HYSWEEPHYSWEEP®® HARDWARE HARDWARE

HYSWEEP®

Configuring a Multibeam System

Multibeam sonar

GPS(via HYPACK

hardware)

Motion sensor

Heading sensor

Dynamic Draft(via HYPACKHardware)

Tide(via HYPACKHardware)

Also: Scanning Laser For Topographic Survey

SV: Sensor and/or Profile

MRU, HDG,Nadir Depth

POS, TIDEDRAFT

PosTime

HDGMBHPR

HYPACKSURVEY

HYSWEEPSURVEY

GPS

MRU MB GYRO

InterfacingInterfacingBringing in the dataBringing in the data•Network:Network: ForFor high volumehigh volume data like multibeam. data like multibeam. Data isData is received with received with UTC time tagUTC time tag..

•Serial RS-232:Serial RS-232: For lower data volume like GPS.For lower data volume like GPS.

•Typically, Motion and Heading messages do not Typically, Motion and Heading messages do not contain time tags. Data gets timed at arrival to contain time tags. Data gets timed at arrival to COM port. COM port.

•Exception is GPS ($GPGGA has a UTC time tag).Exception is GPS ($GPGGA has a UTC time tag).

Time TaggingTime Tagging•Very ImportantVery Important.. Device data are correlated by time tags.Device data are correlated by time tags.

•All devices must use the same time base – All devices must use the same time base – UTC time or PC UTC time or PC time.time. Without it, data will not be goodWithout it, data will not be good

Network and Network and COM inputsCOM inputs

POS POS

MB MB MBMRU MRU MRU MRU

+ time

Asynchronous data are correlated with time tags.

Do I Need to Synch My Clock to UTC?Do I Need to Synch My Clock to UTC?

If you have a device that sends datagrams with UTC time stamps, then the answer is:

Yes

Examples of when time synch to UTC is required:

•GPS (UTC), Seabat (UTC), TSS DMS/05 (No time sent), Gyro (No time sent).

•POS/MV (UTC), Seabat (UTC), Single beam on a COM port (No time sent).

• You can improve your time synchronization from +/- 10mSec to +/- 1mSec by using a HYPACK 1PPS Box.

SHARED SHARED MEMORYMEMORY

A Typical MB ConfigurationA Typical MB Configuration

HYPACKHYPACK ® ®

SURVEYSURVEY

HYSWEEPHYSWEEP®®

SURVEYSURVEY

POS/MV POS/MV Inertial SystemInertial System Seabat 7125Seabat 7125ZDA and 1 PPS Time ZDA and 1 PPS Time

SyncSync

Position, Position, Tide & Tide & Draft.Draft.

Depth, Depth, Heading & Heading & HPRHPR

Network: Network: Position & Position & Time SyncTime Sync

Network: Heading & HPRNetwork: Heading & HPRNetwork: Network: Multibeam Multibeam DataData

HYPACK does HYPACK does NOTNOT require 1PPS require 1PPS

SHARED SHARED MEMORYMEMORY

Other Configurations: EM3000Other Configurations: EM3000

HYPACKHYPACK ® ®

SURVEYSURVEY

HYSWEEPHYSWEEP®®

SURVEYSURVEY

Kongsberg Kongsberg EM3002EM3002

SonarSonar

Position Position & Time & Time SyncSync

Position, Position, Tide & Tide & Draft.Draft.

Depth, Depth, Heading & Heading & HPRHPR

COM: COM: Position & Position & ZDA Time ZDA Time SyncSync

Network: Sonar, Heading & HPRNetwork: Sonar, Heading & HPR

HYPACK does HYPACK does NOTNOT require 1PPS require 1PPS

GPSGPSHeading Heading & HPR& HPR

SHARED SHARED MEMORYMEMORY

Other Configurations: 1PPSOther Configurations: 1PPS

HYPACKHYPACK ® ®

SURVEYSURVEY

HYSWEEPHYSWEEP®®

SURVEYSURVEY

Position, Position, Tide & Tide & Draft.Draft.

Depth, Depth, Heading & Heading & HPRHPR

COM: COM: Position & Position & Time SyncTime Sync COM: Heading & HPRCOM: Heading & HPR

HYPACK HYPACK requires requires time sync and needs a PPS boxtime sync and needs a PPS box..

GPSGPS TSS TSS DMS/05DMS/05

SG SG Brown Brown GyroGyro

Seabat Seabat 81018101

Network: Network: Sonar Sonar DataData

COM: COM: Time Time SyncSync

1PPS Box1PPS Box

OffsetsOffsetsAdjustment for:Adjustment for:

•Boat Origin (AKA Reference Point):Boat Origin (AKA Reference Point): Vessel Center of Gravity XY. Vessel Center of Gravity XY. Static waterline Z.Static waterline Z.

•Device LocationDevice Location:: Offsets in Offsets in X, Y and ZX, Y and Z measured from boat origin.measured from boat origin.

•Device RotationDevice Rotation:: Pitch, roll and yawPitch, roll and yaw orientation of directional devices orientation of directional devices such assuch as multibeam sonar.multibeam sonar.

•Device Latency:Device Latency:

•Time delay = data arrival time – data valid time.Time delay = data arrival time – data valid time.

Tracking PointTracking Point:: XY location of the sonar head. Used in XY location of the sonar head. Used in Survey to adjust the Survey to adjust the Left/Right indicator. Entered in HYPACK HARDWARE.Left/Right indicator. Entered in HYPACK HARDWARE.

““Red Rogers” and Red Rogers” and drawing (device drawing (device

locations).locations).

MRU

MRU

Multibeam TRANSDUCER Multibeam

TRANSDUCER

+X+X

+X+X

+Y+Y

+Z+Z

MRU is at boat origin, tracking point is over the transducer.MRU is at boat origin, tracking point is over the transducer.

Boat Reference System

Tracking Point

Boat Origin & Tracking PointBoat Origin & Tracking Point

Hardware HYPACKHardware HYPACK®® and HYSWEEP and HYSWEEP ® ®

Combined Hardware program ( new in 2014 ) will set the Combined Hardware program ( new in 2014 ) will set the hardware for both HYPACK and HYSWEEP.hardware for both HYPACK and HYSWEEP.

Shared memory will handle the position, tides and draft to Shared memory will handle the position, tides and draft to HYSWEEP and depth, motion and heading to HYPACK.HYSWEEP and depth, motion and heading to HYPACK.

No need to re-enter offsets in HYSWEEP for navigation deviceNo need to re-enter offsets in HYSWEEP for navigation device

•System: Include MultibeamSystem: Include Multibeam

•Main page:Main page:

Configure HYPACK devices Configure HYPACK devices and then HYSWEEP devicesand then HYSWEEP devices

HARDWAREHARDWARE

Positioning Devices:Positioning Devices:•GPS.DLLGPS.DLL for position from COM port. (Heading and RTK Tide if needed.)for position from COM port. (Heading and RTK Tide if needed.)

•POSMV.DLLPOSMV.DLL for POS/MV positions over a network. (RTK Tide if neededfor POS/MV positions over a network. (RTK Tide if needed.).)

•F180.DLLF180.DLL for POS/MV positions over a network. (RTK Tide if needed.)for POS/MV positions over a network. (RTK Tide if needed.)

•SelectSelect Time Synch optionTime Synch option on the HYPACK configuration page.on the HYPACK configuration page.

•EnterEnter Tracking PointTracking Point offsets (Multibeam Head Offsets) on Mobile tab for offsets (Multibeam Head Offsets) on Mobile tab for BOATBOAT

HARDWAREHARDWAREConfigure the multibeam section of HARDWARE for a Multibeam, Motion sensor and Heading. Select from list and include on the INSTALLED section.

•Note: Sonar multibeam systems may include MRU and Heading on their driver

•NO LONGER NEEDED is HYPACK NAVIGATION. This is already included in the hardware program

The HYPACK Navigation will automatically come from shared The HYPACK Navigation will automatically come from shared memory, and no set-up is needed in the multibeam sectionmemory, and no set-up is needed in the multibeam section

Multibeam DeviceMultibeam Device

Setup Button:Setup Button:•Use the Setup button to enter manufacturer specific information.Use the Setup button to enter manufacturer specific information.

Connect:Connect:•Pretty much all sonars are network. Determined the correct Pretty much all sonars are network. Determined the correct Port NumberPort Number andand

•Internet AddressInternet Address required for TCP/IP devices.required for TCP/IP devices.

•Refer to Refer to “HYSWEEP Interfacing.pdf”“HYSWEEP Interfacing.pdf” for details.for details.

Multibeam DeviceMultibeam Device

Offsets:Offsets:•SelectSelect Sonar Head 1 or 2.Sonar Head 1 or 2.

•EnterEnter Location offsetsLocation offsets measured from boat reference.measured from boat reference.

•EnterEnter Rotation offsetsRotation offsets from Patch Test.from Patch Test.

•Latency Latency should be zero. (Navigation Latency is handled in the GPS set-up)should be zero. (Navigation Latency is handled in the GPS set-up)

Motion and Heading SensorsMotion and Heading Sensors

Devices:Devices:•Select the Select the driver, if listed.driver, if listed. If not…If not…

The The “TSS1”“TSS1” message is standard for Heave, Pitch and Roll (TSS DMS driver).message is standard for Heave, Pitch and Roll (TSS DMS driver).

The The NMEA “HDT”NMEA “HDT” message is standard for Heading (NMEA-0183 Gyro driver).message is standard for Heading (NMEA-0183 Gyro driver).

The The Generic Attitude Generic Attitude can be configured to parse ASCII datagramscan be configured to parse ASCII datagrams

Connect:Connect:•EnterEnter Network Network oror COM COM settings. Remember settings. Remember “HYSWEEP Interfacing.pdf”.“HYSWEEP Interfacing.pdf”.

Offsets:Offsets:•MRUMRU Location offsetsLocation offsets measured from boat reference.measured from boat reference.

•MRU MRU Rotation offsetsRotation offsets can be used to “zero” Pitch and Roll.can be used to “zero” Pitch and Roll.

•Heading Rotation offset Heading Rotation offset (Yaw)(Yaw) can be used to correct to grid north.can be used to correct to grid north.

Testing and Saving…Testing and Saving…In the CONNECT In the CONNECT Tab COM Test Tab COM Test and Network and Network test to verify test to verify sensor is sensor is sending datasending data

Alternate Hardware Alternate Hardware Configurations:Configurations:•You can Open and Save alternate configurations using the IMPORT and EXPORT

A Sample SessionA Sample Session