™
2. Insert the accompanying CD in the CD-ROM drive of the
computer.
2. Connect the SPAN-CPT interface cable to the multi-purpose
I/O connector on the SPAN-CPT.
To establish a connection to the SPAN-CPT using Connect:
SPAN-CPT
1. Launch Connect from the Start menu folder specified during
the installation process. The default location is Start |
All Programs | NovAtel PC Software | NovAtel Connect.
QUICK START GUIDE
To access and download the most current version of our
GM-14915081
REV 2
May/2012
OEMV PC Utilities, go to the Support page of the NovAtel
2. Select New Connection from the Device menu.
This guide provides the basic information
you need to set up and begin using your
SPAN-CPT system.
3. Select Install the OEMV PC Utilities from the window that is
automatically displayed. If the window does not
automatically open when the CD is inserted, select Run from
the Start menu and select the Browse button to locate
Setup.exe on the CD drive.
BOX CONTENTS
3. Enter a name for the Connection setup.
3. Connect the SPAN-CPT USB cable to a computer USB port
or connect COM1 of the SPAN-CPT to a computer COM
port.
In addition to this quick start guide, the
following is provided in your SPAN-CPT package:
4. Install the PC Utilities by advancing through the steps
• 1 SPAN-CPT (Integrated Receiver and IMU)
• 1 SPAN-CPT interface cable
4. Connect the GNSS antenna to the antenna port on the
SPAN-CPT using an appropriate antenna cable.
provided in the NovAtel GPS PC Utilities setup program.
5. Apply power to the SPAN-CPT. It is recommended that you
place a back-up battery between the SPAN-CPT and its
voltage supply as a power buffer if installed in a vehicle.
SET UP YOUR SPAN-CPT HARDWARE
• 1 CD containing PC Utilities and product documentation
• 1 User Manual postcard for requesting printed manuals
Complete the following steps to set up and power your
SPAN-CPT system.
ADDITIONAL EQUIPMENT REQUIREMENTS
1. Mount the SPAN-CPT enclosure and antenna securely to a
vehicle. For the simplest operation, the Y-axis of the
SPAN-CPT should be aligned with the forward axis
(direction of travel) of the vehicle. The Z-axis should be
pointing up. Ensure that the GNSS antenna and enclosure
cannot move relative to each other. The distance and rela-
tive direction between them must be fixed.
The following additional equipment is needed for a basic setup:
®
• A Windows -based PC with an RS-232 or USB port
4. Select Serial from the Type list.
5. Select the computer port the SPAN-CPT is connected to
• A power supply of +9 to +18 V DC
from the Port list.
• A quality dual frequency GNSS antenna such as the
GPS-702, or GPS-532 for airborne/high speed applications
For L-Band corrections use the GPS-702L antenna
6. Set the COM port for the receiver to communicate through.
7. Select 115200 from the Baud Rate list.
COMMUNICATE WITH THE SPAN-CPT SYSTEM
8. Ensure the Hardware Handshaking box is not checked.
9. Click the OK button to save the new device settings.
Serial or USB communication can be done using the NovAtel
Connect software (installed with the PC Utilities) or a standard
terminal program, such as Hyperterminal.
• A TNC to appropriate antenna connector RF cable
INSTALL THE PC UTILITIES
Before setting up your SPAN-CPT system, install NovAtel’s PC
Utilities on the Windows-based computer that you will use to
communicate with it. This computer must have an RS-232 DB-9
or USB port.
1. Start up the computer.
Questions or Comments
CONFIGURE SPAN-CPT USING THE COMMAND LINE
OPERATE THE SPAN-CPT SYSTEM
DATA FOR POST-PROCESSING
If you have any questions or comments regarding your SPAN-CPT
The system is ready to go once it is powered and the INS and
GNSS are configured using the previously shown commands.
MEASURE THE LEVER ARM
Post-processing requires collection of simultaneous data from
the base and rover stations. This includes accurate coordinates
of the base station and accurate measurement of the IMU to
antenna separation.
system, please contact NovAtel Customer Service by:
Phone: 1-800-NOVATEL (U.S. & Canada)
1-800-668-2835
Enter the distance from the IMU to the GNSS antenna using the
SETIMUTOANTOFFSET command. The offset between the
antenna phase centre and the IMU axes must remain constant
and be known accurately (m). The X (pitch), Y (roll) and Z
(azimuth) directions are clearly marked on the IMU enclosure.
The SETIMUTOANTOFFSET parameters are (where the
standard deviation fields are optional):
Observe the status of the system in the INS window of NovAtel
Connect or in the status field of any of the INS solution logs (for
example INSPOS, INSVEL, INSATT and INSPVA).
Collect the following data for post-processing:
• From the base station
1-403-295-4900 (International)
INS data is available once there is a good GNSS solution.
Fax:
1-403-295-4901
Therefore, an antenna must be connected for the system to
function.
•
•
RANGECMPB ontime 1
RAWEPHEMB onnew
x_offset y_offset z_offset [x_stdev] [y_stdev] [z_stdev]
• From the rover station(s)
For the integrated INS/GNSS system to have the best level of
accuracy, the offset should be measured to within a millimetre.
Any error in this measurement will show up in the output
position. For example, a 10 cm error in measuring this offset will
result in at least a 10 cm error in the output. If the system is
installed in line with the vehicle, this is the only configuration
required.
The following status stages may be observed:
•
•
•
•
RANGECMPB ontime 1
• The status changes from INS_INACTIVE to INS_ALIGNING
once the receiver computes a GPS solution.
RAWEPHEMB onnew
RAWIMUSB onnew
• The default alignment method for CPT is a kinematic align-
ment. The INS solution will begin once the vehicle starts to
move faster than 1.15 m/s. Alternatively, you can set the atti-
tude of the system manually by using the SETINTAZIMUTH
command. See the SPAN-CPT User Manual for more details
on how to use this command.
BESTLEVERARMB onnew
SPAN-CPT system output is compatible with Inertial Explorer
post-processing software from the Waypoint Products Group,
LOG SPAN-CPT DATA
Raw GNSS, IMU and navigation data (position, velocity, attitude)
are available from the system as ASCII or binary logs.
• The status changes to INS_ALIGNMENT_COMPLETE
when alignment is completed. After some motion (stops,
starts and turns), the attitude solution converges to within
specifications, and the status changes to
Data can be collected through Connect using the Logging
Control window, or sent out the IMU COM port to user-supplied
data collection software.
INS_SOLUTION_GOOD.
For post-processing applications, collect the data shown in the
• The status may occasionally change to
Data for post-processing section in this guide.
INS_BAD_GPS_AGREEMENT. This status indicates that
the inertial solution has detected poor quality GNSS
positions from the receiver due to limited satellite visibility or
high multipath conditions. The inertial filter may choose to
disregard this information and wait for the GNSS quality to
improve. The solution is still valid during these times, it is
simply a warning flag that the GNSS/INS solution is more
reliable than the GNSS-only solution.
For real-time applications, the GNSS/INS solution is available
through the logs listed in the SPAN-CPT User Manual including
INSPOS, INSVEL, INSATT and INSPVA. These logs can be
collected at rates up to the IMU data rate (100 Hz); however,
there are some rate restrictions. Refer to the Data Collection
section in the SPAN Operation chapter of the SPAN-CPT User
Manual.
NovAtel, SPAN, Inertial Explorer, Waypoint and OEMV are registered trademarks of
NovAtel Inc.
SPAN-CPT is a trademark of NovAtel Inc.
Windows is a registered trademark of Microsoft Corporation.
© Copyright 2012 NovAtel Inc. All rights reserved.
Printed in Canada on recycled paper. Recyclable.
Unpublished rights reserved under international copyright laws.
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