATUS log and RXSTATUSEVENT log in the OEM7 Commands and Logs Reference Manual...

  • Page 132: Receiver Status Code

    Chapter 9   Built-In Status Tests Figure 44: Status Code Arrays 9.3.4 Receiver Status Code The receiver status word is included in the header of all logs. It has 32 bits that indicate certain receiver conditions. If any of these conditions occur, a bit in the status word is set. Unlike the error word bits, the receiver continues to operate, unless the priority mask for the bit has been set.

  • Page 133: Chapter 10 Troubleshooting

    Try to resolve the problem using the troubleshooting guide in Table 21: Troubleshooting Based on Symptoms below, then try our Knowledge Base at novatel.com/support. If you are still not able to resolve the problem, see Customer Support on page 16 for troubleshooting logs and contact information.

  • Page 134: Examining The Rxstatus Log

    Chapter 10   Troubleshooting Symptom Related Section See Transmitting and Receiving Corrections on page 46 Differential mode is not working properly and refer to the SERIALCONFIG command. There appears to be a problem with the receiver’s Refer to the NVMRESTORE command. memory Move the receiver to within an acceptable temperature range.
  • Page 135 Chapter 10   Troubleshooting Bit Set Action to Resolve Contact Customer Support on page 16. Check the VERSION log. The VERSION log will indicate "Invalid authcode". Upgrade the auth-code as described in Upgrading Using an Auth-Code on page 158. Issue a FRESET command See Power Supply Requirements for the CPT7 on page 28 Reserved Check the temperature ranges in: CPT7 Electrical and Environmental Specifications on page 172...
  • Page 136 Chapter 10   Troubleshooting Table 23: Resolving an Error in the Receiver Status Word Bit Set Action to Resolve Check the Error Word in the RXSTATUS log. See also Table 22: Resolving a Receiver Error Word on page 134 Check the temperature ranges in CPT7 Electrical and Environmental Specifications on page 172 See Power Supply Requirements for the CPT7 on page 28 See Selecting a GNSS Antenna on page 27, Choosing a Coaxial Cable on page 28, Antenna LNA...

  • Page 137: Examining The Aux1 Status Word

    AGC error on RF1 through RF4 respectively. To resolve, ensure the antenna cable is connected and 14-17 signal input level is within specification. Contact NovAtel Customer Support on page 16 for additional information. Connect the receiver via Ethernet.

  • Page 138: High Temperature Environments

    Reduce the amount of logging on the Virtual COM ports AGC error on RF5 (bit 28) or RF6 (bit 29). To resolve, ensure the antenna cable is connected and 28-29 signal input level is within specification. Contact NovAtel Customer Support on page 16.for additional information. 30-31 (Reserved bits) 10.3 High Temperature Environments...

  • Page 139: Monitoring The Receiver Temperature

    Chapter 10   Troubleshooting Mount the CPT7 on a metal surface such as the NovAtel mount adapter or the metal vehicle chassis. This will allow heat to leave the CPT7 through contact with the metal surface and allow more optimized performance 10.3.4 Monitoring the Receiver Temperature...

  • Page 140: Safe Mode

    OEM7 Commands and Logs Reference Manual and find the suggested actions for the current Safe Mode State. 3. If the suggested actions do not resolve the issue, contact NovAtel Customer Support. CPT7 and CPT7700 Installation and Operation User Manual v12...

  • Page 141: Chapter 11 Novatel Firmware

    11.1.2 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 novatel.com/contactus/dealer-network. Contact NovAtel Customer Support novatel.com/support novatel.com/contactus/sales-offices to request a temporary upgrade authorization code for trial purposes.

  • Page 142: Downloading Firmware Files

    YYMMDD, where YY = year, MM = month and DD =day. The date is the last day that the auth- code is valid and expires at the end of day, UTC time. Once the trial period has expired, a new auth-code will need to be obtained from NovAtel Customer Support (support.novatel@hexagon.com).

  • Page 143: Updating Or Upgrading Using The Winload Utility

    (e.g., OM7MR0200RN0000.shex) NovAtel Software License License agreement for the firmware Agreement.rtf NovAtel has an online video tutorial that explains firmware updating at: novatel.com/support/support- materials/novatel-video. 11.4 Updating or Upgrading Using the WinLoad Utility WinLoad is a utility used to update or upgrade a receiver. To use WinLoad, the receiver must be connected to the computer running WinLoad using a serial port (COM port) connection.

  • Page 144: Communications Settings

    Chapter 11   NovAtel Firmware Figure 46: Open File in WinLoad 11.4.2 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 is preferred if a higher baud rate is not available).

  • Page 145: Downloading Firmware

    11.5 Updating the Firmware Using NovAtel Application Suite To use NovAtel Application Suite to update the receiver firmware, the receiver must be connected to the computer running NovAtel Application Suite using a serial (COM) port, USB port or Ethernet port.

  • Page 146: Updating The Firmware Using Setup & Monitor (Web)

    Use SoftLoad if automated loading is desired or if the receiver does not have access to tools such as NovAtel Application Suite, Setup & Monitor (Web), WinLoad (serial connection only), NovAtel Connect or WebUI to load firmware.

  • Page 147: Use Softload Customer Support Utilities

    The receiver must be able to connect to a terminal like RealTerm For Linux users, this method may be preferred as NovAtel does not offer production versions of Linux NovAtel Connect and Linux WinLoad. Also, some NovAtel products may not have WebUI compatibility or WebUI connection may not be easily viable for some customers.
  • Page 148 Chapter 11   NovAtel Firmware Sending Firmware Data It can take 30 minutes to 1 hour to complete sending the entire firmware to the receiver. RealTerm is preferred, but other terminal programs may be used (at user’s discretion). 1. Download RealTerm from: sourceforge.net/projects/realterm/.
  • Page 149 Chapter 11   NovAtel Firmware If connecting to receiver via serial or USB, ensure a delay of at least 20 msec is specified between each line. This is NOT necessary for ICOM connections; it will just cause the firmware to take longer to load. The option can be found in the Send tab of RealTerm.
  • Page 150 Chapter 11   NovAtel Firmware 6. Watch the progress bar on the bottom as well as for the OK responses. CPT7 and CPT7700 Installation and Operation User Manual v12...
  • Page 151 Chapter 11   NovAtel Firmware 7. RealTerm will indicate when the entire file has been sent. Note the output at the end indicates SOFTLOAD completed without any issues. 8. Once SOFTLOADSTATUS has confirmed the process is COMPLETE, send the RESET command.

  • Page 152: Self-Implement The Softload Process

    This method is appropriate for users with deeply embedded systems and that want to customize the firmware updating process to their application. C++ source code is available to provide example code of processing S- Records and converting them to NovAtel format commands. Contact Customer Support at novatel.com/support...
  • Page 153 Chapter 11   NovAtel Firmware Command Description SOFTLOADRESET Initiate a new SoftLoad process SOFTLOADSREC Send an S-Record to the receiver for the SoftLoad process SOFTLOADDATA Send firmware image data to the receiver for the SoftLoad process SOFTLOADCOMMIT Complete the SoftLoad process Send configuration information to the receiver for the SoftLoad process.
  • Page 154 SOFTLOADDATA command, the "offset" field remains the address of the first S3 record and the "data" and "data length" are updated to include the new data. The *.shex file data may contain many gaps and jumps. For example, in many NovAtel *.shex files, data for address 0x000_00000 is stored near the very end of the file.
  • Page 155 Previous Address + Previous Num Bytes = 0x00000000 + 0x1C = 0x0000001C Add data to existing SOFTLOADDATA command The SOFTLOADDATA command must be sent as a NovAtel binary format command. SoftLoad Update Method This section describes the sequence of commands that are issued to the receiver when updating using a *.shex file.
  • Page 156 Chapter 11   NovAtel Firmware guaranteed to be output from the receiver within 300 seconds from the time the SOFTLOADCOMMIT command was received by the receiver. 7. Send the auth code for the newly downloaded image using the AUTH command. This is only required if there is not already a signature auth code on the receiver as signature auth codes are maintained through a SoftLoad update.
  • Page 157 Chapter 11   NovAtel Firmware SoftLoad Errors It is possible for errors to occur during the SoftLoad update. All command responses should be checked to verify all issued commands were accepted. The SoftLoad status should also be monitored in the SOFTLOADSTATUS log. Any status enum value greater than the ERROR status indicates an error has occurred during the SoftLoad update.

  • Page 158: Upgrading Using An Auth-Code

    11.8 Upgrading Using an Auth-Code An authorization code (auth-code) enables (unlocks) model features. An auth-code can be entered using NovAtel Application Suite, NovAtel Web UI or the command line interface. 11.8.1 Entering an Auth-Code Using NovAtel Application Suite 1. Obtain the new auth-code from NovAtel Sales or your local NovAtel dealer.
  • Page 159 When the AUTH command is executed, the OEM7 receiver reboots. Issuing the LOG VERSION command confirms the new upgrade model type and firmware version number. If communicating using NovAtel Application Suite, the connection must be closed and reopened using the Devices window.

  • Page 160: Appendix A Cpt7 Technical Specifications

    APPENDIX A CPT7 Technical Specifications Table 25: CPT7 Physical Description Size 90 mm x 76 mm x 60 mm Weight 500 grams See the following sections for more information about the CPT7: CPT7 Performance Specifications on the next page CPT7700 Performance Specifications on page 164 CPT7 IMU Performance Specifications on page 166 CPT7 Mechanical Specifications on page 167 CPT7 Electrical and Environmental Specifications on page 172...

  • Page 161: Cpt7 Performance Specifications

    GNSS system characteristics, Signal-in-Space (SIS) operational degradation, ionospheric and tropospheric conditions, satellite geometry, baseline length, multipath effects and the presence of intentional or unintentional interference sources. GPS-only. Requires a TerraStar subscription which is available direct from NovAtel novatel.com/products/gps-gnss-correction- services/terrastar-correction-services. Performance dependent on local observing conditions.
  • Page 162 APPENDIX A   CPT7 Technical Specifications L1 C/A, L1C, L2C, L2P, L5 GLONASS L1 C/A, L2 C/A, L2P, L3 BeiDou B1I, B1C, B2I, B2a, B2b Signals Tracked Secondary Antenna Galileo E1, E5 AltBOC, E5a, E5b NavIC (IRNSS) QZSS L1 C/A, L1C, L1S, L2C, L5 Hot: <20 s (Almanac and recent ephemeris saved and approximate position and time entered) Time to First Fix...
  • Page 163 APPENDIX A   CPT7 Technical Specifications Code Carrier L1 C/A 4 cm 0.5 mm L2 P(Y) 8 cm 1.0 mm L2 C 8 cm 0.5 mm 3 cm 0.5 mm L1 C/A 8 cm 1.0 mm GLONASS L2 P 8 cm 1.0 mm L2 C/A 8 cm...

  • Page 164: Cpt7700 Performance Specifications

    GNSS system characteristics, Signal-in-Space (SIS) operational degradation, ionospheric and tropospheric conditions, satellite geometry, baseline length, multipath effects and the presence of intentional or unintentional interference sources. GPS-only. Requires a TerraStar subscription which is available direct from NovAtel novatel.com/products/gps-gnss-correction- services/terrastar-correction-services. Performance dependent on local observing conditions.
  • Page 165 APPENDIX A   CPT7 Technical Specifications GNSS Measurements up to 20 Hz GNSS Position up to 20 Hz Data Rates INS Position/Attitude up to 200 Hz IMU Raw Data Rate 100 Hz / 400 Hz Time Accuracy 20 ns RMS Velocity Accuracy <0.03 m/s RMS Code Carrier...

  • Page 166: Cpt7 Imu Performance Specifications

    APPENDIX A   CPT7 Technical Specifications A.3 CPT7 IMU Performance Specifications Table 28: CPT7 IMU Performance Gyroscope Performance Technology MEMS Input Rate Full Performance Range ±325 °/second Full Operating Range ±400 °/second Accelerometer Performance Technology MEMS Accelerometer Range ±20 g CPT7 and CPT7700 Installation and Operation User Manual v12...

  • Page 167: Cpt7 Mechanical Specifications

    APPENDIX A   CPT7 Technical Specifications A.4 CPT7 Mechanical Specifications Figure 48: CPT7 Dimensions on the next page Figure 49: CPT7700 Dimensions on page 169 Figure 51: CPT7/CPT7700 Center of Navigation on page 171 In the following diagrams, the dimensions are in millimeters. CPT7 and CPT7700 Installation and Operation User Manual v12...
  • Page 168 APPENDIX A   CPT7 Technical Specifications Figure 48: CPT7 Dimensions CPT7 and CPT7700 Installation and Operation User Manual v12...
  • Page 169 APPENDIX A   CPT7 Technical Specifications Figure 49: CPT7700 Dimensions CPT7 and CPT7700 Installation and Operation User Manual v12...
  • Page 170 APPENDIX A   CPT7 Technical Specifications Figure 50: CPT7/CPT7700 Alignment Holes CPT7 and CPT7700 Installation and Operation User Manual v12...
  • Page 171 APPENDIX A   CPT7 Technical Specifications Figure 51: CPT7/CPT7700 Center of Navigation The axis marking on the CPT7 indicates the orientation of the X, Y and Z axis only. It does not indicate the center of navigation. For the location of the center of navigation, refer to Figure 51: CPT7/CPT7700 Center of Navigation above.

  • Page 172: Cpt7 Electrical And Environmental Specifications

    APPENDIX A   CPT7 Technical Specifications A.5 CPT7 Electrical and Environmental Specifications Table 29: CPT7 Environmental Specifications Operating Temperature -40°C to +71°C Storage Temperature -40°C to +85°C Humidity 95% non-condensing Submersion 2 m for 12 hours (IEC 60529 IPX8) Water Resistance MIL-STD-810H, Method 512.6 MIL-STD-810H, Method 510.7 Dust Resistance...
  • Page 173 APPENDIX A   CPT7 Technical Specifications +15 dB to +55 dB, 26 dB HDR disabled typical Firmware 7.04 or later +20 dB to +55 dB, 30 dB HDR enabled Cascaded antenna typical LNA gain (before +15 dB to +40 dB, 26 dB receiver) HDR disabled typical...
  • Page 174 APPENDIX A   CPT7 Technical Specifications Parameter Symbol Conditions Minimum Typical Maximum  Receiver Differential -7 V ≤ V ≤ + 12 V -200 mV -125 mV -50 mV Threshold Voltage Receiver Input ΔV = 0 V 15 mV Hysteresis There is a 100Ω termination resistor across the DMI_A+ and DMI_A- inputs. is the common-mode input voltage.

  • Page 175: Cpt7 Data Communication Specifications

    APPENDIX A   CPT7 Technical Specifications A.6 CPT7 Data Communication Specifications Table 33: Data Communications Interfaces COM1 Electrical format RS-232 Data rates 2400, 4800, 9600 (default), 19200, 38400, 57600, 115200 , 230400 or 460800 bit/s. Signals supported COM1_Tx, COM1_Rx CPT7 port DB9 female Connector on Cable (on the CPT7 I/O2 Cable) COM2...

  • Page 176: Cpt7 Strobe Specifications

    APPENDIX A   CPT7 Technical Specifications A.7 CPT7 Strobe Specifications Table 34: CPT7 Strobes Description CPT7 Factory Strobes Input/Output Comment Port Default Input marks for which a pulse greater than 150 ns EVENT_IN1 triggers certain logs to be generated. (Refer to Input the MARKPOS, MARK2POS, MARK3POS, Active low...

  • Page 177: Cpt7 Connectors

    APPENDIX A   CPT7 Technical Specifications A.8 CPT7 Connectors The CPT7 has 2 Fischer Core 16 pin, circular connectors that provide access to the power and communication signals. Figure 52: Fischer Core 16 Pin Connector Table 36: IO1 Pin Out Signal Name Description EVENT_INT3 EVENT3 (Mark3) input...
  • Page 178 APPENDIX A   CPT7 Technical Specifications Signal Name Description Reserved Reserved Reserved Reserved Reserved Reserved Ground reference Supply voltage input Table 37: IO2 Pin Out Signal Name Description DMI_A+ Signal A+ from the Distance Measurement Instrument Ethernet receive data positive ETH_RD+ One half of the Ethernet receive data differential pair.

  • Page 179: Cpt7 I/O1 Cable

    APPENDIX A   CPT7 Technical Specifications A.9 CPT7 I/O1 Cable The CPT7 I/O1 cable provides access to all of the signals available on the IO1 connector of the CPT7. In the following diagram, the dimensions are in millimeters. Figure 53: CPT7 I/O1 Cable Table 38: CPT7 I/O1 Cable Pinout Signal Name COM 2...

  • Page 180: Custom Cable Recommendations

    To create a custom cable for the IO1 port, a specific connector is required on the CPT7 end of the cable. See the following table for information about this connector. Table 39: I/O1 Connector Commercial NovAtel Connector Description Part Number...

  • Page 181: Cpt7 I/O2 Cable

    APPENDIX A   CPT7 Technical Specifications A.10 CPT7 I/O2 Cable The CPT7 I/O2 cable provides access to all of the signals available on the IO2 connector on the CPT7. In the following diagram, the dimensions are in millimeters. Figure 54: CPT7 I/O2 Cable Table 40: CPT7 I/O2 Cable Pinout Signal Name COM 1...

  • Page 182: Custom Cable Recommendations

    To create a custom cable for the IO2 port, a specific connector is required on the CPT7 end of the cable. See the following table for information about this connector. Table 41: IO2 Connector Commercial NovAtel Connector Description Part Number...
  • Page 183 APPENDIX B Differences Between CPT7 and Legacy CPT7 The CPT7 has been updated to add new features. This section describes the differences between the updated CPT7 and the legacy CPT7. Legacy CPT7 CPT7 CPT7700 Table 42: Physical Specifications Legacy CPT7 CPT7 CPT7700 Dimensions...
  • Page 184 APPENDIX B   Differences Between CPT7 and Legacy CPT7 Legacy CPT7 CPT7 CPT7700 L1 C/A L2 C/A GLONASS Galileo E5 AltBOC – – BeiDou – – L1 C/A QZSS – – NavIC SBAS Table 45: RF Input Legacy CPT7 CPT7 CPT7700 GNSS Primary Antenna Secondary...
  • Page 185 APPENDIX B   Differences Between CPT7 and Legacy CPT7 Table 46: COM Port Communication Legacy CPT7 CPT7 and CPT7700 COM1 2400, 4800, 9600 (default), 19200, 38400, 2400, 4800, 9600 (default), 19200, 38400, 57600, Data 57600, 115200 or 230400 bit/s 115200, 230400 or 460800 bit/s Rate Table 47: I/O Strobes Legacy CPT7...
  • Page 186 APPENDIX C Accessories and Replacement Parts The following tables list the replacement parts available for your NovAtel OEM7 receiver. For assistance or to order additional components, contact your local NovAtel dealer or Customer Support. Table 49: OEM7 Receivers NovAtel Part Part Description...
  • Page 187 APPENDIX C   Accessories and Replacement Parts NovAtel Part Part Description Single enclosure SPAN GNSS+INS receiver with dual antenna inputs, HG4930 IMU and CPT7 built-in data storage CPT7700 Single enclosure SPAN GNSS+INS receiver with HG4930 IMU and built-in data storage Table 50: GNSS Antennas NovAtel Part...
  • Page 188 Fischer Core Series cable mounted plug. For use on cables made for the CPT7 IO2 connector. 21223366 Fischer part number:   SS 104 A086-240 Table 52: GNSS Antenna Cables NovAtel Part Part Description GPS-C006 5 meters – TNC to TNC cable GPS-C016 15 meters –...
  • Page 189 APPENDIX D Frequently Asked Questions 1. What is the minimum configuration I need to do to get the system running? a. Specify the translational offset between the IMU center of navigation and the primary GNSS antenna phase center with the SETINSTRANSLATION command. b.
  • Page 190 APPENDIX E Importance of Antenna Selection An antenna behaves both as a spatial and frequency filter, therefore, selecting the right GNSS antenna is critical for optimizing performance. An antenna must match the receiver’s capabilities and specifications, as well as meet size, weight, environmental and mechanical specifications for the intended application. Factors to consider when choosing a GNSS antenna include: 1.
  • Page 191 APPENDIX E   Importance of Antenna Selection Figure 55: Plot of Good and Poor Antenna Phase Center Variation over Elevation Angle 0-90° Many users can accept accuracies of less than a meter so these small phase center variations cause a negligible amount of position error. But if you require high precision, Real Time Kinematic (RTK) receivers can achieve position accuracies of 2-4 cm and a few millimeters of phase center error translates to a 10- 15% error in reported position.
  • Page 192 APPENDIX E   Importance of Antenna Selection CPT7 and CPT7700 Installation and Operation User Manual v12...
  • Page 193 CPT7 and CPT7700 Installation and Operation User Manual v12...

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