Novatel OM-20000122 manuale d’uso

SP AN-CPT ™ User Manual OM-20000122 Rev 8 March 2014[...]

2 SP AN-CPT User Manual Rev 8 SP AN-CPT Receiver User Manual Publication Number: OM-20000122 Revision Level: Rev 8 Revision Date: March 2014 This manual reflect s SP AN-CPT Firmware V ersion OEM06040 0RN0000. W arranty NovAtel Inc. warrants that its GNSS products are free from defects in ma terials and workmanship, subject to the conditions set for[...]

SP AN-CPT User Manual Rev 8 3 T able of Content s Customer Support 7 Notices 8 1 Introduction 11 1.1 Fundamentals of GNSS+INS ............... ............. ................. ............ ................. ............ .......... 11 1.2 System Components ................ ............ ................. ............. ............ ................. ...[...]

4 SP AN-CPT User Manual Rev 8 T able of Contents 4 SPAN-CPT Dual-Antenna 37 4.1 Installation ............ ............. ................ ............. ............. ............. ................ ............. .. ............. 37 4.2 Configuring SPAN with ALIGN on SPAN-CPT ..... ................ ....................................... ......... 38 [...]

SP AN-CPT User Manual Rev 8 5 Figures 1 Primary and Sec ondary Light ning Protect ion ........................ ................ ............. ................ 10 2 SPAN-CPT Receiver .. ................................................ ................................ .......................... 13 3 Typical SPAN-CPT Set Up ..... .....................[...]

6 SP AN-CPT User Ma nual Rev 8 Ta b l e s 1 Cable Modification for K istler WPT Cable . ............. ................. ............ ................. ............ ... 19 2 Cable Modification for SPAN-C PT Cable ............... ................. ................................ ............ 19 3 Full Mapping De finitions ... ................ ......[...]

SP AN-CPT User Manual Rev 8 7 Customer Support NovAtel Knowledge Base If a technical issue is encountere d, browse the NovAtel Web site at www .novatel.com/support/search/ . Use this page to search for general information about GNSS and other technolog ies, information about NovAtel hardware and sof tware and inst allation and operation issues. Bef[...]

8 SP AN-CPT User Ma nual Rev 8 Notices The following notices apply to the SP AN-CPT. FCC Notices This device complies with part 15 of the FCC Rules. Operation is su bject to the following two conditions: (1) this device may not cause harmful interfere nce, and (2) this device must accept any in terference received, including interference th at may [...]

Notices SP AN-CPT User Manual Rev 8 9 WEEE Notice If you purchased your SP AN-CPT product in Europe, please r eturn it to your dealer or supp lier at the end of its life. The objectives of the European Community' s e nvironment policy are, in p articular , to preserve, protect and improve the qu ality of the environment, protect human health a[...]

10 SP AN-CPT User Ma nual Rev 8 Notices 6. The primary and secondar y lightning protections sh ould be as close to the build ing's entrance as possible. Where feasible they should be mounted onto the groundin g plate itself (refer to the following figure). Figure 1: Primary and Secondary Lightning Protect ion These inst allation instructions a[...]

SP AN-CPT User Manual Rev 8 11 Chapter 1 Introduction NovAtel's SP AN ® (Synchro nized Position Attitude Navig ation) tech nology brin gs together t wo different but complementary positioning and navigation systems: GNSS and an Inertial N avigation System (INS). By combining the best aspect s of GNSS and INS into o ne system, SP AN te chnolog[...]

12 SP AN-CPT User Manual Rev 8 Chapter 1 Introduction 1.2 System Component s The SP AN-CPT system consist s of the following component s: • SP AN-CPT Integrated GNSS+INS receiver – This receiver has 3 accelerometers, 3 gyroscopes (gyros) an d a NovAte l OEM6 rec eiver . Excellent acquisitio n and reacquis ition times allow the receiver to opera[...]

SP AN-CPT User Manual Rev 8 13 Chapter 2 SP AN-CPT Installation This chapter contains instructions a nd tips to setup your SP AN-CPT system. 2.1 Required Equipment • A SP AN-CPT integrated GNSS+INS receiver • A quality , dual frequency GNSS ante nna such as the GPS-702-GGL or 42G1 215A-XT -1-Cert • See the NovAtel website ( www .nova tel.com/[...]

14 SP AN-CPT User Ma nual Rev 8 Chapter 2 SP AN-CPT Installation 2.2 Hardwar e Set Up Complete the follo wing steps to set up the NovAtel SP AN system. Figure 3: T ypical SP AN-CPT Set Up 1. Mount the GNSS ante nna, as described in Moun t the Antenna on p age 15. 2. Mount the SP AN-CPT, as described in Mount the SP AN-CPT on p age 15. 3. Connect th[...]

SP AN-CPT Installation Chapter 2 SP AN-CPT User Manual Rev 8 15 2.2.1 Mount the Antenna For maximu m positionin g precision a nd accura cy , as well as to minimiz e the risk of damage, ensure the antenna is securely mounted on a stable structure that will not sway or topple. Where poss ible, select a location with a clear view of the sky to the hor[...]

16 SP AN-CPT User Ma nual Rev 8 Chapter 2 SP AN-CPT Installation 2.2.3 Connect the GNSS Antenna Connect the antenna cable from the connector on the GNSS antenn a to the antenna port on the SP AN-CPT . See T ypical SP AN-CPT Set Up on page 14. For best performance, use a high quality coaxial cabl e. An appropriate coa xial cable is one that matches [...]

SP AN-CPT Installation Chapter 2 SP AN-CPT User Manual Rev 8 17 Figure 5: Battery Isolator Installation 2.2.5 Connect a Computer to the SP AN-CPT SP AN-CPT has a multi-purpose I/O connector that cont ains pins for th e COM1 serial port, COM2 serial port and USB port. Refer to Appendix A, T echnical Specifications on page 48 for the pin definitions [...]

18 SP AN-CPT User Ma nual Rev 8 Chapter 2 SP AN-CPT Installation 2.2.7 CAN Bus The SP AN-CPT has a CAN Bus controller that support s physical layer signals and low level messages specified in the appropriate sectio ns of the J1939 and ISO1 1783 stan dards. Manufacturers can also create messages specific to their ap plication without violating these[...]

SP AN-CPT Installation Chapter 2 SP AN-CPT User Manual Rev 8 19 T able 1: Cable Modification for Kistler WPT Cable T able 2: Cable Modification for SP AN-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 148 65. Female DB9 Connector Pin 1 GND Pin 5 Pin 2 +U [...]

20 SP AN-CPT User Manual Rev 8 Chapter 3 SP AN-CPT Operation Before operating the SP AN-CPT system, ensure that the insta llation and set up instructio ns in Chapter 2, SP AN-CPT Installation on pag e 13 were completed. Use the NovAtel Connect software to configur e receiver setting s and to monitor da ta in real time, between a rove r SP AN-CPT sy[...]

SP AN-CPT Operation Chapter 3 SP AN-CPT User Manual Rev 8 21 3.1.2 SP AN Body Frame The definition of the SP AN body frame is as follows: • z-axis pointing up (aligned with gravity) • y-axis de fined by how use r has mounted the IM U • x-axis de fined by how use r has mounted the IM U T o determine the SP AN x-axis and y-axis, see T able 3 , [...]

22 SP AN-CPT User Manual Rev 8 Chapter 3 SP AN- CPT Ope ratio n 3.1.3 Enclosure Frame The definition of the en closure frame is defined on the SP AN-CPT and represen ts h ow the sensors are mounted in the enclo sure. If the SP AN-CPT is mo unted with the z-axis (as mark ed on the SP AN-CPT) pointing up, the enclosure frame is the same as the SP AN [...]

SP AN-CPT Operation Chapter 3 SP AN-CPT User Manual Rev 8 23 3.2 Communicating with the SP AN-CPT System After the receiver is conn ected to a computer , antenna and power supply , install the NovAtel PC Utilities (NovAtel Connect and Convert). Th e installation instru ctions are in the SP AN-CPT Quick S tart Guide . (Alternatively , use a ter mina[...]

24 SP AN-CPT User Manual Rev 8 Chapter 3 SP AN- CPT Ope ratio n 10. Click the Open button to open SP AN -CPT commu nications. As NovAtel Connect est ablishes the com municat ion session with the receiver , a progress box displays. 1 1. Select T ools | Logging Control from the NovAtel Co nnect main m enu to control th e receiver ’s logging to file[...]

SP AN-CPT Operation Chapter 3 SP AN-CPT User Manual Rev 8 25 3.3 Sof tware Configuration 3.3.1 GNSS Configuration The GNSS configuration can be set up for dif ferent a ccuracy levels such as single point, SBAS, DGPS and RTK (R TCA, R TCM, RTCM V3 an d CMR). The SP AN-CPT can also be se t up for L-Band. Refer to the OEM6 Family Installati on and Ope[...]

26 SP AN-CPT User Manual Rev 8 Chapter 3 SP AN- CPT Ope ratio n The of fset between the antenna phase center and th e IMU naviga tion center must rema in constant and be known accurately . The X, Y and Z positive directions are clearly marked on the SP AN-CPT enclosure. The SETIMUT OANTOFFSET parameters are in metres: SETIMUTOANTOFFSET x_offset y_o[...]

SP AN-CPT Operation Chapter 3 SP AN-CPT User Manual Rev 8 27 T able 4: Inertial Solution St atus 3.4.1 System S tart-Up a nd Alignment T echniques The system requires an initial attitude estimate to st art the navigation filter . This is called system alignment. On st art-up the system has no position, veloci ty or attitude informatio n. When the s[...]

28 SP AN-CPT User Manual Rev 8 Chapter 3 SP AN- CPT Ope ratio n 7. The solution is refined using up dates from GNSS. Once the system is operating within specifications and after some ve hicle move ment, the INS S tatus field changes to INS_SOLUTION_GO OD. This indicates that the estimated azimuth st andard devi ation is below 2 degree s. If it incr[...]

SP AN-CPT Operation Chapter 3 SP AN-CPT User Manual Rev 8 29 3.4.1.2 Manual A lignment If the attitude of you r vehicle (roll, pitch , azimuth) is know n, enter the attitu de informatio n using the SETINITATTITUDE command. Det ails of this command are in the SP AN on OEM6 Firmwa re Reference Manual (OM-2000 0144). 3.4.1.3 Dual Anten na Alignmen t S[...]

30 SP AN-CPT User Manual Rev 8 Chapter 3 SP AN- CPT Ope ratio n The rota tion par ameters can be saved in NVM for use on startu p in case a fast alignment is required in the future. Each time the SP AN -CPT is re-mounted, this calibrat ion should be perfo rmed again. See System S tart-Up an d Alignment T echniques on page 27 for det ails on alignme[...]

SP AN-CPT Operation Chapter 3 SP AN-CPT User Manual Rev 8 31 3.5.2 Inertial Azimuth The inertial a zimuth com puted by the SP AN iner tial navigation filter . It uses the sensors in the IMU to compute the azimuth of the IMU (t his can be rotated to an other reference if desir ed). For more information, se e the APPLYVEHICLEBODYROATION and VEHICLEBO[...]

32 SP AN-CPT User Manual Rev 8 Chapter 3 SP AN- CPT Ope ratio n 3.6 Dat a Collection The INS solution is available in the INS s pecific logs with either a standard or short header . Other parameters ar e available in the logs shown in T able 6, Solution Parameters : T able 6: Solution Parameters The position, velocity and attitude are available tog[...]

SP AN-CPT Operation Chapter 3 SP AN-CPT User Manual Rev 8 33 T o stor e data from a SP AN- CPT, conn ect a comp uter . The computer should be equipped w ith a data storage device suc h as a Compact Flash Card, CD or USB stick. 3.7 Dat a Collection for Post-Processing Some operations such as aerial measurement systems do not requir e real time infor[...]

34 SP AN-CPT User Manual Rev 8 Chapter 3 SP AN- CPT Ope ratio n 3.8 V ariable Lever Arm The variable lever arm conc ept arose to support applicat ions in which th e IMU is no longer rigid ly fixed to the vehicle, but rather on a gim balled mou nt. This cr eates an issue where the input lever ar m offsets to the GNSS antenna are no longe r correct, [...]

SP AN-CPT Operation Chapter 3 SP AN-CPT User Manual Rev 8 35 3.9.2 V eripos Marine Subscriptions A subscription is require d to use the Veripos services . Contact V eripo s sales at www .veripos .com/ support.html to obt ain a Service Access License (SAL) nu mber . T o activate t he service, cont act the V eripos Help Desk at +44 (0) 1224 527 104 o[...]

36 SP AN-CPT User Manual Rev 8 Chapter 3 SP AN- CPT Ope ratio n If receiving OmniST AR HP , the fif th field of the LBANDST A T log should be 00c2, as shown in the following example: 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 [...]

SP AN-CPT User Manual Rev 8 37 Chapter 4 SP AN-CPT Dual-Antenna NovAtel's ALIGN ® heading technology generate s dista nce and bearing information between a “master” and one or more “rover ” receivers. This feature is id eal for those wanting relative directional heading, separation headin g between two objects or head ing inform ation[...]

38 SP AN-CPT User Ma nual Rev 8 Chapter 4 SP AN-CPT Dual-Antenna Figure 1 1: SP AN-CPT - Dual Antenna Inst allation 4.2 Configuring SP AN wi th ALIGN on SP AN-CPT Before configuring the ALIGN solution, the two receivers MUST both be powered on and connected directly between COM2 of the SP AN receiver and CO M2 of the second receiver thro ugh either[...]

SP AN-CPT Dual-Antenna Chapter 4 SP AN-CPT User Manual Rev 8 39 Alternately , the an gular of fset between the dual-a ntenna baseline ( from primary GNSS a ntenna to secondary GNSS antenn a) and the IMU frame forward axis is entered directly via the EXTHDGOFFSET command. Refer to the SP AN on OEM6 Firmware Reference Manual ( OM-20000144) for the sy[...]

40 SP AN-CPT User Ma nual Rev 8 Chapter 4 SP AN-CPT Dual-Antenna 4.2.4 Automatic Alignment Mode - Automatic Alignment (default) Automatic Alignment Mode Selection is the default setting for a SP AN receiver . This m ode is designe d to allow alignment of the system as quickly as possibl e, usin g either an ai ded transfer alignm ent ( Alignment on [...]

SP AN-CPT User Manual Rev 8 41 Chapter 5 NovAtel Firmware and Sof t ware Download the most recent versions of the NovAtel firmware and receiv er so ftware from the NovAtel website at www .novatel.com/support/firmwar e-downloads . OEM6 Firmware and Software NovAtel Connect PC Ut ilities Software Bundle Bundled PC Utilities software includes: • Nov[...]

42 SP AN-CPT User Manual Rev 8 Chapter 5 NovAtel Fi rmware an d Software 5.1.2 Model Upgrades Model upgrades e nable purchased receiver features. Contact a local NovAtel dealer to assi st in selecting the upgrade option s that best suit your GNSS needs at www .novatel.com/where-to-b uy . Cont act NovAtel Customer Support www .novatel.co m/support /[...]

NovAtel Firmware a nd Sof tware Chapter 5 SP AN-CPT User Manual Rev 8 43 The new download p ackage includes a signed fir mware file type that uses an extension designated as “.shex” (example OEM060200RN0000. shex), as well as the latest Wi nload utility and What’s New file containing firmwa re update change det ails. 5.3 Up dating or Upgradin[...]

44 SP AN-CPT User Manual Rev 8 Chapter 5 NovAtel Fi rmware an d Software 5.3.2 Using the WinLoad Utility If opening WinLoad for the first time, ensure th e file and communications settings are correct. Open a File to Download Select File | Open. N avigate to the file to open ( Figure 12, WinLoa d’s Open W indow ). Figure 12: WinLoa d’ s Open W [...]

NovAtel Firmware a nd Sof tware Chapter 5 SP AN-CPT User Manual Rev 8 45 Figure 15: Searc hing for Card 5. If the Author ization Code window appears, enter the auth- code and click OK . See Authorization Code on page 42 for further informatio n abo ut the Authorization Code. Figure 16: Authorization Code W indow 6. The receiv er finishe s the down [...]

46 SP AN-CPT User Manual Rev 8 Chapter 5 NovAtel Fi rmware an d Software 4. Open the *.shex firmware file. 5. Send each line of the *.sh ex file to the receiver in a SOFTLOADSREC command. The S-Records must be enclosed by quot ation marks: SOFTLOADSREC "<S-RECORD>" 6. Send the SOFTLOADCOMMIT command. 7. During the lo ading process, [...]

NovAtel Firmware a nd Sof tware Chapter 5 SP AN-CPT User Manual Rev 8 47 5.5 Upgrading Using the AUTH Command The AUTH command authorizes the enabling (u nl ocking) of model features. T he AUTH comman d is used to upgrade a new OEM6 family model, availa ble with the same firmware version as the current mode l. This command only functions with a val[...]

48 SP AN-CPT User Manual Rev 8 Appendix A T echnical S pecifications This appendix det ails the tech nical specifications of the SP AN-CPT. A.1 S P AN-CPT T echnical S pecifications T able 7: Hardware Specification for SP AN-CPT T able 8: GNSS Performance for SP AN-CPT T able 9: KVH IMU Sensor S pecifications PHYSICAL SPAN-CPT Enclosure Size 152.0 [...]

SP AN-CPT User Manual Rev 8 49 T able 10: Electrical and Environmen tal Specifications T able 1 1: 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 Temperatur e Depende nt Bias Variatio n 0.5 mg/° C @ 1 σ Scale Fact[...]

50 SP AN-CPT User Manual Rev 8 A.2 S P AN-CPT Mechanical Drawings Figure 18: SP AN-CPT Side and Perspective Vi ew +Z +Y +X C 3.39 86.1 .8 .03 152.4 4X 6.00 1.22 30.9 Note: All di men sions are in inches [mm ] .51 [13 .0][...]

SP AN-CPT User Manual Rev 8 51 Figure 19: SP AN-CPT T op, Front and Bott om V iew 5.310 134.9 .002 A B 3.50 88.9 41.8 1.65 4.55 71.6 2.82 1.61 40.9 169.3 6.66 11 5 . 5 1.22 30.9 3.39 5.01 127.3 144.2 5.6 8 86.1 4.55 11 5 . 5 .125 DOWEL PINS ALIGNMENT HOLES FO R (UNP AINTED) 4X MOU NT ING SURFACE .015 M A B C 19.1 22.4 .88 .75 4X 6.104 155 2 4X .080[...]

52 SP AN-CPT User Manual Rev 8 A.3 S P AN-CPT Cable The NovAtel p art number s for the SP AN- CPT cables are: • KVH Development T erminated Cable - 60723108 • KVH S tandard Untermin ated Cable - 60 723107 Figure 20: SP AN-CPT Development T ermin ated Cable  The SP AN-CPT cable also has a green gr ound line not shown in the drawing . The gree[...]

SP AN-CPT User Manual Rev 8 53 13 Odometer Powe r White-Red / White-Black White-Red 14 Odometer Powe r Return White-Black 15 ODO SIGA White-Brown / White-Black White-Brown 16 ODO SIGA Inverted White-Black 17 ODO SIGB White-Orange / White-Black White-Orange 18 ODO SIGB Inverted White-Black 19 COM2 RS-2 32 TX from Receiver Red 3 20 COM2 RS-232 RX to [...]

54 SP AN-CPT User Manual Rev 8 T able 13: SP AN-CPT 60723107 - KVH S t andard Un-t erminated 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 T X (-) / RS-2 32 R TS from R eceiver White 5 COM1 RS-422 RX (+[...]

SP AN-CPT User Manual Rev 8 55 Appendix B Replacement Part s The following is a list of th e replacem ent parts available. If assistance or add itional comp onents are required, cont act the local NovAtel dealer or Custo mer Service. B.1 S P AN-CPT System B.2 A ccessories and Options Part Descriptio n NovAtel Part KVH Enclosure 80023524 KVH Standar[...]

56 SP AN-CPT User Manual Rev 8 Appendix C Frequently Asked Questions 1. Why don’t I hear sound from the SP AN-CPT? The SP AN-CPT does not make noise. Check that th e 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 st able SP AN-CPT performance. T he supply shoul[...]

OM-20000122 Rev 8 March 2014[...]