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Novatel SPAN-CPT User Manual

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SPAN-CPT
User Manual
OM-20000122
Rev 8
March 2014
Download from Www.Somanuals.com. All Manuals Search And Download.

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Summary of Contents for Novatel SPAN-CPT

  • Page 1 ™ SPAN-CPT User Manual OM-20000122 Rev 8 March 2014 Download from Www.Somanuals.com. All Manuals Search And Download.

  • Page 2: Warranty

    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.

  • Page 3: Table Of Contents

    3.4 Real Time Operation ......................26 3.4.1 System Start-Up and Alignment Techniques............... 27 3.4.2 Navigation Mode......................29 3.4.3 Vehicle to SPAN-CPT Frame Angular Offsets Calibration Routine......29 3.4.4 SPAN-CPT Wheel Sensor................... 30 3.5 Azimuth Sources on a SPAN System ................... 30 3.5.1 Course Over Ground ....................
  • Page 4 Table of Contents 4 SPAN-CPT Dual-Antenna 4.1 Installation ..........................37 4.2 Configuring SPAN with ALIGN on SPAN-CPT ..............38 4.2.1 Alignment on a Moving Vessel - Aided Transfer Alignment ........39 4.2.2 Alignment on a Stationary Vehicle - Aided Static Alignment........39 4.2.3 Unaided Alignment......................
  • Page 5 Authorization Code Window ....................45 Upgrade Process Complete ....................45 SPAN-CPT Side and Perspective View ................50 SPAN-CPT Top, Front and Bottom View ................51 SPAN-CPT Development Terminated Cable ..............52 SPAN-CPT User Manual Rev 8 Download from Www.Somanuals.com. All Manuals Search And Download.
  • Page 6 KVH IMU Sensor Specifications ..................48 Electrical and Environmental Specifications................ 49 Power Specifications ......................49 SPAN-CPT 60723108 - KVH Development Terminated Cable Pin-Out ......52 SPAN-CPT 60723107 - KVH Standard Un-terminated Cable Pin-Out........ 54 SPAN-CPT User Manual Rev 8 Download from Www.Somanuals.com. All Manuals Search And Download.

  • Page 7: Customer Support

    RAWIMUSXB onnew INSPVASB ontime 1 INSCOVSB ontime 1 INSUPDATEB onchanged IMUTOANTOFFSETSB onchanged 2. Send the data file to NovAtel Customer Support, using either the NovAtel FTP site at ftp://ftp.novatel.ca/ or through the support@novatel.com e-mail address. 3. You can also issue a FRESET command to the receiver to clear any unknown settings.

  • Page 8: Fcc Notices

    (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.

  • Page 9: Weee Notice

    Notices 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 environment, protect human health and utilise natural resources prudently and rationally.

  • Page 10: Primary And Secondary Lightning Protection

    Where applicable, follow the electrical codes for the country of installation. Examples of country codes include: • National Electrical Code (NFPA 70) • Canada Canadian Electrical Code (CSA C22) • British Standards Institute (BSI 7671) SPAN-CPT User Manual Rev 8 Download from Www.Somanuals.com. All Manuals Search And Download.

  • Page 11: Introduction

    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.

  • Page 12: System Components

    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.

  • Page 13: Span-Cpt Installation

    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 52) or custom built cables (see Appendix A, Technical Specifications on page 48 for the multi-purpose I/O connector pin outs).

  • Page 14: Hardware Set Up

    16. 4. Connect power to the SPAN-CPT, as described in Connect Power on page 16. 5. 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.

  • Page 15: Mount The Antenna

    For attitude output to be meaningful, the SPAN-CPT should be 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.

  • Page 16: Connect The Gnss Antenna

    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.

  • Page 17: Connect A Computer To The Span-Cpt

    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 Specifications on page 48 for the pin definitions of the multi-purpose I/O connector.

  • Page 18: Can Bus

    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 48 for information on signals, wiring and pin-out information of the multi-purpose I/O connector.

  • Page 19: Cable Modification For Kistler Wpt Cable

    Kistler provides an M12 to DB9 cable for use with the WPT. However, certain revisions of this cable do not bring through all four signal inputs. The SPAN-CPT odometer interface requires all four signal inputs to operate correctly. See your WPT documentation for cable details.

  • Page 20: Span-Cpt Operation

    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 real time, between a rover SPAN-CPT system and base station.

  • Page 21: Span Body Frame

    Table 3: Full Mapping Definitions SPAN Frame IMU Enclosure IMU Enclosure Mapping SPAN Frame Axis Frame Axis Frame (default) SPAN-CPT User Manual Rev 8 Download from Www.Somanuals.com. All Manuals Search And Download.

  • Page 22: Enclosure Frame

    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 enclosure frame is the same as the SPAN frame.

  • Page 23: Communicating With The Span-Cpt System

    (Alternatively, use a terminal emulator program such as HyperTerminal to communicate with the receiver.) For information about using NovAtel Connect, refer to the NovAtel Connect Help file. 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.

  • Page 24: Ins Window In Novatel Connect

    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.

  • Page 25: Software 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 to OEM6 Family Installation and Operation Manual (OM-20000128) for details on DGPS, RTK, L-Band or SBAS setup and operation.

  • Page 26: Real Time Operation

    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 metres:...

  • Page 27: System Start-Up And Alignment Techniques

    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. SPAN-CPT User Manual Rev 8 Download from Www.Somanuals.com. All Manuals Search And Download.
  • Page 28 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 graphically using the INS...

  • Page 29: Navigation Mode

    Vehicle to SPAN-CPT Frame Angular Offsets Calibration Routine 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.

  • Page 30: Span-Cpt Wheel Sensor

    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 27 for details on alignment.

  • Page 31: Inertial Azimuth

    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 SPAN-CPT User Manual Rev 8 Download from Www.Somanuals.com. All Manuals Search And Download.

  • Page 32: Data Collection

    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 and PSRPOS. When running SPAN-CPT, rates of non-INS logs should be limited to a maximum rate of 5 Hz. Refer to OEM6 Family Firmware Reference Manual (OM-20000129) for more details on these logs.

  • Page 33: Data Collection For Post-Processing

    SPAN-CPT Operation Chapter 3 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.  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 (>50 Hz) message be...

  • Page 34: Variable Lever Arm

    A subscription is required to use the TerraStar service. To obtain a subscription, contact your local NovAtel sales representative or visit www.novatel.com/products/novatel-correct. The receiver’s TerraStar Product Activation Code (PAC) or the NovAtel product serial number (PSN) is needed to obtain a subscription. To obtain the receiver-specific PAC, enter the following command:...

  • Page 35: Veripos Marine Subscriptions

    A subscription is required to use the OmniSTAR service. To obtain a subscription, contact OmniSTAR at 1-888-883-8476 or 713-785-5850. Provide the receiver’s OmniSTAR serial number (which is different from the NovAtel serial number). To obtain the OmniSTAR serial number, enter the following command: log lbandinfo The log displays the L-Band serial number in the fifth field following the log header.
  • Page 36 LBANDSTAT COM1 0 81.0 FINESTEERING 1596 235136.000 00000000 d1c2 5968 <1557854678 48.98 1098.9 0.00 00c2 0000 153860 545 0 0000 0201 154019 68000000 00000000 Refer to the NovAtel application note APN-051 Positioning Modes of Operation for OmniSTAR specifics. SPAN-CPT User Manual Rev 8...

  • Page 37: Span-Cpt Dual-Antenna

    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 38.

  • Page 38: Configuring Span With Align On Span-Cpt

    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 SPAN-CPT to the primary antenna (primary antenna is connected to the SPAN-CPT) using the SETIMUTOANTOFFSET command. Abbreviated ASCII example: SETIMUTOANTOFFSET 0.54 0.32 1.20 0.03 0.03 0.05...

  • Page 39: Alignment On A Moving Vessel - Aided Transfer 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. ALIGNMENTMODE UNAIDED SPAN-CPT User Manual Rev 8 Download from Www.Somanuals.com. All Manuals Search And Download.

  • Page 40: Automatic Alignment Mode - Automatic Alignment (Default)

    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 8 Download from Www.Somanuals.com. All Manuals Search And Download.

  • Page 41: Novatel Firmware And Software

    WinLoad software utility  WinLoad and SoftLoad instructions follow. 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 support@novatel.com directly.

  • Page 42: Model Upgrades

    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 Customer Support www.novatel.com/support/ email support@novatel.com directly to request a temporary upgrade authorization code for trial purposes.

  • Page 43: Updating Or Upgrading Using The Winload Utility

    Firmware version upgrade file, where x..x defines the product name and release (e.g., OEM060000RN0000.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/...

  • Page 44: Using The Winload Utility

    2. Ensure the file path and name are displayed in main display area (see Figure 13, Open File in WinLoad on page 44). 3. Click Write Flash to download the firmware. 4. When Searching for card appears in the main display, power cycle the receiver. SPAN-CPT User Manual Rev 8 Download from Www.Somanuals.com. All Manuals Search And Download.

  • Page 45: Updating Using Softload Commands

    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. SPAN-CPT User Manual Rev 8 Download from Www.Somanuals.com. All Manuals Search And Download.

  • Page 46: Working With S-Records

    • 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 8...

  • Page 47: Upgrading Using The Auth Command

    Refer to Types of Firmware Files on page 43 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).

  • Page 48: A Technical Specifications

    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 SPAN-CPT Enclosure Size 152.0 mm L X 168.0 mm W X 89.0 mm H SPAN-CPT Weight 2.28 kg...

  • Page 49: Electrical And Environmental Specifications

    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 8 Download from Www.Somanuals.com. All Manuals Search And Download.

  • Page 50: A.2 Span-Cpt Mechanical Drawings

    A.2 SPAN-CPT Mechanical Drawings Figure 18: SPAN-CPT Side and Perspective View 1.22 30.9 .51 [13.0] 3.39 86.1 Note: All dimensions are in inches [mm] 6.00 152.4 SPAN-CPT User Manual Rev 8 Download from Www.Somanuals.com. All Manuals Search And Download.

  • Page 51: Span-Cpt Top, Front And Bottom View

    Figure 19: SPAN-CPT Top, Front and Bottom View 5.68 144.2 5.01 127.3 3.39 86.1 4.55 115.5 1.61 40.9 3.50 2.82 88.9 71.6 1.65 1.22 41.8 30.9 4.55 115.5 6.66 .002 169.3 4X MOUNTING SURFACE (UNPAINTED) 22.4 19.1 .277 .015 A B C 5.440...

  • Page 52: A.3 Span-Cpt Cable

    Mating Connector: Part # D38999/26FD35SA  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 12: SPAN-CPT 60723108 - KVH Development Terminated Cable Pin-Out...
  • Page 53 Table 12: SPAN-CPT 60723108 - KVH Development Terminated Cable Pin-Out (continued) Female Male Function Wire Pair Wire Color DB9 to DB9 to COM1 COM2 Odometer Power White-Red White-Red / White-Black Odometer Power Return White-Black ODO SIGA White-Brown White-Brown / White-Black...

  • Page 54: Span-Cpt 60723107 - Kvh Standard Un-Terminated Cable Pin-Out

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

  • Page 55: B Replacement Parts

    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 Unterminated Cable...

  • Page 56: C Frequently Asked Questions

    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.
  • Page 57 OM-20000122 Rev 8 March 2014 Download from Www.Somanuals.com. All Manuals Search And Download.
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