Novatel OM-20000122 User Manual
SPAN-CPT
™
User Manual
OM-20000122 Rev 8 March 2014
SPAN-CPT Receiver User Manual
Publication Number: OM-20000122
Revision Level: Rev 8
Revision Date: March 2014
This manual reflects SPAN-CPT Firmware Version OEM060400RN0000.
Warranty
NovAtel Inc. warrants that its GNSS products are free from defects in materials and workmanship,
subject to the conditions set forth on our web site: www.novatel.com/products/warranty/
following time periods:
SPAN-CPT
GPS Antenna
Cables and Accessories Ninety (90) Days
Software Warranty One (1) Year
™
receiver One (1) Year
™
Series One (1) Year
and for the
Return instructions
To return products, refer to the instructions at the bottom of the Warranty page: www.novatel.com/
products/warranty/.
Proprietary Notice
Information in this document is subject to change without notice and does not represent a commitment
on the part of NovAtel Inc. The software described in this document is furnished under a licence
agreement or non-disclosure agreement. The software may be used or copied only in accordance with
the terms of the agreement. It is against the law to copy the software on any medium except as
specifically allowed in the license or non-disclosure agreement.
No part of this manual may be reproduced or transmitted in any form or by any means, electronic or
mechanical, including photocopying and recording, for any purpose without the express written
permission of a duly authorized representative of NovAtel Inc.
The information contained within this manual is believed to be true and correct at the time of publication.
NovAtel, SPAN and OEM6 are registered trademarks of NovAtel Inc.
NovAtel Connect and SPAN-CPT are trademarks of NovAtel Inc.
All other product or brand names are trademarks of their respective holders.
Manufactured and protected under U.S. patents:
NovAtel Patents KVH Technology Patents
#5,101,416
#5,390,207
#5,414,729
#5,495,499
#5,736,961
#5,809,064
#6,184,822 B1
#6,608,998 B1
#6,728,637 B2
#6,922,167 B2
© Copyright 2014 NovAtel Inc. All rights reserved. Unpublished rights reserved under International copyright laws.
2 SPAN-CPT User Manual Rev 8
#6,243,409 B1
#6,664,923 B1
#6,721,657 B2
#6,750,816 B1
#7,193,559 B2
#7,738,536 B2
#7,738,606 B2
#7,346,452
#7,885,317 B2
#5,444,534
#5,481,358
#5,512,904
#5,552,887
#5,739,944
#5,768,462
#6,041,149
#6,134,356
#6,351,310 B1
#6,370,289 B1
#6,429,939
#6,441,779
#6,466,596
#6,542,651
#6,594,020
#6,718,097
#6,763,153
#6,836,334
#6,856,300
#6,864,347
#6,891,622
#7,120,323
Table of Contents
Customer Support 7
Notices 8
1 Introduction 11
1.1 Fundamentals of GNSS+INS ................................................................................................ 11
1.2 System Components............................................................................................................. 12
1.3 Related Documents and Information .................................................................................... 12
1.4 Conventions .......................................................................................................................... 12
2 SPAN-CPT Installation 13
2.1 Required Equipment ............................................................................................................. 13
2.1.1 Manuals .......................................................................................................................13
2.1.2 SPAN-CPT Hardware.................................................................................................. 13
2.2 Hardware Set Up .................................................................................................................. 14
2.2.1 Mount the Antenna ...................................................................................................... 15
2.2.2 Mount the SPAN-CPT .................................................................................................15
2.2.3 Connect the GNSS Antenna........................................................................................ 16
2.2.4 Connect Power ............................................................................................................ 16
2.2.5 Connect a Computer to the SPAN-CPT ......................................................................17
2.2.6 Connect the I/O Strobe Signals ................................................................................... 17
2.2.7 CAN Bus...................................................................................................................... 18
2.2.8 Odometer Connection ................................................................................................. 18
3 SPAN-CPT Operation 20
3.1 Definition of Reference Frames Within SPAN ...................................................................... 20
3.1.1 Local Level Frame ....................................................................................................... 20
3.1.2 SPAN Body Frame ...................................................................................................... 21
3.1.3 Enclosure Frame ......................................................................................................... 22
3.1.4 Vehicle Frame .............................................................................................................22
3.2 Communicating with the SPAN-CPT System ....................................................................... 23
3.2.1 Use NovAtel Connect to Communicate ....................................................................... 23
3.2.2 INS Window in NovAtel Connect ................................................................................. 24
3.3 Software Configuration ......................................................................................................... 25
3.3.1 GNSS Configuration .................................................................................................... 25
3.3.2 SPAN IMU Configuration............................................................................................. 25
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 ................................................................................................... 30
3.5.2 Inertial Azimuth............................................................................................................ 31
3.5.3 ALIGN Azimuth............................................................................................................ 31
3.6 Data Collection...................................................................................................................... 32
3.7 Data Collection for Post-Processing ..................................................................................... 33
3.8 Variable Lever Arm ............................................................................................................... 34
3.9 Enabling L-Band ................................................................................................................... 34
3.9.1 NovAtel CORRECT™ with TerraStar™ ...................................................................... 34
3.9.2 Veripos Marine Subscriptions...................................................................................... 35
3.9.3 OmniSTAR ..................................................................................................................35
SPAN-CPT User Manual Rev 8 3
Table of Contents
4 SPAN-CPT Dual-Antenna 37
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...................................................................................................... 39
4.2.4 Automatic Alignment Mode - Automatic Alignment (default)....................................... 40
4.3 SPAN ALIGN Attitude Updates ............................................................................................ 40
5 NovAtel Firmware and Software 41
5.1 Firmware Updates and Model Upgrades.............................................................................. 41
5.1.1 Firmware Updates....................................................................................................... 41
5.1.2 Model Upgrades.......................................................................................................... 42
5.2 Authorization Code ............................................................................................................... 42
5.3 Updating or Upgrading Using the WinLoad Utility ................................................................ 43
5.3.1 Transferring Firmware Files ........................................................................................ 43
5.3.2 Using the WinLoad Utility............................................................................................ 44
5.4 Updating using SoftLoad Commands................................................................................... 45
5.4.1 Working with S-Records ............................................................................................. 46
5.5 Upgrading Using the AUTH Command ................................................................................ 47
5.5.1 Upgrade Procedure..................................................................................................... 47
5.6 Key Firmware Commands .................................................................................................... 47
A Technical Specifications 48
A.1 SPAN-CPT Technical Specifications ................................................................................... 48
A.2 SPAN-CPT Mechanical Drawings........................................................................................ 50
A.3 SPAN-CPT Cable................................................................................................................. 52
B Replacement Parts 55
B.1 SPAN-CPT System .............................................................................................................. 55
B.2 Accessories and Options .....................................................................................................55
C Frequently Asked Questions 56
4 SPAN-CPT User Manual Rev 8
Figures
1 Primary and Secondary Lightning Protection ..................................................................... 10
2 SPAN-CPT Receiver ............................................................................................................ 13
3 Typical SPAN-CPT Set Up .................................................................................................. 14
4 SPAN-CPT Enclosure Mounting ......................................................................................... 15
5 Battery Isolator Installation .................................................................................................. 17
6 I/O Strobe Signals ............................................................................................................... 17
7 Kistler WPT .......................................................................................................................... 18
8 Local Level Frame (ENU) ..................................................................................................... 20
9 SPAN-CPT Center of Navigation ......................................................................................... 22
10 Vehicle Frame ...................................................................................................................... 22
11 SPAN-CPT - Dual Antenna Installation ............................................................................... 38
12 WinLoad’s Open Window .................................................................................................... 44
13 Open File in WinLoad .......................................................................................................... 44
14 COM Port Setup .................................................................................................................. 44
15 Searching for Card .............................................................................................................. 45
16 Authorization Code Window ................................................................................................ 45
17 Upgrade Process Complete ................................................................................................ 45
18 SPAN-CPT Side and Perspective View ............................................................................... 50
19 SPAN-CPT Top, Front and Bottom View ............................................................................ 51
20 SPAN-CPT Development Terminated Cable ...................................................................... 52
SPAN-CPT User Manual Rev 8 5
Tab le s
1 Cable Modification for Kistler WPT Cable ........................................................................... 19
2 Cable Modification for SPAN-CPT Cable ............................................................................ 19
3 Full Mapping Definitions ...................................................................................................... 21
4 Inertial Solution Status......................................................................................................... 27
5 Logs with Azimuth data ....................................................................................................... 31
6 Solution Parameters ............................................................................................................32
7 Hardware Specification for SPAN-CPT ............................................................................... 48
8 GNSS Performance for SPAN-CPT ..................................................................................... 48
9 KVH IMU Sensor Specifications .......................................................................................... 48
10 Electrical and Environmental Specifications ........................................................................ 49
11 Power Specifications ........................................................................................................... 49
12 SPAN-CPT 60723108 - KVH Development Terminated Cable Pin-Out .............................. 52
13 SPAN-CPT 60723107 - KVH Standard Un-terminated Cable Pin-Out................................ 54
6 SPAN-CPT User Manual Rev 8
Customer Support
NovAtel Knowledge Base
If a technical issue is encountered, browse the NovAtel Web site at www.novatel.com/support/search/.
Use this page to search for general information about GNSS and other technologies, information about
NovAtel hardware and software and installation and operation issues.
Before Contacting Customer Support
Before contacting NovAtel Customer Support about a software problem, perform the following steps:
1. Log the following data to a file on your computer for 15 minutes:
RXSTATUSB once
RAWEPHEMB onchanged
RANGEB ontime 1
BESTPOSB ontime 1
RXCONFIGA once
VERSIONB once
RAWIMUSXB onnew
INSPVASB ontime 1
INSCOVSB ontime 1
INSUPDATEB onchanged
IMUTOANTOFFSETSB onchanged
2. Send the data file to NovAtel Customer Support, using either the NovAtel FTP site at
ftp://ftp.novatel.ca/
3. You can also issue a FRESET command to the receiver to clear any unknown settings.
The FRESET command erases all user settings. Record the configuration settings
before sending the FRESET command to simplify reconfiguration.
If a hardware problem is encountered, send a list of the troubleshooting steps taken and results.
or through the support@novatel.com e-mail address.
Contact Information
Use one of the following methods to contact NovAtel Customer Support:
Call the NovAtel Hotline at 1-800-NOVATEL (U.S. & Canada)
or +1-403-295-4500 (international)
Fax: +1-403-295-4501
E-mail: support@novatel.com
Web site: www.novatel.com
Write: NovAtel Inc.
Customer Support Department
1120 - 68 Avenue NE
Calgary, AB
Canada, T2E 8S5
SPAN-CPT User Manual Rev 8 7
Notices
The following notices apply to the SPAN-CPT.
FCC Notices
This device complies with part 15 of the FCC Rules. Operation is subject to the following two conditions:
(1) this device may not cause harmful interference, and (2) this device must accept any interference
received, including interference that may cause undesired operation.
SPAN-CPT complies with the radiated and conducted emission limits for a Class B digital device. The
Class B limits are designed to provide reasonable protection against harmful interference in a residential
installation.
The equipment listed generates, uses, and can radiate radio frequency energy and, if not installed and
used in accordance with the instructions, may cause harmful interference to radio communications.
However, there is no guarantee that interference will not occur in a particular installation. If this
equipment does cause harmful interference to radio or television reception, which can be determined by
turning the equipment off and on, the user is encouraged to try to correct the interference by one or more
of the following measures:
• Re-orient or relocate the receiving antenna
• Increase the separation between the equipment and the receiver
• Connect the equipment to an outlet on a circuit different from that to which the receiver is
connected
• Consult the dealer or an experienced radio/TV technician for help
In order to maintain compliance with the limits of a Class B digital device, it is required to
use properly shielded interface cables (such as Belden #9539 or equivalent) when using
the serial data ports, and double-shielded cables (such as Belden #9945 or equivalent)
when using the I/O strobe port.
Changes or modifications to this equipment, not expressly approved by NovAtel Inc., could
result in violation of FCC, Industry Canada and CE Marking rules and void the user’s
authority to operate this equipment.
Industry Canada
SPAN-CPT Class B digital apparatuses comply with Canadian ICES-003.
SPAN-CPT appareils numérique de la classe B sont conforme à la norme NMB-003 du Canada.
CE Notice
The enclosures carry the CE mark.
"SPAN-CPT is in compliance with the essential requirements and other relevant provisions of Directive
1999/5/EC."
8 SPAN-CPT User Manual Rev 8
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. Sustainable development advocates the reduction of wasteful consumption of
natural resources and the prevention of pollution. Waste electrical and electronic equipment (WEEE) is a
regulated area. Where the generation of waste cannot be avoided, it should be reused or recovered for
its material or energy. WEEE products may be recognized by their wheeled bin label ( ).
1
Lightning Protection Installation and Grounding
Procedures
What is the hazard?
A lightning strike into the ground causes an increase in the earth's potential which results in a high
voltage potential between the center conductor and shield of the coaxial cable. This high voltage
develops because the voltage surge induced onto the center conductor lags in time behind the voltage
surge induced onto the shield.
Hazard Impact
A lightning strike causes the ground potential in the area to rise to dangerous levels resulting in harm to
personnel or destruction of electronic equipment in an unprotected environment. It also conducts a
portion of the strike energy down the inner conductor of the coax cable to the connected equipment.
Only qualified personnel, electricians as mandated by the governing body in the country of
installation, may install lightning protection devices.
Actions to Mitigate Lightning Hazards
1. Do not install antennas or antenna coaxial cables outside the building during a lightning storm.
2. It is not possible to avoid over-voltages caused by lightning, but a lightning protection device may be
used to shunt a large portion of the transient energy to the building ground reducing the over-voltage
condition as quickly as possible.
3. Primary lightning protection must be provided by the operator/customer according to local building
codes as part of the extra-building installation.
4. To ensure compliance with clause 7 "Connection to Cable Distribution Systems" of EN 60950-1,
Safety for Information Technology Equipment, a secondary lightning protection device must be used
for in-building equipment installations with external antennas. The following device has been
approved by NovAtel Inc.:
Polyphaser - Surge Arrestor DGXZ+24NFNF-A
If this device is not chosen as the primary lightning protection device, the device chosen must meet
the following requirements:
• UL listed, or equivalent, in country of installation (for example, TUV, VDE and so on) for
lightning surge protection
• The primary device must be capable of limiting an incoming surge to 10kV
5. The shield of the coaxial cable entering the building should be connected at a grounding plate at the
building's entrance. The lightning protection devices should have their chassis grounded to the same
ground near to the building's entrance.
1.Visit the NovAtel Web site at www.novatel.com through Products | WEEE and RoHS for more infor-
mation on WEEE.
SPAN-CPT User Manual Rev 8 9
Notices
6
12
5
555
4
3
6. The primary and secondary lightning protections should be as close to the building's entrance as
possible. Where feasible they should be mounted onto the grounding plate itself (refer to the
following figure).
Figure 1: Primary and Secondary Lightning Protection
Ref # Description
1 Primary lightning protection device
2 Secondary lightning protection device
3 External antenna
4 GNSS Receiver
5 To ground
6 Grounding plate or grounding point at the building’s entrance
Acceptable choices for Earth Grounds, for central buildings, are:
• Grounded interior metal cold water pipe within five feet (1.5 m) of the point where it
enters the building
• Grounded metallic service raceway
• Grounded electrical service equipment enclosure
• Eight-foot grounding rod driven into the ground (only if bonded to the central
These installation instructions are the minimum requirements for receiver and antenna installations.
Where applicable, follow the electrical codes for the country of installation. Examples of country codes
include:
• USA National Electrical Code (NFPA 70)
building ground by #6, or heavier, bonding wire)
• Canada Canadian Electrical Code (CSA C22)
• UK British Standards Institute (BSI 7671)
10 SPAN-CPT User Manual Rev 8
Chapter 1 Introduction
NovAtel's SPAN® (Synchronized Position Attitude Navigation) technology brings together two different
but complementary positioning and navigation systems: GNSS and an Inertial Navigation System (INS).
By combining the best aspects of GNSS and INS into one system, SPAN technology offers a solution that
is more accurate and reliable than either GNSS or INS alone. The combined GNSS+INS solution has the
advantage of the absolute accuracy available from GNSS and the continuity of INS through traditionally
difficult GNSS conditions.
SPAN-CPT combines GNSS and Inertial Measurement Unit (IMU) hardware inside a single enclosure for
simple installation and operation. NovAtel’s OEM6
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.
®
receiver is the processing engine of SPAN-CPT and
1.1 Fundamentals of GNSS+INS
GNSS positioning observes range measurements from orbiting Global Positioning System Satellites.
From these observations, the receiver computes position and velocity with high accuracy. NovAtel GNSS
positioning systems are highly accurate positioning tools. GNSS, however, does have some significant
restrictions which limit its usefulness in some situations. GNSS positioning requires line of site view to at
least four satellites simultaneously. If this criteria is met, differential GNSS positioning can be accurate to
within a few centimetres. If however, some or all the satellite signals are blocked, the accuracy of the
position reported by GNSS degrades substantially or may not be available at all.
An INS uses forces and rotations measured by an IMU to calculate position, velocity and attitude. This
capability is embedded in the firmware of the SPAN-CPT. Forces are measured by accelerometers in
three perpendicular axes within the IMU and the gyros measure angular rotation rates around those
axes. Over short periods of time, inertial navigation gives very accurate acceleration, velocity and attitude
output. The INS must have prior knowledge of its initial position, initial velocity, initial attitude, Earth
rotation rate and gravity field. Since the IMU measures changes in orientation and acceleration, the INS
determines changes in position and attitude, but initial values for these parameters must be provided
from an external source. Once these parameters are known, an INS is capable of providing an
autonomous solution with no external inputs. However, because of errors in the IMU measurements that
accumulate over time, an inertial only solution degrades with time unless external updates such as
position, velocity or attitude are supplied.
The SPAN-CPT system’s combined GNSS+INS solution integrates the raw inertial measurements with
all available GNSS information to provide the optimum solution possible in any situation. By using the
high accuracy GNSS solution, IMU errors can be modeled and mitigated. Conversely, the continuity and
relative accuracy of the INS solution enables faster GNSS signal reacquisition and Real Time Kinematic
(RTK) solution convergence.
The advantages of using SPAN-CPT technology are its ability to:
• Provide a full attitude solution (roll, pitch and azimuth)
• Provide continuous solution output (in situations when a GNSS-only solution is impossible)
• Provide faster signal reacquisition and RTK solution resolution (over stand alone GNSS because
of the tightly integrated GNSS and INS filters)
• Output high rate (up to 100 Hz) position, velocity and attitude solutions for high dynamic
applications, see also Logging Restriction on page 33.
• Use raw phase observation data (to constrain INS solution drift even when too few satellites are
available for a full GNSS solution)
SPAN-CPT User Manual Rev 8 11
Chapter 1 Introduction
1.2 System Components
The SPAN-CPT system consists of the following components:
• SPAN-CPT Integrated GNSS+INS receiver – This receiver has 3 accelerometers, 3 gyroscopes
(gyros) and a NovAtel OEM6 receiver. Excellent acquisition and reacquisition times allow the
receiver to operate in environments where very high dynamics and frequent interruptions of
signals can be expected.
• A GNSS antenna
• Computer software – Real time data collection, status monitoring and receiver configuration is
possible through the NovAtel Connect™ software utility (refer to SPAN-CPT Configuration with
NovAtel Connect on page 25).
1.3 Related Documents and Information
This manual contains sufficient information about the installation and operation of the SPAN-CPT system.
It is beyond the scope of this manual to provide details on service or repair. Contact your local NovAtel
dealer for any customer service related inquiries, see Customer Support on page 7.
The SPAN-CPT utilizes a comprehensive user interface command structure that requires
communications through its communication (COM) ports. For information about the INS-specific
commands and logs, see the SPAN on OEM6 Firmware Reference Manual
descriptions of the other commands and logs available with SPAN-CPT, refer to the OEM6 Family
Firmware Reference Manual (OM-20000129). Both of these manuals are available on the NovAtel
website at www.novatel.com/support/manuals/
together for easy reference.
SPAN-CPT system output is compatible with post-processing software from NovAtel's Waypoint
Products Group. Visit our Web site at www.novatel.com
. It is recommended that these documents be kept
for details.
(OM-20000144). For
®
1.4 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.
A warning that actions, operation or configuration may result in regulatory noncompliance,
safety issues or equipment damage.
12 SPAN-CPT User Manual Rev 8
Chapter 2 SPAN-CPT Installation
This chapter contains instructions and tips to setup your SPAN-CPT system.
2.1 Required Equipment
• A SPAN-CPT integrated GNSS+INS receiver
• A quality, dual frequency GNSS antenna such as the GPS-702-GGL or 42G1215A-XT-1-Cert
• See the NovAtel website (www.novatel.com/antennas
antennas available to meet your form factor and performance needs.
• An antenna cable with a TNC male connector at the receiver end, such as NovAtel’s GPS-C016
model
• A power supply of +9 to +18 VDC
• 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).
• A Windows
• A radio link (if the application requires real time differential operation)
2.1.1 Manuals
®
based computer with a USB or serial port
) for information on a variety of quality
The following additional manuals may be required for reference and are available from www.novatel.com/
support/manuals/.
• SPAN on OEM6 Firmware Reference Manual
• OEM6 Family Firmware Reference Manual
• OEM6 Family Installation and Operation Manual
(OM-20000144)
(OM-20000129)
(OM-20000128)
2.1.2 SPAN-CPT Hardware
The SPAN-CPT receiver contains an OEM6 receiver and an IMU containing 3 accelerometers and 3
gyroscopes. Communication is done using either the COM or USB ports through the multi-I/O connector.
Figure 2: SPAN-CPT Receiver
The sections that follows outline how to set up the system’s parts and cables. Refer to Appendix A,
Technical Specifications on page 48 for details.
Use a USB cable to log raw data - Serial communication is sufficient for configuring and
monitoring the receiver through Hyperterminal or NovAtel Connect. USB is required if
using a post-processing application requiring 100 Hz IMU data. We also recommend
using NovAtel Connect to collect the data. Refer to Data Collection on page 32 and Data
Collection for Post-Processing on page 33 for instructions.
SPAN-CPT User Manual Rev 8 13
Chapter 2 SPAN-CPT Installation
4
6
5
Radio
(optional for
Real Time Differential
operation)
(COM2)
2.2 Hardware Set Up
Complete the following steps to set up the NovAtel SPAN system.
Figure 3: Typical SPAN-CPT Set Up
1. Mount the GNSS antenna, as described in Mount the Antenna on page 15.
2. Mount the SPAN-CPT, as described in Mount the SPAN-CPT on page 15.
3. Connect the GNSS antenna to the SPAN-CPT, as described in Connect the GNSS Antenna on
page 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.
7. Connect the I/O strobe signals (optional), as described in Connect the I/O Strobe Signals on
page 17.
NovAtel recommends biasing unused inputs to their default states.
14 SPAN-CPT User Manual Rev 8
SPAN-CPT Installation Chapter 2
Y
2.2.1 Mount the Antenna
For maximum positioning precision and accuracy, as well as to minimize the risk of damage, ensure the
antenna is securely mounted on a stable structure that will not sway or topple. Where possible, select a
location with a clear view of the sky to the horizon so each satellite above the horizon can be tracked
without obstruction. The location should also be one that minimizes the effect of multipath interference.
Ensure the antenna cannot move due to dynamics.
For a discussion on multipath, refer to An Introduction to GNSS
on the NovAtel website.
2.2.2 Mount the SPAN-CPT
Mount the SPAN-CPT in a fixed location where the distance from the SPAN-CPT to the GNSS antenna
phase center is constant. Ensure the SPAN-CPT orientation, with respect to the vehicle and antenna, is
also constant.
For attitude output to be meaningful, the SPAN-CPT should be mounted so the positive Z-axis marked on
the SPAN-CPT enclosure points up and the Y-axis points forward through the front of the vehicle, in the
direction the vehicle is moving.
Figure 4: SPAN-CPT Enclosure Mounting
Z
X
Also, it is important to measure the distance from the SPAN-CPT to the antenna (the Antenna Lever
Arm), on the first usage, on the axis defined on the SPAN-CPT enclosure. See also Appendix A,
Technical Specifications on page 48 for dimensional drawings of the SPAN-CPT.
Ensure the SPAN-CPT and GNSS antenna cannot move due to dynamics and that the distance and
relative direction between them is fixed.
The closer the antenna is to the SPAN-CPT, the more accurate the position solution. Also,
your measurements when using the SETIMUTOANTOFFSET command must be as accurate
as possible or at least more accurate than the GNSS positions being used. For example, a
10 cm error in recording the antenna offset results in at least a 10 cm error in the output.
Millimeter accuracy is preferred.
The offset from the SPAN-CPT to the antenna and/or a user point device, must remain
constant especially for RTK or DGNSS data. Ensure the SPAN-CPT, antenna and user
point device are bolted in one position perhaps by using a custom bracket.
SPAN-CPT User Manual Rev 8 15
Chapter 2 SPAN-CPT Installation
2.2.3 Connect the GNSS Antenna
Connect the antenna cable from the connector on the GNSS antenna to the antenna port on the
SPAN-CPT. See Typical SPAN-CPT Set Up on page 14.
The SPAN-CPT can supply power for the antenna Low Noise Amplifier (LNA) through the
antenna port center conductor. The SPAN-CPT provides +5 VDC ±5% at a maximum of 100
mA.
For best performance, use a high quality coaxial cable. An appropriate coaxial cable is one that matches
the impedances of the antenna and receiver (50 ohms) and has a line loss that does not exceed 10.0 dB.
If the limit is exceeded, excessive signal degradation may occur and the receiver may not meet
performance specifications.
NovAtel offers several coaxial cables to meet your GNSS antenna interconnection
requirements, including 5, 15 and 30 m antenna cable with TNC connectors on both ends
(NovAtel part numbers GPS-C006, GPS-C016 and GPS-C032).
If your application requires the use of cable longer than 30 m, refer to application note APN-003 RF
Equipment Selection and Installation, available at www.novatel.com/support/manuals/.
2.2.4 Connect Power
The SPAN-CPT receiver requires an input supply voltage of +9 VDC to +18 VDC. The receiver has an
internal power module that does the following:
• filters and regulates the supply voltage
• protects against over voltage, over current, and high temperature conditions
• provides automatic reset circuit protection
Power input pins are located on the multi-purpose I/O connector. Be sure to connect the power with the
correct polarity and ensure the power source is within specifications. See Appendix A, Technical
Specifications on page 48 for the multi-purpose I/O connector pin out and the power input requirements.
There is always a drop in voltage between the power source and the power port due to cable loss.
Improper selection of wire gauge can lead to an unacceptable voltage drop at the SPAN-CPT system. A
paired wire run represents a feed and return line. Therefore, a 2 m wire pair represents a total wire path
of 4 m. For a SPAN-CPT system operating from a 12 V system, a power cable longer than 2.1 m (7 ft.)
should not use a wire diameter smaller than 24 AWG.
The power supply used to power the SPAN-CPT must be monotonic during power on to
ensure internal logic blocks are initialized appropriately and proceed to valid operating
states. If the power supply is not monotonic during power on, the accelerometer status in
the IMU status may show a failure and the accelerometer measurements in the RAWIMUS
log will be zero (see the RAWIMUS log description in the SPAN on OEM6 Family Firmware
Reference Manual (OM-20000144)). Power cycling with a monotonic power up clears this
error state.
If the SPAN-CPT is installed in a vehicle, NovAtel recommends a backup battery be placed between the
receiver and its voltage supply to act as a power buffer. When a vehicle engine is started, power can dip
or cut out to ancillary equipment causing the receiver and IMU to lose lock and calibration settings.
The SPAN-CPT contains a breaker which can be tripped if using an incorrect power supply.
Manually power cycle the SPAN-CPT to reset the breaker and reconnect to a properly
supported power supply.
16 SPAN-CPT User Manual Rev 8
SPAN-CPT Installation Chapter 2
from Vehicle
Alternator
to Vehicle Electrical
System
Vehicle Main
Battery
Auxiliary
Battery
Battery Isolator
Figure 5: Battery Isolator Installation
2.2.5 Connect a Computer to the SPAN-CPT
SPAN-CPT has a multi-purpose I/O connector that contains pins for the COM1 serial port, COM2 serial
port and USB port. Refer to Appendix A, Technical Specifications on page 48 for the pin definitions of the
multi-purpose I/O connector.
2.2.6 Connect the I/O Strobe Signals
To use a USB connection, connect the USB port pins on the multi-purpose I/O connector to the USB port
on the computer.
To use a serial connection, connect the COM1 or COM2 port pins on the multi-purpose I/O connector to
the serial port on the computer.
By default, COM1 operates as an RS-232 serial port. To change COM1 to operate as an
RS-422 serial port, tie together the RS-422 select pins (7 and 8) on the multi-purpose I/O
connector.
The SPAN-CPT has several I/O strobe signals enabling it to be part of an interconnected system
composed of devices that need to be synchronized with each other. For example, connect the SPAN
system to an aerial camera in such a way that the SPAN system records its position whenever the shutter
button is pressed.
The SPAN-CPT supports the strobe signals described in Table 6, I/O Strobe Signals. These signals are
accessed from the multi-purpose I/O connector on the SPAN-CPT. See Appendix A, Technical
Specifications on page 48 for information on signals, wiring and pin-out information of the multi-purpose
I/O connector.
Figure 6: I/O Strobe Signals
Signal Description
Event1
(Mark 1)
PPS
(Pulse Per Second)
a. For information about the SETMARK1OFFSET and TAGGEDMARK1PVA commands, refer to the SPAN on
OEM6 Firmware Reference Manual (OM-20000144). For information about the other commands and logs in
this table, refer to the OEM6 Family Firmware Reference Manual
An input signal for which a pulse greater than 150 ns triggers certain logs to be generated.
Polarity is configurable using the MARKCONTROL command.
A time synchronization output. This is a pulse where the leading edge is synchronized to
receiver calculated GNSS Time. The polarity, period and pulse width can be configured
using PPSCONTROL command.
a
(OM-20000129).
SPAN-CPT User Manual Rev 8 17
Chapter 2 SPAN-CPT Installation
2.2.7 CAN Bus
The SPAN-CPT has a CAN Bus controller that supports physical layer signals and low level messages
specified in the appropriate sections of the J1939 and ISO11783 standards. Manufacturers can also
create messages specific to their application without violating these standards. To facilitate manufacturer
messages, NovAtel provides an Application Program Interface (API). To obtain information about this
API, contact NovAtel Customer Support.
The CAN Bus port is available on the multi-purpose I/O connector on the SPAN-CPT. See Appendix A,
Technical Specifications on page 48 for information on signals, wiring and pin-out information of the
multi-purpose I/O connector.
2.2.8 Odometer Connection
The SPAN-CPT provides a wheel sensor input for a Distance Measurement Instrument (DMI) through the
multi-purpose I/O connector. Refer to SPAN-CPT Wheel Sensor on page 30 for additional details.
2.2.8.1 Odometer Requirements
SPAN-CPT is compatible with any wheel sensor meeting the following requirements:
• Input range less than or equal to 45 KHz
• Input duty cycle is symmetric 40%-60%
• Active input voltage is greater than or equal to 2.5 VDC with a maximum input voltage of 50 VDC
• Inactive voltage is less than or equal to 1 VDC
• Input current is approximately 3.5 mA at 5 VDC with a maximum of 5 mA at 50 VDC
• Ensure input current does not exceed 5 mA. There is a current limiting diode that can dissipate
800 mW on the input opto-isolator
• Quadrature, pulse and direction type odometers are compatible
An example of a SPAN-CPT compatible odometer is the CWPTA411 from Kistler (www.kistler.com). A
transducer traditionally fits to the outside of a non-drive wheel. A pulse is then generated from the
transducer which is fed directly to the ODO connector on the IMU cable.
Figure 7: Kistler WPT
The Wheel Pulse Transducer (WPT)
mounts to the wheel lug nuts via
adjustable mounting collets. The
torsion protection rod, which
maintains rotation around the wheel
axis, affixes to the vehicle body with
suction cups. Refer to the Kistler
WPT (part number CWPTA411) user
manual for mounting instructions
(www.kistler.com).
SPAN-CPT powers the odometer. See SPAN-CPT Cable on page 52 for the pin outs of the SPAN-CPT
cable. Connect the appropriate pins to the chosen odometer. If the Kistler WPT is chosen, first modify the
cable at the WPT end. The cable modifications are shown in Table 1, Cable Modification for Kistler WPT
Cable and Table 2, Cable Modification for SPAN-CPT Cable on page 19.
18 SPAN-CPT User Manual Rev 8
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